27 lines
952 B
C
27 lines
952 B
C
#pragma once
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const float ACCEL_LIMIT = 7.0; // cm/s/s
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const float VEL_LIMIT = 12.0; // cm/s
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const float WHEEL_DIAMETER = 6.61; // cm
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const float WHEEL_TO_WHEEL = 8.6; // cm
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// centimeters per second to rpm
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const float CMS_RPM = 60.0 / (PI*WHEEL_DIAMETER);
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// degrees to centimeters
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const float DEG_CM = (PI*WHEEL_DIAMETER) / 360.0;
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//const float FORWARD_DISTANCE = 73.0; // cm
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const float FORWARD_DISTANCE = 50.0; // cm
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const float TURN_AMOUNT = 180.0; // degrees
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const float TURN_DISTANCE = (TURN_AMOUNT / 360.0) * WHEEL_TO_WHEEL * PI;
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const float KP = 1.40; // proportional
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const float KI = 0.10; // integral
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const float KD = 0.00; // derivative
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const float Kv = 1.8; // onboard velocity feedforward
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const float KPP = 0.12; // position proportional
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const float KPI = 0.06; // position integral
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const float KRP = 0.0; // rotation proportional
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const float V_MIN = 5.5; // velocity minimum
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const float V_KMIN = 0.7; // velocity minimum coefficient
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