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MotorController
|
Data Fields | |
| uint16_t | wheels_gap |
| uint16_t | ticks_per_m |
| uint16_t | angular_trust_threshold |
| uint16_t | max_linear_acceleration |
| uint16_t | max_angular_acceleration |
| uint16_t | cruise_linear_speed |
| uint16_t | cruise_angular_speed |
| pid_coeffs_t | linear_coeff |
| pid_coeffs_t | angular_coeff |
| coding_wheels_config_t | coding_wheels_config |
| motor_sense_t | motor_right_forward_sense |
| motor_sense_t | motor_left_forward_sense |
| uint16_t | linear_allowance |
| uint16_t | angular_allowance |
Structure holding all the configuration values used by this firmware.
Definition at line 40 of file settings.h.
| uint16_t robot_settings_t::angular_allowance |
Threshold (in coding wheels ticks) below which an angular move is considered as completed
Definition at line 58 of file settings.h.
| pid_coeffs_t robot_settings_t::angular_coeff |
PID coeffs for angular control
Definition at line 50 of file settings.h.
| uint16_t robot_settings_t::angular_trust_threshold |
Threshold for angular speed above which we can't trust the IMU anymore.
Definition at line 43 of file settings.h.
| coding_wheels_config_t robot_settings_t::coding_wheels_config |
Configuration of the coding wheels
Definition at line 51 of file settings.h.
| uint16_t robot_settings_t::cruise_angular_speed |
Target cruise angular speed, in 1/917 radian.s-1
Definition at line 47 of file settings.h.
| uint16_t robot_settings_t::cruise_linear_speed |
Target cruise linear speed, in cm.s-1
Definition at line 46 of file settings.h.
| uint16_t robot_settings_t::linear_allowance |
Threshold (in coding wheels ticks) below which a linear move is considered as completed
Definition at line 56 of file settings.h.
| pid_coeffs_t robot_settings_t::linear_coeff |
PID coeffs for linear control
Definition at line 49 of file settings.h.
| uint16_t robot_settings_t::max_angular_acceleration |
Maximum angular acceleration authorized, in 1/917 radian.s-2
Definition at line 45 of file settings.h.
| uint16_t robot_settings_t::max_linear_acceleration |
Maximum linear acceleration authorized, in cm.s-2
Definition at line 44 of file settings.h.
| motor_sense_t robot_settings_t::motor_left_forward_sense |
Rotation direction of the left motor corresponding to a "forward" move of the robot
Definition at line 54 of file settings.h.
| motor_sense_t robot_settings_t::motor_right_forward_sense |
Rotation direction of the right motor corresponding to a "forward" move of the robot
Definition at line 52 of file settings.h.
| uint16_t robot_settings_t::ticks_per_m |
Number of coding wheel ticks per m.
Definition at line 42 of file settings.h.
| uint16_t robot_settings_t::wheels_gap |
Distance between the middle of the 2 coding wheels in mm.
Definition at line 41 of file settings.h.
1.8.13