ank/ES3011
1
Fork 0
Code Releases Activity

factored out constants

Browse source
This commit is contained in:
Andy Killorin 2025-12-06 14:51:03 -05:00
parent f8d0b85def
commit a29c852daa
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
2 changed files with 13 additions and 11 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

12
robot_controller/constants.h Normal file
View file

@ -0,0 +1,12 @@
#pragma once
const float ACCEL_LIMIT = 4.0; // cm/s/s
const float VEL_LIMIT = 16.0; // cm/s
const float BACKLASH_RIGHT = 0.0; // degrees
const float BACKLASH_LEFT = 0.0; // degrees
const float WHEEL_DIAMETER = 6.37; // cm
const float WHEEL_TO_WHEEL = 0.0; // cm
const float FORWARD_DISTANCE = 100.0; // cm
const float TURN_AMOUNT = 180.0; // degrees
const float RETURN_DISTANCE = 100.0; // cm

12
robot_controller/robot_controller.ino
View file

@ -3,17 +3,7 @@
#include <smartmotor.h> #include <smartmotor.h>
#include <SMC_gains.h> #include <SMC_gains.h>
#include "trapezoidal.h" #include "trapezoidal.h"
#include "constants.h"
const float ACCEL_LIMIT = 4.0; // cm/s/s
const float VEL_LIMIT = 16.0; // cm/s
const float BACKLASH_RIGHT = 0.0; // degrees
const float BACKLASH_LEFT = 0.0; // degrees
const float WHEEL_DIAMETER = 6.37; // cm
const float WHEEL_TO_WHEEL = 0.0; // cm
const float FORWARD_DISTANCE = 100.0; // cm
const float TURN_AMOUNT = 180.0; // degrees
const float RETURN_DISTANCE = 100.0; // cm
SmartMotor left_motor(0x0A); SmartMotor left_motor(0x0A);
SmartMotor right_motor(0x0B); SmartMotor right_motor(0x0B);