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Dependencies:   mbed ros_lib_kinetic

defines.h@7:794bd40830c1, 2021-03-02 (annotated)

Committer:
thomasjlew
Date:
Tue Mar 02 22:49:24 2021 +0000
Revision:
7:794bd40830c1
Parent:
1:40bdbe1a93b7 
Embedded code for RSS 2021 Safe Active Learning submission - increased control frequency / reduced PWM duty cycle.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Knillinux 1:40bdbe1a93b7 1 #ifndef DEFINES_H
Knillinux 1:40bdbe1a93b7 2 #define DEFINES_H
Knillinux 0:dd126a1080d3 3
Knillinux 1:40bdbe1a93b7 4 #include "defines_debug.h"
Knillinux 1:40bdbe1a93b7 5 #include "defines_pins.h"
Knillinux 0:dd126a1080d3 6
Knillinux 0:dd126a1080d3 7 //#####################################################################################\\
Knillinux 0:dd126a1080d3 8
Knillinux 1:40bdbe1a93b7 9 #define SERIAL_BAUD_RATE 115200
Knillinux 1:40bdbe1a93b7 10
Knillinux 0:dd126a1080d3 11 #define N_THRUSTERS 8
Knillinux 0:dd126a1080d3 12
Knillinux 1:40bdbe1a93b7 13 #define PID_PERIOD 50.0 // [ms] Update period of the PID command
Knillinux 1:40bdbe1a93b7 14 #define LED_PERIOD 50.0 // [ms] Period of the blinking LED
Knillinux 1:40bdbe1a93b7 15 #define MEAS_PERIOD 50.0 // [ms] Period at which to publish new velocity measurement
Knillinux 1:40bdbe1a93b7 16 #define PID_DEBUG_PERIOD 2500.0 // [ms] Period at which to publish PID parameters
thomasjlew 7:794bd40830c1 17 #define THRUST_PERIOD 100.0 // [ms] PWM period of thrusters
thomasjlew 7:794bd40830c1 18 #define THRUST_PWM_N 1000.0 // Number of PWM steps per PID period
Knillinux 1:40bdbe1a93b7 19 #define MOTOR_PWM_PERIOD 0.00005 // 20 kHz
Knillinux 1:40bdbe1a93b7 20
Knillinux 1:40bdbe1a93b7 21 // Parameters for motor encoder
Knillinux 1:40bdbe1a93b7 22 #define NCREV 64.0 // Number of counts per revolution
Knillinux 1:40bdbe1a93b7 23 #define SPEED_COUNTS 100 // Number of counts per speed measurement in encoder
Knillinux 1:40bdbe1a93b7 24
Knillinux 1:40bdbe1a93b7 25 #define NGR 18.75 // Gear ratio
Knillinux 1:40bdbe1a93b7 26 #define V_SMAX 500.0 // [RPM] No-load max shaft speed
Knillinux 1:40bdbe1a93b7 27 #define M2SEC 60.0 // [sec/min] Conversion
Knillinux 1:40bdbe1a93b7 28 #define REV2DEG 360.0 // [deg/rev] Conversion
Knillinux 1:40bdbe1a93b7 29
Knillinux 1:40bdbe1a93b7 30 #define V_SMAX_ENF 400.0 // [RPM] Enforced maximum shaft speed
Knillinux 1:40bdbe1a93b7 31 #define V_SMIN_ENF 0.0 // [RPM] Enforced minimum shaft speed
Knillinux 0:dd126a1080d3 32
Knillinux 1:40bdbe1a93b7 33 #define COUNTS2SHAFT M2SEC/NCREV/NGR // Counts/sec to shaft speed in RPM
Knillinux 1:40bdbe1a93b7 34
Knillinux 1:40bdbe1a93b7 35 #define R 2.4 // 12 V / 5 A
Knillinux 1:40bdbe1a93b7 36 #define CURRENT_MAX 5.0 // Stall curent of motor
Knillinux 1:40bdbe1a93b7 37 #define VOLTAGE_MAX 12.0 // Supply voltage to motor
Knillinux 0:dd126a1080d3 38
Knillinux 1:40bdbe1a93b7 39 // Regular PID
Knillinux 1:40bdbe1a93b7 40 #define KP_INIT 1.0
Knillinux 1:40bdbe1a93b7 41 #define KI_INIT 0.0001
Knillinux 1:40bdbe1a93b7 42 #define KD_INIT 0.0
Knillinux 1:40bdbe1a93b7 43 #define ACC_LIMIT_INIT 0.0 // Scaled accumulated error limit
Knillinux 0:dd126a1080d3 44
Knillinux 1:40bdbe1a93b7 45 // PID with feed-foward term
Knillinux 1:40bdbe1a93b7 46 #define KP_FF_INIT 0.1
Knillinux 1:40bdbe1a93b7 47 #define KI_FF_INIT 0.00001
Knillinux 1:40bdbe1a93b7 48 #define KD_FF_INIT 0.0
Knillinux 1:40bdbe1a93b7 49 #define ACC_LIMIT_FF_INIT 0.0
Knillinux 1:40bdbe1a93b7 50 #define SLOPE_FF_INIT 0.001704
Knillinux 1:40bdbe1a93b7 51 #define INTER_FF_INIT -0.0171
Knillinux 0:dd126a1080d3 52
Knillinux 0:dd126a1080d3 53 #define SMOOTHING_VAL 0.9
Knillinux 1:40bdbe1a93b7 54 #define PWM_LIMIT 0.7
Knillinux 0:dd126a1080d3 55
Knillinux 0:dd126a1080d3 56 #define INITIAL_SP 0.0
Knillinux 1:40bdbe1a93b7 57 #define COARSE_INCR 50.0
Knillinux 1:40bdbe1a93b7 58 #define FINE_INCR 25.0
Knillinux 1:40bdbe1a93b7 59 #define HAIR_INCR 5.0
Knillinux 0:dd126a1080d3 60
Knillinux 1:40bdbe1a93b7 61 #define KE VOLTAGE_MAX/(V_SMAX*NGR)
Knillinux 0:dd126a1080d3 62
Knillinux 1:40bdbe1a93b7 63 // RGBA LED parameters
Knillinux 1:40bdbe1a93b7 64 #define MODE_AMBER false
Knillinux 1:40bdbe1a93b7 65 #define RGB_LED_PERIOD 50
Knillinux 1:40bdbe1a93b7 66 #define DEF_CLR_FADE_T 1000
Knillinux 1:40bdbe1a93b7 67 #define DEF_ALP_FADE_T 1000
Knillinux 0:dd126a1080d3 68
Knillinux 0:dd126a1080d3 69 //#####################################################################################\\
Knillinux 0:dd126a1080d3 70
Knillinux 0:dd126a1080d3 71 #endif // End include guard