compAIR/compLIB
compAIR/compLIB
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Add encoder with filter

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root 2022-03-20 21:21:54 +00:00
parent 5ecf92426a
commit 8537e8504b
60 changed files with 593 additions and 8208 deletions
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22
server/include/robot.hpp Normal file
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#ifndef COMPLIB_SERVER_ROBOT_HPP
#define COMPLIB_SERVER_ROBOT_HPP
#define PI 3.14159265359L
#define WHEEL_CIRCUMFERENCE_MM (71.0L * PI)
#define TICKS_PER_TURN (27.7L * 100.0L)
#define ARBOR_LENGTH_MM 139.0L
#define ARBOR_LENGTH_M (ARBOR_LENGTH_MM / 1000.0L)
#define TICKS_PER_METER (1000.0L / WHEEL_CIRCUMFERENCE_MM * TICKS_PER_TURN)
#define MOTOR_COUNT 4
#define MAX_MOTOR_SPEED 65535
#define MOTOR_MAX_DELTA_TIME_S 0.1L
#define MOTOR_FILTER_ALPHA 0.05L
#define MOTOR_FILTER_RESET_DELAY_US (1000 * 10)
#define LEFT_PORT 3
#define RIGHT_PORT 0
#endif // COMPLIB_SERVER_ROBOT_HPP