#ifndef __DIMENSIONS_H__ #define __DIMENSIONS_H__ #include // Dimensions pistes #define M_PISTE_WIDTH 3000.0 #define M_PISTE_HEIGHT 2000.0 #define M_PISTE_ORIG_X 0.0 #define M_PISTE_ORIG_Y 0.0 // Dimensions robot #define WIDTH 250.0 // mm (from meca) #define HEIGHT 100.0 // mm (from random) #define DISTANCE_BETWEEN_WHEELS WIDTH // mm (from meca) #define WHEEL_DIAMETER 80.0 // mm (from meca) #define WHEEL_PERIMETER (WHEEL_DIAMETER * M_PI) // mm #define MOTOR_SPEED_GAIN_RPMP_V 233.0 // rpm/V (from datasheet) #define MOTOR_SPEED_GAIN (MOTOR_SPEED_GAIN_RPMP_V / 60.0) // motor rev/s/V #define MOTOR_NOMINAL_TENSION 24.0 // V (from datasheet) #define MOTOR_CONTROLLER_ALIMENTATION 24.0 // V (from elec) #define MOTOR_CONTROLLER_REFERENCE 5 // V (from wiring) #define MOTOR_SATURATION_MIN 0 // V (from random) #define MOTOR_SATURATION_MAX 3.0 // V (from testing) #define PWM_MAX 3.3 // V (from FPGA datasheet) #define CODER_RESOLUTION 370.0 // cycles/motor rev #define CODER_DATA_FACTOR 4.0 // increments/motor cycles #define CODER_DATA_RESOLUTION (CODER_RESOLUTION * CODER_DATA_FACTOR) // cycles/motor rev #define CRAN_REDUC_OUT 48.0 // nb crans (from meca) #define CRAN_REDUC_IN 12.0 // nb crans (from meca) #define REDUC_RATIO (CRAN_REDUC_IN / CRAN_REDUC_OUT) // reduction ratio #define CODER_FULL_RESOLUTION (CODER_DATA_RESOLUTION / REDUC_RATIO) // cycles / wheel rev #define AV_PER_CYCLE (WHEEL_PERIMETER / CODER_FULL_RESOLUTION) // mm // Constantes asservissement #define D_DIR_ECART_MIN 7.0 // mm #define D_DIR_ECART_MAX 10.0 // mm #define O_DIR_ECART_MIN (5.0 / 360.0 * 2.0 * M_PI) // rad #define O_DIR_ECART_MAX (25.0 / 360.0 * 2.0 * M_PI) // rad #define O_ECART_MAX (25.0 / 360.0 * 2.0 * M_PI) // rad #define O_GAIN 5.0 #define P 5.0 #define I 0.0 #define D 0.0 #endif