Diff: common.h

Revision:

12:721a9ea55e91

Parent:

9:8f98b1c277a4

Child:

13:789b451cc27d

--- a/common.h	Sun Oct 14 07:53:07 2018 +0000
+++ b/common.h	Sat Nov 03 11:43:03 2018 +0000
@@ -5,4 +5,33 @@
 DigitalOut test(PB_15); //Test pin for diagnostics and debugging
 int volatile proc_counter; //(3e5 - 2e6 idle, 2e5 - 5e5 at motion) / per 50 mS
 
-float t_step = 0.01;//SI realtime step
\ No newline at end of file
+float const t_step = 0.02;//SI realtime step
+
+float const g= 9.81;//SI
+float const r_wheel = 0.038;//SI
+float const center_mas = 0.022;//SI (ot osi)
+float const mass = 1.3;//SI
+float const m_inert = 5e-3;//SI
+float const half_axis = 0.08;//SI
+float const pi = 3.1415926535;
+float const ppr = 3200;//pulses per revolution
+
+struct coord{
+float x; //m
+float y; //m
+float azimuth; // rad
+float speed; //m/s
+float path; //m
+float angular_speed; //rad/s    
+};
+
+coord current;
+coord target;
+
+float balance_prop = 0.8;
+float balance_diff = 1.2;
+float x_prop = 40;
+float x_diff = 25;
+float azimuth_prop = 0.8;
+float azimuth_diff = 0.65;
+