Diff: StateDefines/defines.h

Revision:

8:696c2f9dfc62

Parent:

7:34be8b3a979c

Child:

9:d3cdcdef9719

diff -r 34be8b3a979c -r 696c2f9dfc62 StateDefines/defines.h
--- a/StateDefines/defines.h	Tue Mar 26 08:29:43 2013 +0000
+++ b/StateDefines/defines.h	Sat Mar 30 06:55:08 2013 +0000
@@ -12,11 +12,10 @@
 #define PULSES_PER_STEP       6u            // Pulses per electrical step Hallsensor, have 6 steps
 
 // Physical Dimension of the car
-#define WHEEL_RADIUS_DIFF     0.00054        // positiv zu weit links, given in [m] 0.00059
-#define WHEEL_RADIUS_LEFT     0.03930f        // radius of the left wheel, given in [m] 0.03945f
-#define WHEEL_RADIUS_RIGHT    (WHEEL_RADIUS_LEFT + WHEEL_RADIUS_DIFF)        // radius of the left wheel, given in [m]
-#define WHEEL_DISTANCE        0.1860f       // Distance of the wheel, given in [m] 0.1865f
-
+#define WHEEL_RADIUS_DIFF     -0.00015f      // positiv zu weit rechts, given in [m]
+#define WHEEL_RADIUS_LEFT     0.040280f     // radius of the left wheel, given in [m] 0.040479f
+#define WHEEL_RADIUS_RIGHT    (WHEEL_RADIUS_LEFT - WHEEL_RADIUS_DIFF)    // radius of the left wheel, given in [m]
+#define WHEEL_DISTANCE        0.1875f       // Distance of the wheel, given in [m] Grösser --> mehr drehen
 
 // State Bits of the car
 #define STATE_STOP            1u            // Bit0 = stop pressed 
@@ -25,8 +24,12 @@
 #define STATE_RIGHT           8u            // Bit3 = right ESCON in error state     
 
 // ESCON Constands
-#define ESCON_SET_FACTOR      1200.0f       // Speed Factor how set in the ESCON
-#define ESCON_GET_FACTOR      1400.0f       // Speed Factor how get in the ESCON       
+#define ESCON_SET_FACTOR      1200.0f       // Speed Factor how set in the ESCON 
+#define ESCON_GET_FACTOR      1400.0f       // Speed Factor how get in the ESCON 
+
+//Error patch of the drift of Analog input and pwn output
+#define SET_SPEED_PATCH       (1+0.0029f)  // patch factor of set speed
+#define GET_SPEED_PATCH       (1+0.0019f)  // patch factor of get speed              
 
 // Start Defintition
 #define START_X_OFFSET        -0.8f         // Sets the start X-point [m]
@@ -41,7 +44,7 @@
 #define K1                    1.0f * GAIN
 #define K2                    3.0f * GAIN
 #define K3                    2.0f * GAIN   // deafult 2.0f
-#define MIN_DISTANCE_ERROR    -0.02f         // min. Distance to switch the position controller off. Because when Distance Error goes to zero the ATAN2 is not define, given in [m]                 
+#define MIN_DISTANCE_ERROR    -0.005f         // min. Distance to switch the position controller off. Because when Distance Error goes to zero the ATAN2 is not define, given in [m]                 
 
 // LiPo Batterie
 #define BAT_MULTIPLICATOR     21.633333333f // R2 / (R1 + R2) = 0.153    R2= 10k , R1 = 1.8k 1/0.153 = 6.555  ---> 3.3 * 6.555 = 21.6333333f
@@ -55,13 +58,6 @@
 
 // Compass Maxima und Minima for the Filter
 #define SET_MAXIMAS_MINIMAS   true          // For Set the maximas und minimas when false the object search the maximas minimas by your own
-/*#define COMP_X_MAX            344.464996f   // Maximum X-Range
-#define COMP_Y_MAX            238.751282f   // Maximum Y-Range
-#define COMP_Z_MAX            -266.899994f  // Maximum Z-Range not used in this side
-#define COMP_X_MIN            -90.412109f   // Minimum X-Range
-#define COMP_Y_MIN            -220.834808f  // Minimum Y-Range
-#define COMP_Z_MIN            -356.000000f  // Minimun Z-Range not used in this side
-*/
 #define COMP_X_MAX            391.219910f   // Maximum X-Range
 #define COMP_Y_MAX            382.915161f   // Maximum Y-Range      
 #define COMP_Z_MAX            -237.855042f  // Maximum Z-Range not used in this side      
@@ -112,10 +108,10 @@
     float setyAxis;
     /** Setpoint Angel [°] */
     float setAngle;
-    /** Right Distance Sensor [m] */
-    float rightDist;
-    /** Compass Angle [°] */
-    float compassAngle;
+    /** Setpoint velocitiy [m/s] */
+    float setVelocity;
+    /** Setpoint rotation velocitiy [rad/s] */
+    float setOmega;
     /** Compass X-Axis */
     float compassxAxis;
     /** Compass Y-Axis */