Dima Dudin / Mbed 2 deprecated DD_Robot

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Dependencies:   mbed mbed-STM32F103C8T6 MPU6050_1

common.h@17:bd6b6ac89e0e, 2019-02-10 (annotated)

Committer:
dima285
Date:
Sun Feb 10 12:05:16 2019 +0000
Revision:
17:bd6b6ac89e0e
Parent:
15:960b922433d1
Child:
19:2fe650d29823
1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Stas285 1:e2a6e523bf1f 1 Serial wifi(PA_9, PA_10);
Stas285 15:960b922433d1 2 Serial sound_out(PB_10, PB_11);
Stas285 15:960b922433d1 3 Serial sound_in(PA_2, PA_3);
dima285 17:bd6b6ac89e0e 4 VL53L1X glaz(PB_9,PB_8);
Stas285 6:6e89cdc3db92 5 //USBSerial usb_serial(0x1f00, 0x2012, 0x0001, false);
Stas285 1:e2a6e523bf1f 6 DigitalOut myled(LED1);
Stas285 1:e2a6e523bf1f 7 DigitalOut test(PB_15); //Test pin for diagnostics and debugging
Stas285 1:e2a6e523bf1f 8 int volatile proc_counter; //(3e5 - 2e6 idle, 2e5 - 5e5 at motion) / per 50 mS
dima285 9:8f98b1c277a4 9
dima285 12:721a9ea55e91 10 float const t_step = 0.02;//SI realtime step
Stas285 15:960b922433d1 11 float time_sec;
dima285 12:721a9ea55e91 12
Stas285 15:960b922433d1 13 float const g = 9.81;//SI
Stas285 15:960b922433d1 14 float const pi = 3.1415926535;
Stas285 15:960b922433d1 15
dima285 12:721a9ea55e91 16 float const r_wheel = 0.038;//SI
dima285 12:721a9ea55e91 17 float const center_mas = 0.022;//SI (ot osi)
dima285 12:721a9ea55e91 18 float const mass = 1.3;//SI
dima285 12:721a9ea55e91 19 float const m_inert = 5e-3;//SI
dima285 12:721a9ea55e91 20 float const half_axis = 0.08;//SI
dima285 12:721a9ea55e91 21 float const ppr = 3200;//pulses per revolution
dima285 12:721a9ea55e91 22
dima285 12:721a9ea55e91 23 struct coord{
Stas285 15:960b922433d1 24 float x; //m //vpered
Stas285 15:960b922433d1 25 float y; //m //vpravo
Stas285 15:960b922433d1 26 float azimuth; // rad [-pi;+pi]
Stas285 15:960b922433d1 27 float speed; //m/s
Stas285 15:960b922433d1 28 float path; //m
Stas285 15:960b922433d1 29 float omega; //rad/s
dima285 12:721a9ea55e91 30 };
dima285 12:721a9ea55e91 31
dima285 12:721a9ea55e91 32 coord current;
dima285 12:721a9ea55e91 33 coord target;
dima285 12:721a9ea55e91 34
dima285 13:789b451cc27d 35 float balance_prop = 160;
dima285 13:789b451cc27d 36 float balance_diff = 7;
Stas285 15:960b922433d1 37 float x_prop = 45;//45;
Stas285 15:960b922433d1 38 float x_diff = 37;//37;
Stas285 15:960b922433d1 39 float azimuth_prop = 40;//50;
Stas285 15:960b922433d1 40 float azimuth_diff = 10;//15;
dima285 12:721a9ea55e91 41
dima285 14:e12d0fdc3a48 42 float coord_accuracy = 0.1;
Stas285 15:960b922433d1 43 bool coord_ready;
dima285 13:789b451cc27d 44
Stas285 15:960b922433d1 45 bool fall_flag;
dima285 13:789b451cc27d 46
Stas285 15:960b922433d1 47 float trajectory [10][3] = {{0,0,0},{0.2,0.2,pi/2},{0,0.4,pi},{-0.2,0.2,-pi/2},{0,0},{0.2,-0.2,-pi/2},{0,-0.4,-pi},{-0.2,-0.2,pi/2},{0,0,0}};
Stas285 15:960b922433d1 48
dima285 17:bd6b6ac89e0e 49 bool motion_flag;
dima285 17:bd6b6ac89e0e 50 int delay_counter;
dima285 17:bd6b6ac89e0e 51 int serva_counter;
dima285 17:bd6b6ac89e0e 52