Diff: RobotBicycleConst.h

Revision:

0:830ddddc129f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RobotBicycleConst.h	Thu Jun 09 09:46:38 2016 +0000
@@ -0,0 +1,26 @@
+#ifndef ROBOTBICYCLECONST_H_INCLUDED
+#define ROBOTBICYCLECONST_H_INCLUDED
+
+#define R_wheel 0.0695f  ///radius of wheels
+#define l_rs    0.095f   ///length from rear wheel to sensor on XY plane
+#define l_rg    0.13f    ///length from rear wheel to center of mass on XY plane
+#define h       0.2f     ///height of center of mass
+#define Omega_l 8.78337f ///244*pi*33/24/24/5
+#define Omega_m 14.639f  ///244*pi*33/24/24/3
+#define Omega_h 21.958f  ///244*pi*33/24/24/2
+#define v_low   1.0174f  ///starting speed of bicycle (m/s) v = 2pi/(48*3/244)*(33/24)*R_wheel
+#define v_high  1.5261f  ///full speed of bicycle (m/s) v = 2pi/(48*2/244)*(33/24)*R_wheel
+
+#define b_h     31.3196f ///23.4897 ///v^2*cos_delta/L/l_virtual ///0.0491*Omega^2 - 0.245
+#define c_h     2.0009f  ///2.6679  ///l_rg*v*cos_delta/L/l_virtual  ///0.00281*Omega
+#define bc_h    b_h/c_h
+
+#define b_m     10.4399f
+#define c_m     1.334f
+#define bc_m    b_m/c_m
+
+#define b_l     3.7584f
+#define c_l     0.8004f
+#define bc_l    b_l/c_l
+
+#endif // ROBOTBICYCLECONST_H_INCLUDED