defines.h

00001 #ifndef DEFINES_H
00002 #define DEFINES_H
00003 
00004 #include "defines_debug.h"
00005 #include "defines_pins.h"
00006 
00007 //#####################################################################################\\
00008 
00009 #define SERIAL_BAUD_RATE   115200
00010 
00011 #define N_THRUSTERS     8
00012 
00013 #define PID_PERIOD      50.0        // [ms] Update period of the PID command
00014 #define LED_PERIOD      50.0        // [ms] Period of the blinking LED
00015 #define MEAS_PERIOD     50.0        // [ms] Period at which to publish new velocity measurement
00016 #define PID_DEBUG_PERIOD 2500.0     // [ms] Period at which to publish PID parameters
00017 #define THRUST_PERIOD   500.0       // [ms] PWM period of thrusters
00018 #define THRUST_PWM_N    20.0        // Number of PWM steps per PID period
00019 #define MOTOR_PWM_PERIOD    0.00005 // 20 kHz
00020 
00021 // Parameters for motor encoder
00022 #define NCREV           64.0        // Number of counts per revolution
00023 #define SPEED_COUNTS    100         // Number of counts per speed measurement in encoder
00024 
00025 #define NGR             18.75       // Gear ratio
00026 #define V_SMAX          500.0       // [RPM] No-load max shaft speed
00027 #define M2SEC           60.0        // [sec/min] Conversion
00028 #define REV2DEG         360.0       // [deg/rev] Conversion
00029 
00030 #define V_SMAX_ENF      400.0       // [RPM] Enforced maximum shaft speed
00031 #define V_SMIN_ENF      0.0         // [RPM] Enforced minimum shaft speed
00032 
00033 #define COUNTS2SHAFT    M2SEC/NCREV/NGR   // Counts/sec to shaft speed in RPM
00034 
00035 #define R               2.4         // 12 V / 5 A
00036 #define CURRENT_MAX     5.0         // Stall curent of motor
00037 #define VOLTAGE_MAX     12.0        // Supply voltage to motor
00038 
00039 // Regular PID
00040 #define KP_INIT         1.0 
00041 #define KI_INIT         0.0001
00042 #define KD_INIT         0.0
00043 #define ACC_LIMIT_INIT  0.0         // Scaled accumulated error limit
00044 
00045 // PID with feed-foward term
00046 #define KP_FF_INIT          0.1
00047 #define KI_FF_INIT          0.00001
00048 #define KD_FF_INIT          0.0
00049 #define ACC_LIMIT_FF_INIT   0.0
00050 #define SLOPE_FF_INIT       0.001704
00051 #define INTER_FF_INIT       -0.0171
00052 
00053 #define SMOOTHING_VAL   0.9
00054 #define PWM_LIMIT       0.7
00055 
00056 #define INITIAL_SP      0.0
00057 #define COARSE_INCR     50.0
00058 #define FINE_INCR       25.0
00059 #define HAIR_INCR       5.0
00060 
00061 #define KE              VOLTAGE_MAX/(V_SMAX*NGR)
00062 
00063 // RGBA LED parameters
00064 #define MODE_AMBER      false
00065 #define RGB_LED_PERIOD  50
00066 #define DEF_CLR_FADE_T  1000
00067 #define DEF_ALP_FADE_T  1000
00068 
00069 //#####################################################################################\\
00070 
00071 #endif  // End include guard