Dima Dudin / Mbed 2 deprecated DD_Robot

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Dependencies:   mbed mbed-STM32F103C8T6 MPU6050_1

common.h@20:e73f49ba5001, 2019-03-23 (annotated)

Committer:
dima285
Date:
Sat Mar 23 16:38:44 2019 +0000
Revision:
20:e73f49ba5001
Parent:
19:2fe650d29823
Child:
22:14e85f2068c7
prost

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);
dima285 19:2fe650d29823 6 DigitalOut myled(LED1);
Stas285 1:e2a6e523bf1f 7 DigitalOut test(PB_15); //Test pin for diagnostics and debugging
dima285 19:2fe650d29823 8
Stas285 1:e2a6e523bf1f 9 int volatile proc_counter; //(3e5 - 2e6 idle, 2e5 - 5e5 at motion) / per 50 mS
dima285 9:8f98b1c277a4 10
dima285 12:721a9ea55e91 11 float const t_step = 0.02;//SI realtime step
Stas285 15:960b922433d1 12 float time_sec;
dima285 12:721a9ea55e91 13
Stas285 15:960b922433d1 14 float const g = 9.81;//SI
Stas285 15:960b922433d1 15 float const pi = 3.1415926535;
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
dima285 20:e73f49ba5001 29 float omega; //rad/s
dima285 20:e73f49ba5001 30 float accel;
dima285 20:e73f49ba5001 31 float eps;
dima285 20:e73f49ba5001 32 bool dir;
dima285 12:721a9ea55e91 33 };
dima285 12:721a9ea55e91 34
dima285 12:721a9ea55e91 35 coord current;
dima285 12:721a9ea55e91 36 coord target;
dima285 20:e73f49ba5001 37 coord delta;//odin raz i vse (v analize obstacle)
dima285 20:e73f49ba5001 38 coord max;
dima285 20:e73f49ba5001 39 coord theor;
dima285 12:721a9ea55e91 40
dima285 20:e73f49ba5001 41 //smotri da,max v system.h
dima285 20:e73f49ba5001 42 float da;
dima285 20:e73f49ba5001 43
dima285 20:e73f49ba5001 44 float balance_prop = 1.2;
dima285 13:789b451cc27d 45 float balance_diff = 7;
dima285 20:e73f49ba5001 46 float x_prop = 55;//45;
dima285 20:e73f49ba5001 47 float x_diff = 55;//50;
dima285 20:e73f49ba5001 48 float azimuth_prop = 40;
Stas285 15:960b922433d1 49 float azimuth_diff = 10;//15;
dima285 12:721a9ea55e91 50
dima285 19:2fe650d29823 51 float coord_accuracy = 0.15;
Stas285 15:960b922433d1 52 bool coord_ready;
dima285 13:789b451cc27d 53
Stas285 15:960b922433d1 54 bool fall_flag;
dima285 13:789b451cc27d 55
Stas285 15:960b922433d1 56 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 57
dima285 17:bd6b6ac89e0e 58 bool motion_flag;
dima285 17:bd6b6ac89e0e 59 int delay_counter;
dima285 17:bd6b6ac89e0e 60 int serva_counter;
dima285 19:2fe650d29823 61 int delay2_counter;
dima285 19:2fe650d29823 62 int fall_timer;
dima285 19:2fe650d29823 63 int motion_timeout;
dima285 19:2fe650d29823 64 int motion_mode;
dima285 20:e73f49ba5001 65 #define STOP 0
dima285 20:e73f49ba5001 66 #define GO 2
dima285 20:e73f49ba5001 67 #define ROTATE 1
dima285 20:e73f49ba5001 68
dima285 20:e73f49ba5001 69