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:
- 8:696c2f9dfc62
- Parent:
- 7:34be8b3a979c
- Child:
- 9:d3cdcdef9719
--- a/StateDefines/defines.h Tue Mar 26 08:29:43 2013 +0000
+++ b/StateDefines/defines.h Sat Mar 30 06:55:08 2013 +0000
@@ -12,11 +12,10 @@
#define PULSES_PER_STEP 6u // Pulses per electrical step Hallsensor, have 6 steps
// Physical Dimension of the car
-#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
-
+#define WHEEL_RADIUS_DIFF -0.00015f // positiv zu weit rechts, given in [m]
+#define WHEEL_RADIUS_LEFT 0.040280f // radius of the left wheel, given in [m] 0.040479f
+#define WHEEL_RADIUS_RIGHT (WHEEL_RADIUS_LEFT - WHEEL_RADIUS_DIFF) // radius of the left wheel, given in [m]
+#define WHEEL_DISTANCE 0.1875f // Distance of the wheel, given in [m] Grösser --> mehr drehen
// State Bits of the car
#define STATE_STOP 1u // Bit0 = stop pressed
@@ -25,8 +24,12 @@
#define STATE_RIGHT 8u // Bit3 = right ESCON in error state
// ESCON Constands
-#define ESCON_SET_FACTOR 1200.0f // Speed Factor how set in the ESCON
-#define ESCON_GET_FACTOR 1400.0f // Speed Factor how get in the ESCON
+#define ESCON_SET_FACTOR 1200.0f // Speed Factor how set in the ESCON
+#define ESCON_GET_FACTOR 1400.0f // Speed Factor how get in the ESCON
+
+//Error patch of the drift of Analog input and pwn output
+#define SET_SPEED_PATCH (1+0.0029f) // patch factor of set speed
+#define GET_SPEED_PATCH (1+0.0019f) // patch factor of get speed
// Start Defintition
#define START_X_OFFSET -0.8f // Sets the start X-point [m]
@@ -41,7 +44,7 @@
#define K1 1.0f * GAIN
#define K2 3.0f * GAIN
#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]
+#define MIN_DISTANCE_ERROR -0.005f // 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
@@ -55,13 +58,6 @@
// Compass Maxima und Minima for the Filter
#define SET_MAXIMAS_MINIMAS true // For Set the maximas und minimas when false the object search the maximas minimas by your own
-/*#define COMP_X_MAX 344.464996f // Maximum X-Range
-#define COMP_Y_MAX 238.751282f // Maximum Y-Range
-#define COMP_Z_MAX -266.899994f // Maximum Z-Range not used in this side
-#define COMP_X_MIN -90.412109f // Minimum X-Range
-#define COMP_Y_MIN -220.834808f // Minimum Y-Range
-#define COMP_Z_MIN -356.000000f // Minimun Z-Range not used in this side
-*/
#define COMP_X_MAX 391.219910f // Maximum X-Range
#define COMP_Y_MAX 382.915161f // Maximum Y-Range
#define COMP_Z_MAX -237.855042f // Maximum Z-Range not used in this side
@@ -112,10 +108,10 @@
float setyAxis;
/** Setpoint Angel [°] */
float setAngle;
- /** Right Distance Sensor [m] */
- float rightDist;
- /** Compass Angle [°] */
- float compassAngle;
+ /** Setpoint velocitiy [m/s] */
+ float setVelocity;
+ /** Setpoint rotation velocitiy [rad/s] */
+ float setOmega;
/** Compass X-Axis */
float compassxAxis;
/** Compass Y-Axis */