Dima Dudin / Mbed 2 deprecated DD_Robot

svoe

Dependencies:   mbed mbed-STM32F103C8T6 MPU6050_1

common.h@14:e12d0fdc3a48, 2018-11-18 (annotated)

Committer:
dima285
Date:
Sun Nov 18 13:33:28 2018 +0000
Revision:
14:e12d0fdc3a48
Parent:
13:789b451cc27d
Child:
15:960b922433d1
12

Who changed what in which revision?

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