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cvra_param_robot.h
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cvra_param_robot.h
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/*
* cvra_param_robot.h
*
* Created on: 10 avr. 2012
* Author: Flopy
*/
#ifndef CVRA_PARAM_ROBOT_H_
#define CVRA_PARAM_ROBOT_H_
//*******************************************************************************************
// ROBOT
//*******************************************************************************************
// *********************************************
// PID
// *********************************************
#define ROBOT_PID_WHEEL0_P 80
#define ROBOT_PID_WHEEL0_I 0
#define ROBOT_PID_WHEEL0_D 50
#define ROBOT_PID_WHEEL1_P 80
#define ROBOT_PID_WHEEL1_I 0
#define ROBOT_PID_WHEEL1_D 50
#define ROBOT_PID_WHEEL2_P 80
#define ROBOT_PID_WHEEL2_I 0
#define ROBOT_PID_WHEEL2_D 50
// *********************************************
// Dimensions
// *********************************************
#define ROBOT_RADIUS_WHEEL0_MM 18.5
#define ROBOT_RADIUS_WHEEL1_MM 18.5
#define ROBOT_RADIUS_WHEEL2_MM 18.5
#define ROBOT_DISTANCE_WHEEL0_MM 77.75
#define ROBOT_DISTANCE_WHEEL1_MM 77.75
#define ROBOT_DISTANCE_WHEEL2_MM 77.75
#define ROBOT_WHEEL_THICKNESS0_MM 12.5
#define ROBOT_WHEEL_THICKNESS1_MM 12.5
#define ROBOT_WHEEL_THICKNESS2_MM 12.5
#define ROBOT_BETA_WHEEL0_RAD (60.0*M_PI/180.0)
#define ROBOT_BETA_WHEEL1_RAD (180.0*M_PI/180.0)
#define ROBOT_BETA_WHEEL2_RAD (300.0*M_PI/180.0)
#define ROBOT_ENCODER_RESOLUTION 16384
#define ROBOT_INDEX_OFFSET0 4876
#define ROBOT_INDEX_OFFSET1 4195
#define ROBOT_INDEX_OFFSET2 2601
// *********************************************
// Blocage
// *********************************************
//#define ROBOT_ANGLE_BD 10000
//#define ROBOT_DIST_BD 5000
// *********************************************
// Vitesse/Accélérations
// *********************************************
//#define ROBOT_DIST_SPEED_FAST 500 // MM PAR S
//#define ROBOT_DIST_SPEED_SLOW 300
//#define ROBOT_ANGL_SPEED_FAST 300 // DEG PAR S
//#define ROBOT_ANGL_SPEED_SLOW 100
//#define ROBOT_DIST_ACC 8 // MM PAR S^2
//#define ROBOT_ANGL_ACC 1 // DEG PAR S^2 // 4 normalement
//#define NB_COINS 38
//#define NB_LINGOT 7
//#define NB_POS_PRISE 4
#define TABLE_X_MM 3000
#define TABLE_Y_MM 2000
#endif /* CVRA_PARAM_ROBOT_H_ */