compAIR/compLIB
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Continue on go to goal behaviour

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This commit is contained in:
Konstantin Lampalzer 2022-05-27 02:44:52 +02:00
parent 6a1ac72912
commit 92d42be8b8
13 changed files with 161 additions and 35 deletions
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15
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 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_KP 2.5
#define ROBOT_MOTOR_SPEED_CONTROL_KI 19.0
#define ROBOT_MOTOR_SPEED_CONTROL_KD 0.07
#define ROBOT_MOTOR_SPEED_CONTROL_RAMP 4 * M_PI
#define ROBOT_MOTOR_SPEED_CONTROL_RATE_HZ 250
#define ROBOT_ODOMETRY_CONTROLLER_RATE_HZ 250
@ -21,12 +21,15 @@
#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_WHEEL_RADIUS_MM 35.5
#define ROBOT_WHEEL_RADIUS_M (ROBOT_WHEEL_RADIUS_MM / 1000.0)
#define ROBOT_WHEEL_CIRCUMFERENCE_MM (2 * 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_ARBOR_LENGTH_MM 139.0
#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
#endif //COMPLIB_SERVER_ROBOT_HPP