Spirit Dagozilla / Mbed OS EncoderTimerDatalogger

buat ambil data dribbler

Dependencies:   cmps_dagoz motor_dagoz encoder_dagoz ros_lib_kinetic EncoderMotorInterrupt

Constanta.h@1:3cc942422d2f, 2019-02-09 (annotated)

Committer:
calmantara186
Date:
Sat Feb 09 13:27:40 2019 +0000
Revision:
1:3cc942422d2f
initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
calmantara186 1:3cc942422d2f 1 #ifndef CONSTANTA_H
calmantara186 1:3cc942422d2f 2 #define CONSTANTA_H
calmantara186 1:3cc942422d2f 3
calmantara186 1:3cc942422d2f 4 #include "mbed.h"
calmantara186 1:3cc942422d2f 5 /*****************************
calmantara186 1:3cc942422d2f 6 CONSTANTS
calmantara186 1:3cc942422d2f 7 *****************************/
calmantara186 1:3cc942422d2f 8 // Robot Components
calmantara186 1:3cc942422d2f 9 const double PI = 3.141593; //PI constanta
calmantara186 1:3cc942422d2f 10 const double LOCOMOTIONWHEEL = 0.05; //Metres
calmantara186 1:3cc942422d2f 11 const double DRIBBLERWHEEL = 0.035; //Metres
calmantara186 1:3cc942422d2f 12 // Locomotion Components
calmantara186 1:3cc942422d2f 13 const float KVFF = 1.0; //Velocity Feedforward for Locomotion
calmantara186 1:3cc942422d2f 14 const float KAFF = 1.0; //Acceleration Feedforward for Locomotion
calmantara186 1:3cc942422d2f 15 const float ACCT = 2.0; //Acceleration for robot Translation
calmantara186 1:3cc942422d2f 16 const float ACCR = 2.0; //Acceleration for robot rotation
calmantara186 1:3cc942422d2f 17 // Right Dribbler Components
calmantara186 1:3cc942422d2f 18 const float RK1FB = 1.0; //Right Dribbler Pot to Omega feedback
calmantara186 1:3cc942422d2f 19 const float RK2FB = 1.0; //Right Dribbler Error to pwm feedback
calmantara186 1:3cc942422d2f 20 const float RKVFF = 1.0; //Right Dribbler velocity feedforward
calmantara186 1:3cc942422d2f 21 const float RKXFF = 1.0; //Right Dribbler x velocity feedforward
calmantara186 1:3cc942422d2f 22 const float RKYFF = 1.0; //Right Dribbler y velocity feedforward
calmantara186 1:3cc942422d2f 23 const float RKTFF = 1.0; //Right Dribbler w velocity feedforward
calmantara186 1:3cc942422d2f 24 const float RTARGET = 1.0; //Right Dribbler potensio target
calmantara186 1:3cc942422d2f 25 // Left Dribbler Components
calmantara186 1:3cc942422d2f 26 const float LK1FB = 1.0; //Left Dribbler Pot to Omega feedback
calmantara186 1:3cc942422d2f 27 const float LK2FB = 1.0; //Left Dribbler Error to pwm feedback
calmantara186 1:3cc942422d2f 28 const float LKVFF = 1.0; //Left Dribbler velocity feedforward
calmantara186 1:3cc942422d2f 29 const float LKXFF = 1.0; //Left Dribbler x velocity feedforward
calmantara186 1:3cc942422d2f 30 const float LKYFF = 1.0; //Left Dribbler y velocity feedforward
calmantara186 1:3cc942422d2f 31 const float LKTFF = 1.0; //Left Dribbler w velocity feedforward
calmantara186 1:3cc942422d2f 32 const float LTARGET = 1.0; //Left Dribbler potensio target
calmantara186 1:3cc942422d2f 33 /*****************************
calmantara186 1:3cc942422d2f 34 Global Variable
calmantara186 1:3cc942422d2f 35 *****************************/
calmantara186 1:3cc942422d2f 36 //Compass Global Varible
calmantara186 1:3cc942422d2f 37 float compassValue = 0; //Compass value
calmantara186 1:3cc942422d2f 38 //Odometry global variable
calmantara186 1:3cc942422d2f 39 double locomotionRVel = 0;
calmantara186 1:3cc942422d2f 40 double locomotionLVel = 0;
calmantara186 1:3cc942422d2f 41 double locomotionBVel = 0;
calmantara186 1:3cc942422d2f 42 double locomotionRRot = 0;
calmantara186 1:3cc942422d2f 43 double locomotionLRot = 0;
calmantara186 1:3cc942422d2f 44 double locomotionBRot = 0;
calmantara186 1:3cc942422d2f 45 double locomotionRVtarget = 0;
calmantara186 1:3cc942422d2f 46 double locomotionLVtarget = 0;
calmantara186 1:3cc942422d2f 47 double locomotionBVtarget = 0;
calmantara186 1:3cc942422d2f 48 //Dribbler global variabel
calmantara186 1:3cc942422d2f 49 double dribblerRVel = 0;
calmantara186 1:3cc942422d2f 50 double dribblerLVel = 0;
calmantara186 1:3cc942422d2f 51 double dribblerRRot = 0;
calmantara186 1:3cc942422d2f 52 double dribblerLRot = 0;
calmantara186 1:3cc942422d2f 53 double dribblerRVtarget = 0;
calmantara186 1:3cc942422d2f 54 double dribblerLVtarget = 0;
calmantara186 1:3cc942422d2f 55 //Kicker global variable
calmantara186 1:3cc942422d2f 56 double kickPowerTarget = 0;
calmantara186 1:3cc942422d2f 57 float distance = 0;
calmantara186 1:3cc942422d2f 58
calmantara186 1:3cc942422d2f 59 #endif