Diff: defines.h

Revision:

0:dd126a1080d3

Child:

1:40bdbe1a93b7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/defines.h	Tue Feb 14 05:12:54 2017 +0000
@@ -0,0 +1,68 @@
+
+#ifndef DEFINES_H_INCLUDED
+#define DEFINES_H_INCLUDED
+
+//#####################################################################################\\
+
+#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 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 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 KP              1.0 
+#define KI              0.0002
+#define KD              0.0
+#define ACC_LIMIT       3.0             // Scaled accumulated error limit
+
+#define SMOOTHING_VAL   0.9
+#define PWM_LIMIT       1.0
+
+#define INITIAL_SP      0.0
+#define COARSE_INCR     2000.0
+#define FINE_INCR       1000.0
+#define HAIR_INCR       200.0
+
+#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 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;*/
+
+//#####################################################################################\\
+
+#endif  // End include guard
\ No newline at end of file