Christian Burri
This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf
Fork of
autonomous Robot Android
by 
Christian Burri
Diff: StateDefines/defines.h
- Revision:
- 7:34be8b3a979c
- Parent:
- 6:48eeb41188dd
- Child:
- 8:696c2f9dfc62
--- a/StateDefines/defines.h Sat Mar 23 13:52:48 2013 +0000 +++ b/StateDefines/defines.h Tue Mar 26 08:29:43 2013 +0000 @@ -12,9 +12,11 @@ #define PULSES_PER_STEP 6u // Pulses per electrical step Hallsensor, have 6 steps // Physical Dimension of the car -#define WHEEL_RADIUS_LEFT 0.043f // radius of the left wheel, given in [m] -#define WHEEL_RADIUS_RIGHT 0.043f // radius of the left wheel, given in [m] -#define WHEEL_DISTANCE 0.1865f // Distance of the wheel, given in [m] +#define WHEEL_RADIUS_DIFF 0.00054 // positiv zu weit links, given in [m] 0.00059 +#define WHEEL_RADIUS_LEFT 0.03930f // radius of the left wheel, given in [m] 0.03945f +#define WHEEL_RADIUS_RIGHT (WHEEL_RADIUS_LEFT + WHEEL_RADIUS_DIFF) // radius of the left wheel, given in [m] +#define WHEEL_DISTANCE 0.1860f // Distance of the wheel, given in [m] 0.1865f + // State Bits of the car #define STATE_STOP 1u // Bit0 = stop pressed @@ -38,7 +40,7 @@ #define GAIN 0.30f // Main Gain #define K1 1.0f * GAIN #define K2 3.0f * GAIN -#define K3 5.0f * GAIN // deafult 2.0f +#define K3 2.0f * GAIN // deafult 2.0f #define MIN_DISTANCE_ERROR -0.02f // min. Distance to switch the position controller off. Because when Distance Error goes to zero the ATAN2 is not define, given in [m] // LiPo Batterie