added serial up, down, left and right control
Fork of Robot_a_cables_v3_5 by
parameters.h@11:0fa23c2dab76, 2018-06-05 (annotated)
- Committer:
- unslaad
- Date:
- Tue Jun 05 07:24:15 2018 +0000
- Revision:
- 11:0fa23c2dab76
- Parent:
- 10:fb3542f3c5e6
added serial up, down, left and right control
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
protongamer | 10:fb3542f3c5e6 | 1 | //Parameters of the robot |
protongamer | 10:fb3542f3c5e6 | 2 | //includes CANopen codes and robot parameters |
protongamer | 3:86e21a36eecb | 3 | |
protongamer | 3:86e21a36eecb | 4 | |
protongamer | 10:fb3542f3c5e6 | 5 | /* |
protongamer | 10:fb3542f3c5e6 | 6 | Here is the list of the CANopen Codes to sent to the motor driver |
protongamer | 10:fb3542f3c5e6 | 7 | There identifiers and word code |
protongamer | 10:fb3542f3c5e6 | 8 | These parameters can be changed |
protongamer | 3:86e21a36eecb | 9 | */ |
protongamer | 3:86e21a36eecb | 10 | |
protongamer | 3:86e21a36eecb | 11 | |
protongamer | 3:86e21a36eecb | 12 | //Identifier Codes |
protongamer | 3:86e21a36eecb | 13 | |
protongamer | 3:86e21a36eecb | 14 | /* |
protongamer | 3:86e21a36eecb | 15 | To set right value for: |
protongamer | 3:86e21a36eecb | 16 | RPDO1 => 0x200 + ID |
protongamer | 3:86e21a36eecb | 17 | RPDO2 => 0x300 + ID |
protongamer | 3:86e21a36eecb | 18 | RPDO3 => 0x400 + ID |
protongamer | 3:86e21a36eecb | 19 | RPDO4 => 0x500 + ID |
protongamer | 3:86e21a36eecb | 20 | TPDO1 => 0x180 + ID |
protongamer | 3:86e21a36eecb | 21 | TPDO2 => 0x280 + ID |
protongamer | 3:86e21a36eecb | 22 | TPDO3 => 0x380 + ID |
protongamer | 3:86e21a36eecb | 23 | TPDO4 => 0x480 + ID |
protongamer | 3:86e21a36eecb | 24 | */ |
protongamer | 3:86e21a36eecb | 25 | |
protongamer | 3:86e21a36eecb | 26 | |
protongamer | 3:86e21a36eecb | 27 | #define INITOP 0x00 |
protongamer | 3:86e21a36eecb | 28 | #define RPDO1_R 0x215 |
protongamer | 3:86e21a36eecb | 29 | #define RPDO2_R 0x315 |
protongamer | 3:86e21a36eecb | 30 | #define RPDO3_R 0x415 |
protongamer | 3:86e21a36eecb | 31 | #define RPDO4_R 0x515 |
protongamer | 3:86e21a36eecb | 32 | #define TPDO1_R 0x195 |
protongamer | 3:86e21a36eecb | 33 | #define TPDO2_R 0x295 |
protongamer | 3:86e21a36eecb | 34 | #define TPDO3_R 0x395 |
protongamer | 3:86e21a36eecb | 35 | #define TPDO4_R 0x495 |
protongamer | 3:86e21a36eecb | 36 | #define RPDO1_L 0x220 |
protongamer | 3:86e21a36eecb | 37 | #define RPDO2_L 0x320 |
protongamer | 3:86e21a36eecb | 38 | #define RPDO3_L 0x420 |
protongamer | 3:86e21a36eecb | 39 | #define RPDO4_L 0x520 |
protongamer | 3:86e21a36eecb | 40 | #define TPDO1_L 0x1A0 |
protongamer | 3:86e21a36eecb | 41 | #define TPDO2_L 0x2A0 |
protongamer | 3:86e21a36eecb | 42 | #define TPDO3_L 0x3A0 |
protongamer | 3:86e21a36eecb | 43 | #define TPDO4_L 0x4A0 |
protongamer | 3:86e21a36eecb | 44 | |
protongamer | 3:86e21a36eecb | 45 | |
protongamer | 3:86e21a36eecb | 46 | |
protongamer | 10:fb3542f3c5e6 | 47 | |
protongamer | 3:86e21a36eecb | 48 | |
protongamer | 10:fb3542f3c5e6 | 49 | //Driver adresses for operational mode |
protongamer | 10:fb3542f3c5e6 | 50 | //Example : DRIVER_R1 = 0x01 DRIVER_R2= 0x15 ----> Code must be sent = DRIVER_R1 + DRIVER_R2 = 0x0115 |
protongamer | 10:fb3542f3c5e6 | 51 | |
protongamer | 3:86e21a36eecb | 52 | #define DRIVER_R1 0x01 |
protongamer | 3:86e21a36eecb | 53 | #define DRIVER_R2 0x15 |
protongamer | 3:86e21a36eecb | 54 | #define DRIVER_L1 0x01 |
protongamer | 3:86e21a36eecb | 55 | #define DRIVER_L2 0x20 |
protongamer | 6:ffffa9dfadfc | 56 | |
protongamer | 6:ffffa9dfadfc | 57 | |
protongamer | 6:ffffa9dfadfc | 58 | |
protongamer | 6:ffffa9dfadfc | 59 | |
protongamer | 6:ffffa9dfadfc | 60 | |
protongamer | 6:ffffa9dfadfc | 61 | //Robot setup |
protongamer | 10:fb3542f3c5e6 | 62 | |
protongamer | 10:fb3542f3c5e6 | 63 | //Here is the configuration of the robot |
protongamer | 10:fb3542f3c5e6 | 64 | //These value can be changed |
protongamer | 10:fb3542f3c5e6 | 65 | |
protongamer | 6:ffffa9dfadfc | 66 | |
protongamer | 6:ffffa9dfadfc | 67 | //Length from motors to cursor in millimeters(mm) when the origin is taken |
protongamer | 10:fb3542f3c5e6 | 68 | |
protongamer | 6:ffffa9dfadfc | 69 | //Left motor to cursor |
protongamer | 10:fb3542f3c5e6 | 70 | #define LENGTH_L1_PO 740 |
protongamer | 10:fb3542f3c5e6 | 71 | |
protongamer | 7:e87feff62bfd | 72 | //Right motor to cursor |
protongamer | 10:fb3542f3c5e6 | 73 | #define LENGTH_L2_PO 740 |
protongamer | 10:fb3542f3c5e6 | 74 | |
protongamer | 7:e87feff62bfd | 75 | //Left motor to Right motor |
protongamer | 9:0f63d4cb5613 | 76 | #define LENGTH_MOTOR 1000 |
protongamer | 10:fb3542f3c5e6 | 77 | |
protongamer | 10:fb3542f3c5e6 | 78 | //Max velocity for normal mode |
protongamer | 10:fb3542f3c5e6 | 79 | #define ALPHA 425000 |
protongamer | 10:fb3542f3c5e6 | 80 | |
protongamer | 10:fb3542f3c5e6 | 81 | //Number of counters for 1 millimeters |
protongamer | 10:fb3542f3c5e6 | 82 | #define REFERENCE 2545 |
protongamer | 10:fb3542f3c5e6 | 83 | |
protongamer | 10:fb3542f3c5e6 | 84 | |
protongamer | 10:fb3542f3c5e6 | 85 | |
protongamer | 10:fb3542f3c5e6 | 86 | |
protongamer | 10:fb3542f3c5e6 | 87 | /*Here is the default values |
protongamer | 10:fb3542f3c5e6 | 88 | |
protongamer | 10:fb3542f3c5e6 | 89 | |
protongamer | 10:fb3542f3c5e6 | 90 | //Identifier Codes |
protongamer | 10:fb3542f3c5e6 | 91 | |
protongamer | 10:fb3542f3c5e6 | 92 | #define INITOP 0x00 |
protongamer | 10:fb3542f3c5e6 | 93 | #define RPDO1_R 0x215 |
protongamer | 10:fb3542f3c5e6 | 94 | #define RPDO2_R 0x315 |
protongamer | 10:fb3542f3c5e6 | 95 | #define RPDO3_R 0x415 |
protongamer | 10:fb3542f3c5e6 | 96 | #define RPDO4_R 0x515 |
protongamer | 10:fb3542f3c5e6 | 97 | #define TPDO1_R 0x195 |
protongamer | 10:fb3542f3c5e6 | 98 | #define TPDO2_R 0x295 |
protongamer | 10:fb3542f3c5e6 | 99 | #define TPDO3_R 0x395 |
protongamer | 10:fb3542f3c5e6 | 100 | #define TPDO4_R 0x495 |
protongamer | 10:fb3542f3c5e6 | 101 | #define RPDO1_L 0x220 |
protongamer | 10:fb3542f3c5e6 | 102 | #define RPDO2_L 0x320 |
protongamer | 10:fb3542f3c5e6 | 103 | #define RPDO3_L 0x420 |
protongamer | 10:fb3542f3c5e6 | 104 | #define RPDO4_L 0x520 |
protongamer | 10:fb3542f3c5e6 | 105 | #define TPDO1_L 0x1A0 |
protongamer | 10:fb3542f3c5e6 | 106 | #define TPDO2_L 0x2A0 |
protongamer | 10:fb3542f3c5e6 | 107 | #define TPDO3_L 0x3A0 |
protongamer | 10:fb3542f3c5e6 | 108 | #define TPDO4_L 0x4A0 |
protongamer | 10:fb3542f3c5e6 | 109 | |
protongamer | 10:fb3542f3c5e6 | 110 | |
protongamer | 10:fb3542f3c5e6 | 111 | //Driver adresses for operational mode |
protongamer | 10:fb3542f3c5e6 | 112 | //Example : DRIVER_R1 = 0x01 DRIVER_R2= 0x15 ----> Code must be sent = DRIVER_R1 + DRIVER_R2 = 0x0115 |
protongamer | 10:fb3542f3c5e6 | 113 | |
protongamer | 10:fb3542f3c5e6 | 114 | #define DRIVER11 0x01 |
protongamer | 10:fb3542f3c5e6 | 115 | #define DRIVER12 0x15 |
protongamer | 10:fb3542f3c5e6 | 116 | #define DRIVER21 0x01 |
protongamer | 10:fb3542f3c5e6 | 117 | #define DRIVER22 0x20 |
protongamer | 10:fb3542f3c5e6 | 118 | |
protongamer | 10:fb3542f3c5e6 | 119 | |
protongamer | 10:fb3542f3c5e6 | 120 | |
protongamer | 10:fb3542f3c5e6 | 121 | //Robot setup |
protongamer | 10:fb3542f3c5e6 | 122 | |
protongamer | 10:fb3542f3c5e6 | 123 | //Here is the configuration of the robot |
protongamer | 10:fb3542f3c5e6 | 124 | //These value can be changed |
protongamer | 10:fb3542f3c5e6 | 125 | |
protongamer | 10:fb3542f3c5e6 | 126 | |
protongamer | 10:fb3542f3c5e6 | 127 | //Length from motors to cursor in millimeters(mm) when the origin is taken |
protongamer | 10:fb3542f3c5e6 | 128 | |
protongamer | 10:fb3542f3c5e6 | 129 | //Left motor to cursor |
protongamer | 10:fb3542f3c5e6 | 130 | #define LENGTH_L1_PO 740 |
protongamer | 10:fb3542f3c5e6 | 131 | |
protongamer | 10:fb3542f3c5e6 | 132 | //Right motor to cursor |
protongamer | 10:fb3542f3c5e6 | 133 | #define LENGTH_L2_PO 740 |
protongamer | 10:fb3542f3c5e6 | 134 | |
protongamer | 10:fb3542f3c5e6 | 135 | //Left motor to Right motor |
protongamer | 10:fb3542f3c5e6 | 136 | #define LENGTH_MOTOR 1000 |
protongamer | 10:fb3542f3c5e6 | 137 | |
protongamer | 10:fb3542f3c5e6 | 138 | //Max velocity for normal mode |
protongamer | 10:fb3542f3c5e6 | 139 | #define ALPHA 425000 |
protongamer | 10:fb3542f3c5e6 | 140 | |
protongamer | 10:fb3542f3c5e6 | 141 | //Number of counters for 1 millimeters |
protongamer | 10:fb3542f3c5e6 | 142 | #define REFERENCE 2545 |
protongamer | 10:fb3542f3c5e6 | 143 | |
protongamer | 10:fb3542f3c5e6 | 144 | |
protongamer | 10:fb3542f3c5e6 | 145 | |
protongamer | 10:fb3542f3c5e6 | 146 | |
protongamer | 10:fb3542f3c5e6 | 147 | */ |
protongamer | 10:fb3542f3c5e6 | 148 | |
protongamer | 10:fb3542f3c5e6 | 149 | |
protongamer | 10:fb3542f3c5e6 | 150 | |
protongamer | 10:fb3542f3c5e6 | 151 | |
protongamer | 10:fb3542f3c5e6 | 152 | |
protongamer | 10:fb3542f3c5e6 | 153 | |
protongamer | 10:fb3542f3c5e6 | 154 | |
protongamer | 10:fb3542f3c5e6 | 155 |