29 lines
1 KiB
C
29 lines
1 KiB
C
#pragma once
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const float ACCEL_LIMIT = 5.0; // cm/s/s
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const float VEL_LIMIT = 16.0; // cm/s
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const float BACKLASH_RIGHT = 0.0; // degrees
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const float BACKLASH_LEFT = 0.0; // degrees
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const float WHEEL_DIAMETER = 10.25; // cm
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const float WHEEL_TO_WHEEL = 9.0; // 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 = 10.0; // cm
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const float TURN_AMOUNT = 146.0; // degrees
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const float TURN_DISTANCE = (TURN_AMOUNT / 360.0) * WHEEL_TO_WHEEL * PI;
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const float RETURN_DISTANCE = 100.0; // cm
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const float FF_ACCEL = 2.5; // motor acceleration feedforward
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const float FF_VEL = 0.9; // motor velocity feedforward
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const float FF_STAT = 16.4; // motor static friction
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const float KP = 2.7; // proportional
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const float KI = 0.5; // integral
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const float KD = 0.05; // derivative
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const float KPP = 0.25; // position proportional
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const float KPI = 0.07; // position integral
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