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svoe
Dependencies: mbed mbed-STM32F103C8T6 MPU6050_1
common.h
- Committer:
- dima285
- Date:
- 2019-02-24
- Revision:
- 19:2fe650d29823
- Parent:
- 17:bd6b6ac89e0e
- Child:
- 20:e73f49ba5001
File content as of revision 19:2fe650d29823:
Serial wifi(PA_9, PA_10); Serial sound_out(PB_10, PB_11); Serial sound_in(PA_2, PA_3); VL53L1X glaz(PB_9,PB_8); //USBSerial usb_serial(0x1f00, 0x2012, 0x0001, false); DigitalOut myled(LED1); 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 const t_step = 0.02;//SI realtime step float time_sec; float const g = 9.81;//SI float const pi = 3.1415926535; 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 ppr = 3200;//pulses per revolution struct coord{ float x; //m //vpered float y; //m //vpravo float azimuth; // rad [-pi;+pi] float speed; //m/s float path; //m float omega; //rad/s }; coord current; coord target; float balance_prop = 1.5; float balance_diff = 7; float x_prop = 45;//45; float x_diff = 45;//37; float azimuth_prop = 40;//50; float azimuth_diff = 10;//15; float coord_accuracy = 0.15; bool coord_ready; bool fall_flag; 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}}; bool motion_flag; int delay_counter; int serva_counter; int delay2_counter; int fall_timer; int motion_timeout; int motion_mode; #define stop 0; #define go 1; #define rotate 2;