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:
- 9:d3cdcdef9719
- Parent:
- 8:696c2f9dfc62
- Child:
- 10:09ddb819fdcb
--- a/StateDefines/defines.h Sat Mar 30 06:55:08 2013 +0000 +++ b/StateDefines/defines.h Sat Mar 30 16:35:22 2013 +0000 @@ -12,10 +12,10 @@ #define PULSES_PER_STEP 6u // Pulses per electrical step Hallsensor, have 6 steps // Physical Dimension of the car -#define WHEEL_RADIUS_DIFF -0.00015f // 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_DIFF 0.0000f // positiv zu weit rechts, given in [m] +#define WHEEL_RADIUS_LEFT 0.040280f // radius of the left wheel, given in [m] 0.040280f #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 +#define WHEEL_DISTANCE 0.2000f // Distance of the wheel, given in [m] Grösser --> mehr drehen // State Bits of the car #define STATE_STOP 1u // Bit0 = stop pressed @@ -24,12 +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 1500.0f // Speed Factor how set in the ESCON +#define ESCON_GET_FACTOR 1600.4f // 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 +#define SET_SPEED_PATCH (1+0.00262f) // 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] @@ -40,9 +40,9 @@ #define THETA_ACCELERATION 1.0f // maximum rotational acceleration, given in [rad/s2] // position controller -#define GAIN 0.30f // Main Gain -#define K1 1.0f * GAIN -#define K2 3.0f * GAIN +#define GAIN 0.8f // Main Gain +#define K1 0.8f * GAIN +#define K2 3.0f * GAIN // deafult 3.0f #define K3 2.0f * GAIN // deafult 2.0f #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]