Chris LU / Mbed 2 deprecated Nucleo_ZTC_20160607_oldest

code of robot bike

Dependencies:   SDFileSystem mbed

Fork of Robot_Bicycle by Chris LU

RobotBicycleConst.h@0:830ddddc129f, 2016-06-09 (annotated)

Committer:
YCTung
Date:
Thu Jun 09 09:46:38 2016 +0000
Revision:
0:830ddddc129f
add header files

Who changed what in which revision?

UserRevisionLine numberNew contents of line
YCTung 0:830ddddc129f 1 #ifndef ROBOTBICYCLECONST_H_INCLUDED
YCTung 0:830ddddc129f 2 #define ROBOTBICYCLECONST_H_INCLUDED
YCTung 0:830ddddc129f 3
YCTung 0:830ddddc129f 4 #define R_wheel 0.0695f ///radius of wheels
YCTung 0:830ddddc129f 5 #define l_rs 0.095f ///length from rear wheel to sensor on XY plane
YCTung 0:830ddddc129f 6 #define l_rg 0.13f ///length from rear wheel to center of mass on XY plane
YCTung 0:830ddddc129f 7 #define h 0.2f ///height of center of mass
YCTung 0:830ddddc129f 8 #define Omega_l 8.78337f ///244*pi*33/24/24/5
YCTung 0:830ddddc129f 9 #define Omega_m 14.639f ///244*pi*33/24/24/3
YCTung 0:830ddddc129f 10 #define Omega_h 21.958f ///244*pi*33/24/24/2
YCTung 0:830ddddc129f 11 #define v_low 1.0174f ///starting speed of bicycle (m/s) v = 2pi/(48*3/244)*(33/24)*R_wheel
YCTung 0:830ddddc129f 12 #define v_high 1.5261f ///full speed of bicycle (m/s) v = 2pi/(48*2/244)*(33/24)*R_wheel
YCTung 0:830ddddc129f 13
YCTung 0:830ddddc129f 14 #define b_h 31.3196f ///23.4897 ///v^2*cos_delta/L/l_virtual ///0.0491*Omega^2 - 0.245
YCTung 0:830ddddc129f 15 #define c_h 2.0009f ///2.6679 ///l_rg*v*cos_delta/L/l_virtual ///0.00281*Omega
YCTung 0:830ddddc129f 16 #define bc_h b_h/c_h
YCTung 0:830ddddc129f 17
YCTung 0:830ddddc129f 18 #define b_m 10.4399f
YCTung 0:830ddddc129f 19 #define c_m 1.334f
YCTung 0:830ddddc129f 20 #define bc_m b_m/c_m
YCTung 0:830ddddc129f 21
YCTung 0:830ddddc129f 22 #define b_l 3.7584f
YCTung 0:830ddddc129f 23 #define c_l 0.8004f
YCTung 0:830ddddc129f 24 #define bc_l b_l/c_l
YCTung 0:830ddddc129f 25
YCTung 0:830ddddc129f 26 #endif // ROBOTBICYCLECONST_H_INCLUDED