Christian Burri / Mbed 2 deprecated autonomousRobotAndroid

This program is for an autonomous robot for the competition at the Hochschule Luzern. We are one of the 32 teams. <a href="http://cruisingcrepe.wordpress.com/">http://cruisingcrepe.wordpress.com/</a> 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: <a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf">http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf</a>

Dependencies:   mbed

Fork of autonomousRobotAndroid by Christian Burri

StateDefines/defines.h@10:09ddb819fdcb, 2013-04-04 (annotated)

Committer:
chrigelburri
Date:
Thu Apr 04 06:43:43 2013 +0000
Revision:
10:09ddb819fdcb
Parent:
9:d3cdcdef9719
Child:
11:775ebb69d5e1
vor dem sauberen kommentieren

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chrigelburri 0:31f7be68e52d 1 #ifndef _DEFINES_H_
chrigelburri 0:31f7be68e52d 2 #define _DEFINES_H_
chrigelburri 0:31f7be68e52d 3
chrigelburri 10:09ddb819fdcb 4 /*! \file defines.h
chrigelburri 10:09ddb819fdcb 5 \brief All defines for the roboter you can see here.
chrigelburri 10:09ddb819fdcb 6 */
chrigelburri 10:09ddb819fdcb 7
chrigelburri 0:31f7be68e52d 8 #include "mbed.h"
chrigelburri 0:31f7be68e52d 9
chrigelburri 10:09ddb819fdcb 10 /**
chrigelburri 10:09ddb819fdcb 11 * Physical dimensions &pi;
chrigelburri 10:09ddb819fdcb 12 */
chrigelburri 10:09ddb819fdcb 13 #define PI 3.141592654f
chrigelburri 10:09ddb819fdcb 14
chrigelburri 10:09ddb819fdcb 15 /**
chrigelburri 10:09ddb819fdcb 16 * @name maxon motor #339282 EC 45 flat 30W
chrigelburri 10:09ddb819fdcb 17 * @{
chrigelburri 10:09ddb819fdcb 18 */
chrigelburri 10:09ddb819fdcb 19
chrigelburri 10:09ddb819fdcb 20 /**
chrigelburri 10:09ddb819fdcb 21 * Number of of pole pairs
chrigelburri 10:09ddb819fdcb 22 */
chrigelburri 10:09ddb819fdcb 23 #define POLE_PAIRS 8u
chrigelburri 0:31f7be68e52d 24
chrigelburri 10:09ddb819fdcb 25 /**
chrigelburri 10:09ddb819fdcb 26 * Gear on the motor 1/11.6f
chrigelburri 10:09ddb819fdcb 27 */
chrigelburri 10:09ddb819fdcb 28 #define GEAR 1/11.6f
chrigelburri 10:09ddb819fdcb 29
chrigelburri 10:09ddb819fdcb 30 /**
chrigelburri 10:09ddb819fdcb 31 * Pulses per electrical step form the Hallsensor, have 6 steps
chrigelburri 10:09ddb819fdcb 32 */
chrigelburri 10:09ddb819fdcb 33 #define PULSES_PER_STEP 6u
chrigelburri 10:09ddb819fdcb 34 /*! @} */
chrigelburri 10:09ddb819fdcb 35
chrigelburri 10:09ddb819fdcb 36 /**
chrigelburri 10:09ddb819fdcb 37 * @name Physical Dimension of the car
chrigelburri 10:09ddb819fdcb 38 * @{
chrigelburri 10:09ddb819fdcb 39 */
chrigelburri 10:09ddb819fdcb 40
chrigelburri 10:09ddb819fdcb 41 /**
chrigelburri 10:09ddb819fdcb 42 * Value for the diffrerenz between left an right, given in [m]
chrigelburri 10:09ddb819fdcb 43 */
chrigelburri 10:09ddb819fdcb 44 #define WHEEL_RADIUS_DIFF 0.0000f
chrigelburri 0:31f7be68e52d 45
chrigelburri 10:09ddb819fdcb 46 /**
chrigelburri 10:09ddb819fdcb 47 * radius of the left wheel, given in [m]
chrigelburri 10:09ddb819fdcb 48 */
chrigelburri 10:09ddb819fdcb 49 #define WHEEL_RADIUS_LEFT 0.040280f
chrigelburri 10:09ddb819fdcb 50
chrigelburri 10:09ddb819fdcb 51 /**
chrigelburri 10:09ddb819fdcb 52 * radius of the left wheel, given in [m]
chrigelburri 10:09ddb819fdcb 53 */
chrigelburri 10:09ddb819fdcb 54 #define WHEEL_RADIUS_RIGHT (WHEEL_RADIUS_LEFT - WHEEL_RADIUS_DIFF)
chrigelburri 10:09ddb819fdcb 55
chrigelburri 10:09ddb819fdcb 56 /**
chrigelburri 10:09ddb819fdcb 57 * Distance of the wheel, given in [m] Greater --> turn more
chrigelburri 10:09ddb819fdcb 58 */
chrigelburri 10:09ddb819fdcb 59 #define WHEEL_DISTANCE 0.2000f
chrigelburri 10:09ddb819fdcb 60 /*! @} */
chrigelburri 10:09ddb819fdcb 61
chrigelburri 10:09ddb819fdcb 62 /**
chrigelburri 10:09ddb819fdcb 63 * @name State Bits of the car
chrigelburri 10:09ddb819fdcb 64 * @{
chrigelburri 10:09ddb819fdcb 65 */
chrigelburri 0:31f7be68e52d 66
chrigelburri 10:09ddb819fdcb 67 /**
chrigelburri 10:09ddb819fdcb 68 * Bit0 = stop pressed
chrigelburri 10:09ddb819fdcb 69 */
chrigelburri 10:09ddb819fdcb 70 #define STATE_STOP 1u
chrigelburri 10:09ddb819fdcb 71
chrigelburri 10:09ddb819fdcb 72 /**
chrigelburri 10:09ddb819fdcb 73 * Bit1 = Undervoltage battery
chrigelburri 10:09ddb819fdcb 74 */
chrigelburri 10:09ddb819fdcb 75 #define STATE_UNDER 2u
chrigelburri 10:09ddb819fdcb 76
chrigelburri 10:09ddb819fdcb 77 /**
chrigelburri 10:09ddb819fdcb 78 * Bit2 = left ESCON in error state
chrigelburri 10:09ddb819fdcb 79 */
chrigelburri 10:09ddb819fdcb 80 #define STATE_LEFT 4u
chrigelburri 10:09ddb819fdcb 81
chrigelburri 10:09ddb819fdcb 82 /**
chrigelburri 10:09ddb819fdcb 83 * Bit3 = right ESCON in error state
chrigelburri 10:09ddb819fdcb 84 */
chrigelburri 10:09ddb819fdcb 85 #define STATE_RIGHT 8u
chrigelburri 10:09ddb819fdcb 86 /*! @} */
chrigelburri 0:31f7be68e52d 87
chrigelburri 3:92ba0254af87 88 // ESCON Constands
chrigelburri 9:d3cdcdef9719 89 #define ESCON_SET_FACTOR 1500.0f // Speed Factor how set in the ESCON
chrigelburri 9:d3cdcdef9719 90 #define ESCON_GET_FACTOR 1600.4f // Speed Factor how get in the ESCON
chrigelburri 8:696c2f9dfc62 91
chrigelburri 8:696c2f9dfc62 92 //Error patch of the drift of Analog input and pwn output
chrigelburri 9:d3cdcdef9719 93 #define SET_SPEED_PATCH (1+0.00262f) // patch factor of set speed
chrigelburri 9:d3cdcdef9719 94 #define GET_SPEED_PATCH (1+0.0019f) // patch factor of get speed
chrigelburri 0:31f7be68e52d 95
chrigelburri 0:31f7be68e52d 96 // Start Defintition
chrigelburri 2:d8e1613dc38b 97 #define START_X_OFFSET -0.8f // Sets the start X-point [m]
chrigelburri 0:31f7be68e52d 98 #define START_Y_OFFSET 0.8f // Sets the start Y-point [m]
chrigelburri 0:31f7be68e52d 99
chrigelburri 0:31f7be68e52d 100 // Maximum Aceeleration
chrigelburri 0:31f7be68e52d 101 #define ACCELERATION 0.25f // maximum translational acceleration, given in [m/s2]
chrigelburri 1:6cd533a712c6 102 #define THETA_ACCELERATION 1.0f // maximum rotational acceleration, given in [rad/s2]
chrigelburri 1:6cd533a712c6 103
chrigelburri 3:92ba0254af87 104 // position controller
chrigelburri 10:09ddb819fdcb 105 #define GAIN 0.8f // Main Gain
chrigelburri 9:d3cdcdef9719 106 #define K1 0.8f * GAIN
chrigelburri 10:09ddb819fdcb 107 #define K2 3.0f * GAIN // deafult 3.0f
chrigelburri 10:09ddb819fdcb 108 #define K3 2.0f * GAIN // default 2.0f
chrigelburri 10:09ddb819fdcb 109 #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]
chrigelburri 0:31f7be68e52d 110
chrigelburri 0:31f7be68e52d 111 // LiPo Batterie
chrigelburri 2:d8e1613dc38b 112 #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
chrigelburri 2:d8e1613dc38b 113 #define BAT_MIN 17.5f // minium operate voltage [V] Battery Type: 1SP1P LG-18650 --> nominal voltage 3.6V --> 5 batterys ==> 5 * 3.5V = 17.5V
chrigelburri 2:d8e1613dc38b 114
chrigelburri 0:31f7be68e52d 115 // Frequenz for the Task
chrigelburri 0:31f7be68e52d 116 #define PERIOD_COMPASS 0.050f // 20Hz Rate for Compass HMC6352
chrigelburri 0:31f7be68e52d 117 #define PERIOD_ROBOTCONTROL 0.001f // 1kHz Rate for Robot Control
chrigelburri 0:31f7be68e52d 118 #define PERIOD_STATE 0.001f // 1kHz Rate for State Objekt
chrigelburri 0:31f7be68e52d 119 #define PERIOD_ANDROID 0.1f // 10Hz Rate for State Objekt
chrigelburri 0:31f7be68e52d 120
chrigelburri 6:48eeb41188dd 121 // Android Buffer Size for communication
chrigelburri 6:48eeb41188dd 122 #define OUTL 100
chrigelburri 10:09ddb819fdcb 123 #define INBL 100
chrigelburri 0:31f7be68e52d 124
chrigelburri 10:09ddb819fdcb 125 /**
chrigelburri 10:09ddb819fdcb 126 * struct state
chrigelburri 10:09ddb819fdcb 127 * structure containing system sensor data
chrigelburri 10:09ddb819fdcb 128 **/
chrigelburri 0:31f7be68e52d 129 typedef struct state {
chrigelburri 0:31f7be68e52d 130 /** millis Time [ms]*/
chrigelburri 0:31f7be68e52d 131 int millis;
chrigelburri 0:31f7be68e52d 132 /** Battery voltage [V] */
chrigelburri 0:31f7be68e52d 133 float voltageBattery;
chrigelburri 0:31f7be68e52d 134 /** Number of pulses left */
chrigelburri 0:31f7be68e52d 135 int leftPulses;
chrigelburri 0:31f7be68e52d 136 /** Number of pulses right */
chrigelburri 0:31f7be68e52d 137 int rightPulses;
chrigelburri 0:31f7be68e52d 138 /** Velocity left [m/s] */
chrigelburri 0:31f7be68e52d 139 float leftVelocity;
chrigelburri 0:31f7be68e52d 140 /** Velocity right [m/s] */
chrigelburri 0:31f7be68e52d 141 float rightVelocity;
chrigelburri 0:31f7be68e52d 142 /** Velocity of the car [m/s] */
chrigelburri 0:31f7be68e52d 143 float velocity;
chrigelburri 0:31f7be68e52d 144 /** Velocity rotation [°/s] */
chrigelburri 0:31f7be68e52d 145 float omega;
chrigelburri 0:31f7be68e52d 146 /** X-Axis from co-ordinate [m] */
chrigelburri 0:31f7be68e52d 147 float xAxis;
chrigelburri 0:31f7be68e52d 148 /** Y-Axis from co-ordinate [m] */
chrigelburri 0:31f7be68e52d 149 float yAxis;
chrigelburri 0:31f7be68e52d 150 /** X-Axis Error [m] */
chrigelburri 0:31f7be68e52d 151 float xAxisError;
chrigelburri 0:31f7be68e52d 152 /** X-Axis Error [m] */
chrigelburri 0:31f7be68e52d 153 float yAxisError;
chrigelburri 0:31f7be68e52d 154 /** Angle Error [°] */
chrigelburri 0:31f7be68e52d 155 float angleError;
chrigelburri 0:31f7be68e52d 156 /** Angle from Car [°] */
chrigelburri 0:31f7be68e52d 157 float angle;
chrigelburri 0:31f7be68e52d 158 /** Setpoint X-Axis [m] */
chrigelburri 0:31f7be68e52d 159 float setxAxis;
chrigelburri 0:31f7be68e52d 160 /** Setpoint Y-Axis [m] */
chrigelburri 0:31f7be68e52d 161 float setyAxis;
chrigelburri 0:31f7be68e52d 162 /** Setpoint Angel [°] */
chrigelburri 0:31f7be68e52d 163 float setAngle;
chrigelburri 8:696c2f9dfc62 164 /** Setpoint velocitiy [m/s] */
chrigelburri 8:696c2f9dfc62 165 float setVelocity;
chrigelburri 8:696c2f9dfc62 166 /** Setpoint rotation velocitiy [rad/s] */
chrigelburri 8:696c2f9dfc62 167 float setOmega;
chrigelburri 0:31f7be68e52d 168 /** Compass X-Axis */
chrigelburri 0:31f7be68e52d 169 float compassxAxis;
chrigelburri 0:31f7be68e52d 170 /** Compass Y-Axis */
chrigelburri 0:31f7be68e52d 171 float compassyAxis;
chrigelburri 0:31f7be68e52d 172 /** State of the Car **/
chrigelburri 0:31f7be68e52d 173 int state;
chrigelburri 2:d8e1613dc38b 174 /** distance to Goal */
chrigelburri 2:d8e1613dc38b 175 float rho;
chrigelburri 2:d8e1613dc38b 176 /** theta to goal */
chrigelburri 2:d8e1613dc38b 177 float lamda;
chrigelburri 2:d8e1613dc38b 178 /** theta from the goal */
chrigelburri 2:d8e1613dc38b 179 float delta;
chrigelburri 0:31f7be68e52d 180 } state_t;
chrigelburri 0:31f7be68e52d 181
chrigelburri 0:31f7be68e52d 182
chrigelburri 0:31f7be68e52d 183 #endif