Robot
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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
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