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:
- 6:48eeb41188dd
- Parent:
- 5:48a258f6335e
- Child:
- 7:34be8b3a979c
--- a/StateDefines/defines.h Thu Mar 21 08:56:53 2013 +0000
+++ b/StateDefines/defines.h Sat Mar 23 13:52:48 2013 +0000
@@ -9,11 +9,12 @@
// maxon motor #339282 EC 45 flat 30W and GEAR
#define POLE_PAIRS 8u // Number of of pole pairs
#define GEAR 1/11.6f // Gear on the motor 1/11.6f
-#define PULSES_PER_STEP 6u // Pulses per step Hallsensor have 6 steps
+#define PULSES_PER_STEP 6u // Pulses per electrical step Hallsensor, have 6 steps
// Physical Dimension of the car
-#define WHEEL_RADIUS 0.043f // radius of the wheel, given in [m]
-#define WHEEL_DISTANCE 0.18f // Distance of the wheel, given in [m]
+#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]
// State Bits of the car
#define STATE_STOP 1u // Bit0 = stop pressed
@@ -37,8 +38,8 @@
#define GAIN 0.30f // Main Gain
#define K1 1.0f * GAIN
#define K2 3.0f * GAIN
-#define K3 2.0f * GAIN
-#define MIN_DISTANCE_ERROR 0.03 // min. Distance to switch the position controller off. Because when Distance Error goes to zero the ATAN2 is not define, given in [m]
+#define K3 5.0f * 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
#define BAT_MULTIPLICATOR 21.633333333f // R2 / (R1 + R2) = 0.153 R2= 10k , R1 = 1.8k 1/0.153 = 6.555 ---> 3.3 * 6.555 = 21.6333333f
@@ -64,7 +65,11 @@
#define COMP_Z_MAX -237.855042f // Maximum Z-Range not used in this side
#define COMP_X_MIN -169.952530f // Minimum X-Range
#define COMP_Y_MIN -247.647675f // Minimum Y-Range
-#define COMP_Z_MIN -385.915009f // Minimun Z-Range not used in this side
+#define COMP_Z_MIN -385.915009f // Minimun Z-Range not used in this side
+
+// Android Buffer Size for communication
+#define OUTL 100
+#define INBL 100
/**
* struct state