compAIR/compLIB
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Change RPM to M/S

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This commit is contained in:
Konstantin Lampalzer 2022-05-26 18:55:57 +02:00
parent a484bc2137
commit 6a1ac72912
7 changed files with 111 additions and 15 deletions
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9
server_v2/include/Robot.hpp
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@ -7,10 +7,10 @@
#define ROBOT_IR_RATE_HZ 250
#define ROBOT_MOTOR_COUNT 4
#define ROBOT_MOTOR_SPEED_CONTROL_KP 0.5
#define ROBOT_MOTOR_SPEED_CONTROL_KI 5.0
#define ROBOT_MOTOR_SPEED_CONTROL_KD 0.025
#define ROBOT_MOTOR_SPEED_CONTROL_RAMP 100.0
#define ROBOT_MOTOR_SPEED_CONTROL_KP 222.0
#define ROBOT_MOTOR_SPEED_CONTROL_KI 2110.0
#define ROBOT_MOTOR_SPEED_CONTROL_KD 2.22
#define ROBOT_MOTOR_SPEED_CONTROL_RAMP 0.2
#define ROBOT_MOTOR_SPEED_CONTROL_RATE_HZ 250
#define ROBOT_ODOMETRY_CONTROLLER_RATE_HZ 250
@ -22,6 +22,7 @@
#define ROBOT_ENCODER_RATE_HZ 250
#define ROBOT_WHEEL_CIRCUMFERENCE_MM (71.0 * M_PI)
#define ROBOT_WHEEL_CIRCUMFERENCE_M (ROBOT_WHEEL_CIRCUMFERENCE_MM / 1000.0)
#define ROBOT_TICKS_PER_TURN (27.7 * 100.0)
#define ROBOT_ARBOR_LENGTH_MM 139.0
#define ROBOT_ARBOR_LENGTH_M (ROBOT_ARBOR_LENGTH_MM / 1000.0)