27 lines
No EOL
782 B
C++
27 lines
No EOL
782 B
C++
#ifndef COMPLIB_SERVER_ROBOT_HPP
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#define COMPLIB_SERVER_ROBOT_HPP
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#define PI 3.14159265359L
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#define WHEEL_CIRCUMFERENCE_MM (71.0L * PI)
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#define TICKS_PER_TURN (27.7L * 100.0L)
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#define ARBOR_LENGTH_MM 139.0L
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#define ARBOR_LENGTH_M (ARBOR_LENGTH_MM / 1000.0L)
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#define TICKS_PER_METER (1000.0L / WHEEL_CIRCUMFERENCE_MM * TICKS_PER_TURN)
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#define MOTOR_COUNT 4
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#define MAX_MOTOR_SPEED 65535
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#define MOTOR_MAX_DELTA_TIME_S 0.1L
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#define MOTOR_FILTER_ALPHA 0.05L
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#define MOTOR_FILTER_RESET_DELAY_US (1000 * 10)
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#define MOTOR_SPEED_CONTROL_RESET_DELAY_S 0.01L
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#define MOTOR_SPEED_CONTROL_LOOP_HZ 150
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#define MOTOR_SPEED_CONTROL_KP 0.5L
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#define MOTOR_SPEED_CONTROL_KI 5.0L
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#define MOTOR_SPEED_CONTROL_KD 0.025L
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#define LEFT_PORT 3
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#define RIGHT_PORT 0
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#endif // COMPLIB_SERVER_ROBOT_HPP
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