31 lines
987 B
C++
31 lines
987 B
C++
#ifndef COMPLIB_SERVER_ROBOT_HPP
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#define COMPLIB_SERVER_ROBOT_HPP
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#include <cmath>
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#define ROBOT_IR_SENSOR_COUNT 5
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#define ROBOT_IR_RATE_HZ 250
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#define ROBOT_MOTOR_COUNT 4
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#define ROBOT_MOTOR_SPEED_CONTROL_KP 0.5
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#define ROBOT_MOTOR_SPEED_CONTROL_KI 5.0
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#define ROBOT_MOTOR_SPEED_CONTROL_KD 0.025
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#define ROBOT_MOTOR_SPEED_CONTROL_RAMP 100.0
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#define ROBOT_MOTOR_SPEED_CONTROL_RATE_HZ 250
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#define ROBOT_ODOMETRY_CONTROLLER_RATE_HZ 250
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#define ROBOT_ODOMETRY_CONTROLLER_LEFT_PORT 3
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#define ROBOT_ODOMETRY_CONTROLLER_RIGHT_PORT 0
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#define ROBOT_ODOMETRY_CONTROLLER_LEFT_MULT 1.0
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#define ROBOT_ODOMETRY_CONTROLLER_RIGHT_MULT -1.0
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#define ROBOT_ENCODER_RATE_HZ 250
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#define ROBOT_WHEEL_CIRCUMFERENCE_MM (71.0 * M_PI)
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#define ROBOT_TICKS_PER_TURN (27.7 * 100.0)
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#define ROBOT_ARBOR_LENGTH_MM 139.0
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#define ROBOT_ARBOR_LENGTH_M (ROBOT_ARBOR_LENGTH_MM / 1000.0)
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#define ROBOT_TICKS_PER_METER (1000.0 / ROBOT_WHEEL_CIRCUMFERENCE_MM * ROBOT_TICKS_PER_TURN)
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#endif //COMPLIB_SERVER_ROBOT_HPP
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