parameters.hpp

00001 // define constants
00002 const double Pi = 3.141592654f;
00003 
00004 // define logic UI variables which NEED TO BE SET FROM UI
00005 // *** speed wheel
00006 double speedWheelDiameter = 0.300f;     // variable for tractor speed calculation (need to be set from UI) ( Unit= meters )
00007 double speedWheelPulse = 18.0f;          // variable which define the number of pulse each turn of tractor speed wheel (need to be set from UI)
00008 // *** seeding wheel
00009 double seedWheelDiameter = 0.75f;      // seed wheel diameter setting
00010 double seedWheelMotorSteps = 3200.0f;    // seed wheel motor steps without reduction (defined from driver)
00011 double seedWheelRPM=0.0f;               // number of turn per minute of seed wheel
00012 double seedWhellFrequency=0.0f;         // seed wheel frequency which is function of tractor speed
00013 double seedWheelPeriod=0.0f;            // seed wheel pulse period
00014 
00015 double deepOfSeed=0.00f;                // deep of seeding 
00016 double oldSeedWheelPeriod=0.0f;
00017 double pickNumber = 15.0f;               // numero di becchi installati sulla ruota di semina
00018 double cellsNumber = 15.0f;             // numero di celle del tamburo
00019 
00020 double TBmotorSteps = 1600.0f;           // TB wheel motor steps without reduction (defined from driver)
00021 double TBreductionRatio = 1.65625f;      // TB mechanical reduction ratio 
00022 double SDreductionRatio =2.5714f;        // seed wheel machanical reduction ratio
00023 double TBdeltaStep = 0.0f;            // steps of advance for manage tb motor respect sd motor
00024 double K_WheelRPM =0.0f;
00025 double K_WhellFrequency=0.0f;
00026 double K_TBfrequency = 0.0f;
00027 double K_percentuale = 0.0f;
00028 double timeIntraPick = 0.0f;
00029 double teoryTimeIntraPick = 0.0f;
00030 double intraPickDistance = 0.0f;
00031 
00032 uint16_t periodoSD = 1000;
00033 double dcStopDuty = 0.0f;
00034 double dcMinDuty = 0.0f;     // definisce il duty cycle minimo alla partenza (corrisponde alla tensione minima di rotazione)
00035 double dcMaxDuty = 1.0f;     // definisce il duty cycle al massimo della velocità
00036 double dcMinSpeed = 0.65f;
00037 double dcMaxSpeed = 1.00f;
00038 double dcStarting = 0.30f;
00039 double fixedStepGiroSD = 9000.0f;                                  // numero di suddivisioni angolo giro della ruota di semina
00040 double minWorkSpeed=0.138888f;  //metri al secondo pari a 0,5Kmh
00041 double maxWorkSpeed=1.277777f;  //metri al secondo pari a 4.6Kmh
00042 double tabComan[22]={0.25,0.255,0.260,0.265,0.27,0.28,0.3107,0.314,0.34,0.3655,0.391,0.4165,0.4335,0.459,0.51,0.5525,0.595};
00043 double tabSpeed[22]={0.10,0.14,0.19,0.22,0.25,0.28,0.33,0.36,0.41,0.45,0.49,0.55,0.59,0.62,0.75,0.80,0.82};
00044 
00045 double minPosSpeed=0.20f;   // metri/secondo (0,20 = 0,72KmH)
00046 double minSeedSpeed=0.22f;  // attiva il LowSpeed mt/s (0,28 = 1,0KmH)
00047 double speedForCorrection=0.25f;
00048 int cicliAspettaStart = 2;
00049 double avvioGradi=5.0f;
00050 double angoloFase = 7.0f;