Robot

Dependencies:   mbed QEI

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Show/hide line numbers Features.h Source File

Features.h

00001 #ifndef UNTITLED_FEATURES_H
00002 #define UNTITLED_FEATURES_H
00003 #include "mbed.h"
00004     #define DOF 2
00005     int RobotDOF = 2;
00006 
00007 PinName PinSensorA [DOF]={PA_0,PA_1};
00008 PinName PinSensorB [DOF]={PA_2,PA_3};
00009 PinName PinDriver [DOF]={PA_4,PA_5};
00010 float Constraints[DOF*3] = {
00011         // Velocity     Acceleration      Jerk
00012             1,             2,              3,
00013             1,             2,              3
00014 };
00015 
00016 
00017 const float SensorProperties[DOF*4]={
00018         /*  Rank        Factor      Offset      PulsesPerRev*/
00019 /*1*/       0,          0,          0,          0,
00020 /*2*/       0,          0,          0,          0
00021 };
00022 
00023 float dyn_mat [DOF][10]={
00024      //      Ix         Iy         Iz              Ixy        Ixz       Iyz   mx               my        mz     mass
00025         {0.0056F,    0.0150F,   0.0150F,         1,        3,          2,   -0.8200F,         0,          0,           2},
00026         {0.0028F,    0.0056F,   0.0056F,         0,         0,         0,   -0.1950F,         0,          0,           1}
00027 };
00028 float  ToolMatrix[4][4]={
00029         {1,     2,      3,      10},
00030         {4,     5,      6,      11}
00031 };
00032 float  BaseMatrix[4][4]={
00033         {1,     2,      3,      10},
00034         {4,     5,      6,      11}
00035 };
00036 
00037 const float DH_Table[DOF*4]={
00038         /*      theta       alpha       d              a */
00039         0,          1.5708F,      0,           0,
00040         0,               0,       0,         0.3000F
00041 };
00042 
00043 const float MotorParam[DOF*5]={
00044         /*  KA      KM      Scale       Offset      MaxTorque*/
00045         0,      0,      0,          0,          0,
00046         0,      0,      0,          0,          0
00047 };
00048 
00049 const float ControlGain[DOF*3]={
00050         /*  KP          KD          KI*/
00051 /*1*/       0,          0,          0,
00052 /*2*/       0,          0,          0
00053 };
00054 
00055 
00056 const float LinkLenght[DOF]={2,2};
00057 
00058 
00059 #endif //UNTITLED_FEATURES_H