constants.h

#ifndef __CONSTANTS_H__
#define __CONSTANTS_H__
 
// DC motors constants
 
#define DCMOTORS_VELOCITY_CONSTANT 622 // RPM
#define DCMOTORS_REDUCTION_RATIO    19
#define DCMOTORS_SUPPLIED_VOLTAGE   11 // V
 
// Codewheels constants
 
#define CODEWHEELS_COUNTS_PER_REVOLUTIONR 10000
#define CODEWHEELS_COUNTS_PER_REVOLUTIONL 10000
 
// Mechanical constants
 
#define LEFT_WHEEL_RADIUS   23.8 // mm
#define RIGHT_WHEEL_RADIUS  23.8 // mm
#define WHEELS_AXLE_TRACK  125.0 // mm
 
#define LEFT_CODEWHEEL_RADIUS   22.71 // mm
#define RIGHT_CODEWHEEL_RADIUS  -22.71 // mm
#define CODEWHEELS_AXLE_TRACK  357.5722465739272//209.16 // mm
 
// Really traveled distance > thought traveled distance -> decrease codewheels radius
// Really rotated angle > thought rotated angle         -> increase axle track
// Turn right when thinking moving forward              -> increase left codewheel radius
// Turn left when thinking moving forward               -> increase right codewheel radius
 
// Trajectory constants
 
#define MIN_LINEAR_POSITION        1 // mm
#define MIN_ANGULAR_POSITION     0.1 // rad
 
#define MAX_LINEAR_VELOCITY      500 // mm/s
#define MAX_ANGULAR_VELOCITY     1.5 // rad/s^2
 
#define MAX_LINEAR_ACCELERATION   500//500 // mm/s^2
#define MAX_LINEAR_DECCELERATION  1000 // mm/s^2
#define MAX_ANGULAR_ACCELERATION  3.14 // rad/s^2
#define MAX_ANGULAR_DECCELERATION 6.28 // rad/s^2
 
// Timesteps
 
#define ODOMETRY_TIMESTEP          5e-3 // s
#define PID_CONTROLLERS_TIMESTEP  20e-3 // s
#define POSITIONCONTROL_TIMESTEP  50e-3 // s
 
#endif // __CONSTANTS_H__