Files
Last update 6 months 4 weeks
by Masakatsu Honda
| FilesCubeMXpassion-v2-1AppIncstatus | |
|---|---|
| .. | |
| consts.hpp | |
| states.hpp |
consts.hpp#ifndef _CONST_HPP_ #define _CONST_HPP_ namespace consts::physics{ static constexpr float G = 9.8F; static constexpr float PI = 3.1415927F; static constexpr float M2MM = 1000.0F; static constexpr float DEG2RAD = PI / 180.0F; static constexpr float RAD2DEG = 180.0F / PI; } namespace consts::software{ static constexpr float SENSOR_FREQ = 1000.0F; static constexpr float CTRL_FREQ = 1000.0F; //WALLセンサの閾値 static constexpr float WALL_TH_L = 600.0F;/*本番用*/ //static constexpr float WALL_TH_L = 1000.0F; //static constexpr float WALL_TH_L = 750.0F; static constexpr float WALL_TH_FL = 900.0F;//1300.0F; static constexpr float WALL_TH_FR = 1050.0F;//1300.0F; //static constexpr float WALL_TH_R = 1500.0F;/*本番用*/ static constexpr float WALL_TH_R = 600.0F; //距離のPIDパラメータ // static constexpr float KP_DIST = 0.6F; // static constexpr float KI_DIST = 0.1F; // static constexpr float KD_DIST = 0.01F; static constexpr float KP_DIST = 2.8F;//2.8F; static constexpr float KI_DIST = 0.01F;//0.01F; static constexpr float KD_DIST = 0.1F;//2.8F; //速さのPIDパラメータ static constexpr float KP_SPD = 0.20F; static constexpr float KI_SPD = 0.0002F; static constexpr float KD_SPD = 0.20F; // static constexpr float KP_SPD = 0.03F; // static constexpr float KI_SPD = 0.0F; // static constexpr float KD_SPD = 0.0F; //角速度のPIDパラメータ //static constexpr float KP_OMEGA = 0.044F; static constexpr float KP_OMEGA = 0.17F; //static constexpr float KI_OMEGA = 0.0013F; static constexpr float KI_OMEGA = 0.01F; //static constexpr float KD_OMEGA = 0.006F; static constexpr float KD_OMEGA = 0.006F; // static constexpr float KP_OMEGA = 0.4F; // static constexpr float KI_OMEGA = 0.2F; // static constexpr float KD_OMEGA = 0.0F; //角度のPIDパラメータ static constexpr float KP_ANGLE = 0.01F; static constexpr float KI_ANGLE = 0.01F; static constexpr float KD_ANGLE = 0.01F; //壁制御のPIDパラメータ //static constexpr float KP_WALL = 0.002F; static constexpr float KP_WALL = 0.10F;//0.05 static constexpr float KI_WALL = 0.0F; static constexpr float KD_WALL = 0.0F; //壁切れの閾値 static constexpr float WALL_GAP_TH = 0.0F; //壁切れの補正値 static constexpr float WALL_GAP_C = 0.0F; //jerkの最大値mm/s^3 //static constexpr float JERK_MAX = 50000.0F; static constexpr float JERK_MAX = 25000.0F; //加速度の最大値mm/s^2 //static constexpr float ACCEL_MAX = 25000.0F; static constexpr float ACCEL_MAX = 1250.0F; //速度の最大値mm/s static constexpr float SPD_MAX = 300.0F; //超信地旋回のパラメータdeg static constexpr float SPIN_JERK_MAX = 80000.0F; static constexpr float SPIN_ALPHA_MAX = 2500.0F; static constexpr float SPIN_OMEGA_MAX = 360.0F; //Slalomのパラメータdeg static constexpr float SL_JERK_MAX = 80000.0F; static constexpr float SL_ALPHA_MAX = 2500.0F; static constexpr float SL_OMEGA_MAX = 500.0F; //探索の基準速度mm/s static constexpr float SPD_SEARCH = 300.0F;//300.0F; //1区画の長さmm static constexpr float ONE_BLOCK = 180.0F; //半区画の長さmm static constexpr float HALF_BLOCK = 90.0F; //ゴール座標 static constexpr uint8_t GOAL_X = 7; static constexpr uint8_t GOAL_Y = 8; //CurveADのオフセット //static constexpr float AD_OFFSET = 6.0F; static constexpr float AD_OFFSET = 0.0F; //モード選択時のセンサー閾値 static constexpr float MODE_TH = 2500.0F; //前壁制御の閾値 static constexpr float FWALL_TH = 3000.0F; //スラロームのオフセット static constexpr float SL_R_PREV_OFFSET = 13.0F; //スラロームのオフセット static constexpr float SL_R_AFTER_OFFSET = 25.0F;//20.0F; //スラロームのオフセット static constexpr float SL_L_PREV_OFFSET = 13.0F; //スラロームのオフセット static constexpr float SL_L_AFTER_OFFSET = 25.0F; } namespace consts::hardware{ static constexpr float D_TIRE = 23.8F; static constexpr float SUPER = 42; static constexpr float PINION = 13; static constexpr float DIST_ONE_ROT = D_TIRE * consts::physics::PI; } #endif /*_CONST_HPP_*/