compAIR/compLIB
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Finish drive distance, finish turn_angle

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Konstantin Lampalzer 2022-05-28 01:09:34 +02:00
parent 92d42be8b8
commit 4be754c1db
10 changed files with 249 additions and 132 deletions
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10
server_v2/include/Robot.hpp
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@ -7,9 +7,9 @@
#define ROBOT_IR_RATE_HZ 250
#define ROBOT_MOTOR_COUNT 4
#define ROBOT_MOTOR_SPEED_CONTROL_KP 2.5
#define ROBOT_MOTOR_SPEED_CONTROL_KI 19.0
#define ROBOT_MOTOR_SPEED_CONTROL_KD 0.07
#define ROBOT_MOTOR_SPEED_CONTROL_KP 8.5
#define ROBOT_MOTOR_SPEED_CONTROL_KI 31.0
#define ROBOT_MOTOR_SPEED_CONTROL_KD 0.085
#define ROBOT_MOTOR_SPEED_CONTROL_RAMP 4 * M_PI
#define ROBOT_MOTOR_SPEED_CONTROL_RATE_HZ 250
@ -31,5 +31,9 @@
#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_ALPHA_P 2.0
#define ROBOT_GO_TO_DISTANCE_VELOCITY_P 5.0
#define ROBOT_GO_TO_DISTANCE_END_M 0.01 // stop approx 1 cm before target
#define ROBOT_GO_TO_ANGLE_END_RAD (0.5 * (M_PI / 180.0)) // stop 0.5 deg before target
#endif //COMPLIB_SERVER_ROBOT_HPP