File that contains the configuratioindetails of the different modules. More...
Go to the source code of this file.
Macros | |
| #define | SONAR_SERVO_PIN 5 |
| #define | SONAR_TRIGGER_PIN 15 |
| #define | SONAR_ECHO_PIN 14 |
| #define | SONAR_MAX_DISTANCE 9999 |
| #define | MIN_ERROR -5 |
| #define | MAX_ERROR 5 |
| #define | MIN_TURN_ANGLE 180 |
| #define | MAX_TURN_ANGLE 0 |
| #define | HOIST_SERVO_PIN 6 |
| Pin-Number for Servocontroll of the Hoist. More... | |
| #define | HOIST_SERVO_DELAY 30 |
| Duration of the delay between the position updates of the Servo. More... | |
| #define | HOIST_POSITION_MIN 160 |
| Minimal angle of the Servo. More... | |
| #define | HOIST_POISITION_MAX 65 |
| Maximal angle of the Servo. More... | |
| #define | VISION_SERVO_PIN 5 |
| #define | VISION_DELAY_FACTOR 6 |
| #define | VISION_TOLERANCE_LEFT 165 |
| #define | VISION_TOLERANCE_RIGHT 155 |
| #define | VISION_START_ANGLE 90 |
Variables | |
| const double | SPEEDFACTOR = 1.3 |
| The speed factor can be used to increase or decrease the complete speed. it affects all speed settings. More... | |
| const unsigned int | RIGHT_MOTOR = 1 |
| Portnumber of the right motor on the motorshield. More... | |
| const unsigned int | LEFT_MOTOR = 2 |
| Portnumber of the left motor on the motorshield. More... | |
| const unsigned int | SPEED = 70 * SPEEDFACTOR |
| Standard operating speed. More... | |
| const unsigned int | REDUCED_SPEED = SPEED * 0.8 * SPEEDFACTOR |
| Reduced operating speed. More... | |
| const unsigned int | TURNING_SPEED = 70 * SPEEDFACTOR |
| Turning speed. More... | |
| const unsigned int | PIN_SENSOR_0 = 13 |
| Pin number of line detection sensor 0. More... | |
| const unsigned int | PIN_SENSOR_1 = 12 |
| Pin number of line detection sensor 1. More... | |
| const unsigned int | PIN_SENSOR_2 = 11 |
| Pin number of line detection sensor 2. More... | |
| const unsigned int | PIN_SENSOR_3 = 10 |
| Pin number of line detection sensor 3. More... | |
| const unsigned int | PIN_SENSOR_4 = 9 |
| Pin number of line detection sensor 4. More... | |
| const double | PID_KP = 10 |
| P-value of the PID-controller. More... | |
| const double | PID_KI = 2 |
| I-value of the PID-controller. More... | |
| const double | PID_KD = 0.005 |
| D-value of the PID-controller. More... | |
Detailed Description
File that contains the configuratioindetails of the different modules.
- Version
- 1.0 - switched from define to const int - Luca Mazzoleni (luca.mazzoleni@hsr.ch) - 2019-03-20
- 0.0 - BA FTS FS 2018
- Date
- 2019-03-20
- Copyright
- Copyright (c) 2019
Definition in file HardwareConfiguration.h.
Macro Definition Documentation
◆ SONAR_SERVO_PIN
| #define SONAR_SERVO_PIN 5 |
Definition at line 50 of file HardwareConfiguration.h.
◆ SONAR_TRIGGER_PIN
| #define SONAR_TRIGGER_PIN 15 |
Definition at line 51 of file HardwareConfiguration.h.
◆ SONAR_ECHO_PIN
| #define SONAR_ECHO_PIN 14 |
Definition at line 52 of file HardwareConfiguration.h.
◆ SONAR_MAX_DISTANCE
| #define SONAR_MAX_DISTANCE 9999 |
Definition at line 53 of file HardwareConfiguration.h.
◆ MIN_ERROR
| #define MIN_ERROR -5 |
Definition at line 54 of file HardwareConfiguration.h.
◆ MAX_ERROR
| #define MAX_ERROR 5 |
Definition at line 55 of file HardwareConfiguration.h.
◆ MIN_TURN_ANGLE
| #define MIN_TURN_ANGLE 180 |
Definition at line 56 of file HardwareConfiguration.h.
◆ MAX_TURN_ANGLE
| #define MAX_TURN_ANGLE 0 |
Definition at line 57 of file HardwareConfiguration.h.
◆ HOIST_SERVO_PIN
| #define HOIST_SERVO_PIN 6 |
Pin-Number for Servocontroll of the Hoist.
Definition at line 61 of file HardwareConfiguration.h.
◆ HOIST_SERVO_DELAY
| #define HOIST_SERVO_DELAY 30 |
Duration of the delay between the position updates of the Servo.
Definition at line 62 of file HardwareConfiguration.h.
◆ HOIST_POSITION_MIN
| #define HOIST_POSITION_MIN 160 |
Minimal angle of the Servo.
Definition at line 63 of file HardwareConfiguration.h.
◆ HOIST_POISITION_MAX
| #define HOIST_POISITION_MAX 65 |
Maximal angle of the Servo.
Definition at line 64 of file HardwareConfiguration.h.
◆ VISION_SERVO_PIN
| #define VISION_SERVO_PIN 5 |
Definition at line 68 of file HardwareConfiguration.h.
◆ VISION_DELAY_FACTOR
| #define VISION_DELAY_FACTOR 6 |
Definition at line 69 of file HardwareConfiguration.h.
◆ VISION_TOLERANCE_LEFT
| #define VISION_TOLERANCE_LEFT 165 |
Definition at line 70 of file HardwareConfiguration.h.
◆ VISION_TOLERANCE_RIGHT
| #define VISION_TOLERANCE_RIGHT 155 |
Definition at line 71 of file HardwareConfiguration.h.
◆ VISION_START_ANGLE
| #define VISION_START_ANGLE 90 |
Definition at line 72 of file HardwareConfiguration.h.
Variable Documentation
◆ SPEEDFACTOR
| const double SPEEDFACTOR = 1.3 |
The speed factor can be used to increase or decrease the complete speed. it affects all speed settings.
Definition at line 19 of file HardwareConfiguration.h.
◆ RIGHT_MOTOR
| const unsigned int RIGHT_MOTOR = 1 |
Portnumber of the right motor on the motorshield.
Definition at line 20 of file HardwareConfiguration.h.
◆ LEFT_MOTOR
| const unsigned int LEFT_MOTOR = 2 |
Portnumber of the left motor on the motorshield.
Definition at line 21 of file HardwareConfiguration.h.
◆ SPEED
| const unsigned int SPEED = 70 * SPEEDFACTOR |
Standard operating speed.
Definition at line 22 of file HardwareConfiguration.h.
◆ REDUCED_SPEED
| const unsigned int REDUCED_SPEED = SPEED * 0.8 * SPEEDFACTOR |
Reduced operating speed.
Definition at line 23 of file HardwareConfiguration.h.
◆ TURNING_SPEED
| const unsigned int TURNING_SPEED = 70 * SPEEDFACTOR |
Turning speed.
Definition at line 24 of file HardwareConfiguration.h.
◆ PIN_SENSOR_0
| const unsigned int PIN_SENSOR_0 = 13 |
Pin number of line detection sensor 0.
Definition at line 27 of file HardwareConfiguration.h.
◆ PIN_SENSOR_1
| const unsigned int PIN_SENSOR_1 = 12 |
Pin number of line detection sensor 1.
Definition at line 28 of file HardwareConfiguration.h.
◆ PIN_SENSOR_2
| const unsigned int PIN_SENSOR_2 = 11 |
Pin number of line detection sensor 2.
Definition at line 29 of file HardwareConfiguration.h.
◆ PIN_SENSOR_3
| const unsigned int PIN_SENSOR_3 = 10 |
Pin number of line detection sensor 3.
Definition at line 30 of file HardwareConfiguration.h.
◆ PIN_SENSOR_4
| const unsigned int PIN_SENSOR_4 = 9 |
Pin number of line detection sensor 4.
Definition at line 31 of file HardwareConfiguration.h.
◆ PID_KP
| const double PID_KP = 10 |
P-value of the PID-controller.
Definition at line 36 of file HardwareConfiguration.h.
◆ PID_KI
| const double PID_KI = 2 |
I-value of the PID-controller.
Definition at line 37 of file HardwareConfiguration.h.
◆ PID_KD
| const double PID_KD = 0.005 |
D-value of the PID-controller.
Definition at line 38 of file HardwareConfiguration.h.
