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Add goToDistance and goToAngle

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This commit is contained in:
Konstantin Lampalzer 2022-06-07 22:53:49 +02:00
parent 4ee0b8045f
commit 37447298a4
8 changed files with 104 additions and 107 deletions
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13
server_v2/include/Robot.hpp
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@ -19,25 +19,28 @@
#define ROBOT_ODOMETRY_CONTROLLER_LEFT_MULT 1.0
#define ROBOT_ODOMETRY_CONTROLLER_RIGHT_MULT -1.0
#define ROBOT_ENCODER_RATE_HZ 250
#define ROBOT_ENCODER_RATE_HZ 500
#define ROBOT_WHEEL_RADIUS_MM 35.5
#define ROBOT_WHEEL_RADIUS_M (ROBOT_WHEEL_RADIUS_MM / 1000.0)
#define ROBOT_WHEEL_CIRCUMFERENCE_MM (2.0 * ROBOT_WHEEL_RADIUS_MM * M_PI)
#define ROBOT_WHEEL_CIRCUMFERENCE_M (2 * ROBOT_WHEEL_RADIUS_M * M_PI)
#define ROBOT_TICKS_PER_TURN (27.7 * 100.0)
#define ROBOT_TICKS_PER_TURN 2770.0
#define ROBOT_ARBOR_LENGTH_MM 140.0
#define ROBOT_ARBOR_LENGTH_M (ROBOT_ARBOR_LENGTH_MM / 1000.0)
#define ROBOT_TICKS_PER_METER (1000.0 / ROBOT_WHEEL_CIRCUMFERENCE_MM * ROBOT_TICKS_PER_TURN)
#define ROBOT_GO_TO_GOAL_K 0.99 // Between 0.5 and 1
#define ROBOT_GO_TO_DISTANCE_RATE_HZ 200
#define ROBOT_GO_TO_DISTANCE_ALPHA_P 2.0
#define ROBOT_GO_TO_DISTANCE_VELOCITY_P 5.0
#define ROBOT_GO_TO_DISTANCE_VELOCITY_P 4.0
#define ROBOT_GO_TO_DISTANCE_END_M 0.01 // stop approx 1 cm before target
#define ROBOT_GO_TO_DISTANCE_MIN_VEL 0.025
#define ROBOT_GO_TO_ANGLE_END_RAD (0.1 * (M_PI / 180.0)) // stop 0.1 deg before target
#define ROBOT_GO_TO_ANGLE_RATE_HZ 200
#define ROBOT_GO_TO_ANGLE_END_RAD (0.5 * (M_PI / 180.0)) // stop 0.5 deg before target
#define ROBOT_GO_TO_ANGLE_ALPHA_P 0.5
#define ROBOT_GO_TO_ANGLE_MIN_VEL (M_PI / 3.0)
#define ROBOT_GO_TO_ANGLE_MIN_VEL (M_PI / 2.0)
#endif //COMPLIB_SERVER_ROBOT_HPP