Diff: defines.h

Revision:

1:40bdbe1a93b7

Parent:

0:dd126a1080d3

Child:

7:794bd40830c1

--- a/defines.h	Tue Feb 14 05:12:54 2017 +0000
+++ b/defines.h	Fri Jun 22 02:09:50 2018 +0000
@@ -1,67 +1,70 @@
+#ifndef DEFINES_H
+#define DEFINES_H
 
-#ifndef DEFINES_H_INCLUDED
-#define DEFINES_H_INCLUDED
+#include "defines_debug.h"
+#include "defines_pins.h"
 
 //#####################################################################################\\
 
+#define SERIAL_BAUD_RATE   115200
+
 #define N_THRUSTERS     8
 
-#define PID_PERIOD      50.0        // [ms]
-#define LED_PERIOD      50.0        // [ms]
-#define DEBUG_PERIOD    1000.0      // [ms]
-#define THRUST_PERIOD   1000.0      // [ms]
-#define THRUST_PWM_N    10          // Number of PWM steps per PID period
+#define PID_PERIOD      50.0        // [ms] Update period of the PID command
+#define LED_PERIOD      50.0        // [ms] Period of the blinking LED
+#define MEAS_PERIOD     50.0        // [ms] Period at which to publish new velocity measurement
+#define PID_DEBUG_PERIOD 2500.0     // [ms] Period at which to publish PID parameters
+#define THRUST_PERIOD   500.0       // [ms] PWM period of thrusters
+#define THRUST_PWM_N    20.0        // Number of PWM steps per PID period
+#define MOTOR_PWM_PERIOD    0.00005 // 20 kHz
+
+// Parameters for motor encoder
+#define NCREV           64.0        // Number of counts per revolution
+#define SPEED_COUNTS    100         // Number of counts per speed measurement in encoder
+
+#define NGR             18.75       // Gear ratio
+#define V_SMAX          500.0       // [RPM] No-load max shaft speed
+#define M2SEC           60.0        // [sec/min] Conversion
+#define REV2DEG         360.0       // [deg/rev] Conversion
+
+#define V_SMAX_ENF      400.0       // [RPM] Enforced maximum shaft speed
+#define V_SMIN_ENF      0.0         // [RPM] Enforced minimum shaft speed
 
-#define NCREV               64.0        // Number of counts per revolution
-#define NGR                 18.75       // Gear ratio
-#define V_SMAX              500.0       // [RPM] No-load max shaft speed
-#define M2SEC               60.0
-#define MOTOR_PWM_PERIOD    0.00005     // 20 kHz
-#define SPEED_COUNTS        50          // Number of counts per speed measurement in encoder
-#define SCALED_MAX          10000.0     // Number representing maximum motor speed
-#define V_SMAX_ENF          400.0       // [RPM] Enforced maximum shaft speed
-#define V_SMIN_ENF          10.0        // [RPM] Enforced minimum shaft speed
+#define COUNTS2SHAFT    M2SEC/NCREV/NGR   // Counts/sec to shaft speed in RPM
+
+#define R               2.4         // 12 V / 5 A
+#define CURRENT_MAX     5.0         // Stall curent of motor
+#define VOLTAGE_MAX     12.0        // Supply voltage to motor
 
-#define R               2.4                       // 12 V / 5 A
-#define CURRENT_MAX     5.0             // Stall curent of motor
-#define VOLTAGE_MAX     12.0            // Supply voltage to motor
+// Regular PID
+#define KP_INIT         1.0 
+#define KI_INIT         0.0001
+#define KD_INIT         0.0
+#define ACC_LIMIT_INIT  0.0         // Scaled accumulated error limit
 
-#define KP              1.0 
-#define KI              0.0002
-#define KD              0.0
-#define ACC_LIMIT       3.0             // Scaled accumulated error limit
+// PID with feed-foward term
+#define KP_FF_INIT          0.1
+#define KI_FF_INIT          0.00001
+#define KD_FF_INIT          0.0
+#define ACC_LIMIT_FF_INIT   0.0
+#define SLOPE_FF_INIT       0.001704
+#define INTER_FF_INIT       -0.0171
 
 #define SMOOTHING_VAL   0.9
-#define PWM_LIMIT       1.0
+#define PWM_LIMIT       0.7
 
 #define INITIAL_SP      0.0
-#define COARSE_INCR     2000.0
-#define FINE_INCR       1000.0
-#define HAIR_INCR       200.0
+#define COARSE_INCR     50.0
+#define FINE_INCR       25.0
+#define HAIR_INCR       5.0
 
-#define KE_ADJUST       0.75
-#define WAIT_LIMIT      5
-
-#define DEFAULT_BAUD_RATE   115200
-#define DEFAULT_BITS        8
-#define DEFAULT_PARITY      Serial::None
-#define DEFAULT_STOP_BITS   1
+#define KE              VOLTAGE_MAX/(V_SMAX*NGR)
 
-#define SCALE_VELCOUNTS     1000.0*SCALED_MAX*M2SEC/(NCREV*V_SMAX*NGR*VEL_PERIOD)
-#define SCALE_COUNTS        SCALED_MAX*M2SEC/(NCREV*V_SMAX*NGR)
-#define SCALE_VSHAFT        SCALED_MAX/V_SMAX
-#define KE                  VOLTAGE_MAX/(V_SMAX*NGR)
-#define KE_SCALED           VOLTAGE_MAX/SCALED_MAX*KE_ADJUST
-#define SCALED_SMAX_ENF     V_SMAX_ENF*SCALE_VSHAFT
-#define SCALED_SMIN_ENF     V_SMIN_ENF*SCALE_VSHAFT
-
-/*extern const float SCALE_VELCOUNTS = 1000.0*SCALED_MAX*M2SEC/(NCREV*V_SMAX*NGR*VEL_PERIOD);     // Scales motor pulses per velocity period to scaled motor speed (0 to SCALED_MAX)
-extern const float SCALE_COUNTS = SCALED_MAX*M2SEC/(NCREV*V_SMAX*NGR);                          // Scales motor pulses per second to scaled motor speed
-extern const float SCALE_VSHAFT = SCALED_MAX/V_SMAX;
-extern const float KE = VOLTAGE_MAX/(V_SMAX*NGR);      // [V*s/(motor revs)] Motor voltage constant                                 //(60.0/(582.0*NCREV))     // 18.75 gear ratio * 500 RPM / 12 V
-extern const float KE_SCALED = VOLTAGE_MAX/SCALED_MAX*KE_ADJUST;
-extern const float SCALED_SMAX_ENF = V_SMAX_ENF*SCALE_VSHAFT;
-extern const float SCALED_SMIN_ENF = V_SMIN_ENF*SCALE_VSHAFT;*/
+// RGBA LED parameters
+#define MODE_AMBER      false
+#define RGB_LED_PERIOD  50
+#define DEF_CLR_FADE_T  1000
+#define DEF_ALP_FADE_T  1000
 
 //#####################################################################################\\