Dima Dudin / Mbed 2 deprecated DD_Robot

svoe

Dependencies:   mbed mbed-STM32F103C8T6 MPU6050_1

common.h@15:960b922433d1, 2018-12-01 (annotated)

Committer:
Stas285
Date:
Sat Dec 01 14:25:04 2018 +0000
Revision:
15:960b922433d1
Parent:
14:e12d0fdc3a48
Child:
17:bd6b6ac89e0e
coord_ready

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