Francesco Pistone
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FORIGO_Modula_V4_R5_DoubleEnc_2019
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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 = 10.0f; // 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 seedWheelPeriodTeory=0.0f; 00014 double seedWheelPeriod=0.0f; // seed wheel pulse period 00015 00016 double deepOfSeed=0.00f; // deep of seeding 00017 double oldSeedWheelPeriod=0.0f; 00018 double pickNumber = 12.0f; // numero di becchi installati sulla ruota di semina 00019 double cellsNumber = 15.0f; // numero di celle del tamburo 00020 00021 double TBmotorSteps = 1600.0f; // TB wheel motor steps without reduction (defined from driver) 00022 double TBreductionRatio = 1.65625f; // TB mechanical reduction ratio 00023 double SDreductionRatio =2.5714f; // seed wheel machanical reduction ratio 00024 double TBdeltaStep = 0.0f; // steps of advance for manage tb motor respect sd motor 00025 double K_WheelRPM =0.0f; 00026 double K_WhellFrequency=0.0f; 00027 double K_TBfrequency = 0.0f; 00028 double K_percentuale = 0.0f; 00029 double timeIntraPick = 0.0f; 00030 double teoryTimeIntraPick = 0.0f; 00031 double intraPickDistance = 0.0f; 00032 00033 uint8_t quinconceActive=0; 00034 00035 uint16_t periodoSD = 1000; 00036 double dcStopDuty = 0.0f; 00037 double dcMinDuty = 0.0f; // definisce il duty cycle minimo alla partenza (corrisponde alla tensione minima di rotazione) 00038 double dcMaxDuty = 1.0f; // definisce il duty cycle al massimo della velocità 00039 double dcMinSpeed = 0.65f; 00040 double dcMaxSpeed = 1.00f; 00041 double dcStarting = 0.30f; 00042 double fixedStepGiroSD = 9000.0f; // numero di suddivisioni angolo giro della ruota di semina 00043 double minWorkSpeed=0.138888f; //metri al secondo pari a 0,5Kmh 00044 double maxWorkSpeed=1.277777f; //metri al secondo pari a 4.6Kmh 00045 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}; 00046 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}; 00047 00048 double minPosSpeed=0.20f; // metri/secondo (0,20 = 0,72KmH) 00049 double minSeedSpeed=0.22f; // attiva il LowSpeed mt/s (0,28 = 1,0KmH) 00050 double speedForCorrection=0.25f; 00051 int cicliAspettaStart = 2; 00052 double arcoHole= 0.031186f; // in metri 00053 double arcoBecco = 0.0581f; 00054 double avvioGradi=5.0f; 00055 double anticipoMax = 0.0f; 00056 double angoloFase = 7.0f;
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