Francesco Pistone / Mbed 2 deprecated FORIGO_Modula_V4_R5_DoubleEnc_2019

new_2019

Dependencies:   mbed CANMsg

parameters.hpp@4:8c64ea251890, 2019-01-31 (annotated)

Committer:
francescopistone
Date:
Thu Jan 31 07:32:31 2019 +0000
Branch:
BOX_ARGENTO_2019
Revision:
4:8c64ea251890
Parent:
3:36da019e6bb6 
BOX_ARGENTO_2019

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nerit 3:36da019e6bb6 1 // define constants
nerit 3:36da019e6bb6 2 const double Pi = 3.141592654f;
nerit 3:36da019e6bb6 3
nerit 3:36da019e6bb6 4 // define logic UI variables which NEED TO BE SET FROM UI
nerit 3:36da019e6bb6 5 // *** speed wheel
nerit 3:36da019e6bb6 6 double speedWheelDiameter = 0.300f; // variable for tractor speed calculation (need to be set from UI) ( Unit= meters )
nerit 3:36da019e6bb6 7 double speedWheelPulse = 10.0f; // variable which define the number of pulse each turn of tractor speed wheel (need to be set from UI)
nerit 3:36da019e6bb6 8 // *** seeding wheel
nerit 3:36da019e6bb6 9 double seedWheelDiameter = 0.75f; // seed wheel diameter setting
nerit 3:36da019e6bb6 10 double seedWheelMotorSteps = 3200.0f; // seed wheel motor steps without reduction (defined from driver)
nerit 3:36da019e6bb6 11 double seedWheelRPM=0.0f; // number of turn per minute of seed wheel
nerit 3:36da019e6bb6 12 double seedWhellFrequency=0.0f; // seed wheel frequency which is function of tractor speed
nerit 3:36da019e6bb6 13 double seedWheelPeriodTeory=0.0f;
nerit 3:36da019e6bb6 14 double seedWheelPeriod=0.0f; // seed wheel pulse period
nerit 3:36da019e6bb6 15
nerit 3:36da019e6bb6 16 double deepOfSeed=0.00f; // deep of seeding
nerit 3:36da019e6bb6 17 double oldSeedWheelPeriod=0.0f;
nerit 3:36da019e6bb6 18 double pickNumber = 12.0f; // numero di becchi installati sulla ruota di semina
nerit 3:36da019e6bb6 19 double cellsNumber = 15.0f; // numero di celle del tamburo
nerit 3:36da019e6bb6 20
nerit 3:36da019e6bb6 21 double TBmotorSteps = 1600.0f; // TB wheel motor steps without reduction (defined from driver)
nerit 3:36da019e6bb6 22 double TBreductionRatio = 1.65625f; // TB mechanical reduction ratio
nerit 3:36da019e6bb6 23 double SDreductionRatio =2.5714f; // seed wheel machanical reduction ratio
nerit 3:36da019e6bb6 24 double TBdeltaStep = 0.0f; // steps of advance for manage tb motor respect sd motor
nerit 3:36da019e6bb6 25 double K_WheelRPM =0.0f;
nerit 3:36da019e6bb6 26 double K_WhellFrequency=0.0f;
nerit 3:36da019e6bb6 27 double K_TBfrequency = 0.0f;
nerit 3:36da019e6bb6 28 double K_percentuale = 0.0f;
nerit 3:36da019e6bb6 29 double timeIntraPick = 0.0f;
nerit 3:36da019e6bb6 30 double teoryTimeIntraPick = 0.0f;
nerit 3:36da019e6bb6 31 double intraPickDistance = 0.0f;
nerit 3:36da019e6bb6 32
nerit 3:36da019e6bb6 33 uint8_t quinconceActive=0;
nerit 3:36da019e6bb6 34
nerit 3:36da019e6bb6 35 uint16_t periodoSD = 1000;
nerit 3:36da019e6bb6 36 double dcStopDuty = 0.0f;
nerit 3:36da019e6bb6 37 double dcMinDuty = 0.0f; // definisce il duty cycle minimo alla partenza (corrisponde alla tensione minima di rotazione)
nerit 3:36da019e6bb6 38 double dcMaxDuty = 1.0f; // definisce il duty cycle al massimo della velocità
nerit 3:36da019e6bb6 39 double dcMinSpeed = 0.65f;
nerit 3:36da019e6bb6 40 double dcMaxSpeed = 1.00f;
nerit 3:36da019e6bb6 41 double dcStarting = 0.30f;
nerit 3:36da019e6bb6 42 double fixedStepGiroSD = 9000.0f; // numero di suddivisioni angolo giro della ruota di semina
nerit 3:36da019e6bb6 43 double minWorkSpeed=0.138888f; //metri al secondo pari a 0,5Kmh
nerit 3:36da019e6bb6 44 double maxWorkSpeed=1.277777f; //metri al secondo pari a 4.6Kmh
nerit 3:36da019e6bb6 45 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};
nerit 3:36da019e6bb6 46 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};
nerit 3:36da019e6bb6 47
nerit 3:36da019e6bb6 48 double minPosSpeed=0.20f; // metri/secondo (0,20 = 0,72KmH)
nerit 3:36da019e6bb6 49 double minSeedSpeed=0.22f; // attiva il LowSpeed mt/s (0,28 = 1,0KmH)
nerit 3:36da019e6bb6 50 double speedForCorrection=0.25f;
nerit 3:36da019e6bb6 51 int cicliAspettaStart = 2;
nerit 3:36da019e6bb6 52 double arcoHole= 0.031186f; // in metri
nerit 3:36da019e6bb6 53 double arcoBecco = 0.0581f;
nerit 3:36da019e6bb6 54 double avvioGradi=5.0f;
nerit 3:36da019e6bb6 55 double anticipoMax = 0.0f;
nerit 3:36da019e6bb6 56 double angoloFase = 7.0f;