contains all the constant variables for easy access from one file More...
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Detailed Description
contains all the constant variables for easy access from one file
All constants are in metres, seconds, hertz unless otherwise stated
Definition in file constants.h.
Macro Definition Documentation
◆ CONTROL_UPDATE_PERIOD
| #define CONTROL_UPDATE_PERIOD (1.0f / CONTROL_UPDATE_RATE) |
Definition at line 89 of file constants.h.
◆ CONTROL_UPDATE_PERIOD_US
| #define CONTROL_UPDATE_PERIOD_US (int)(1'000'000 / CONTROL_UPDATE_RATE) |
Definition at line 90 of file constants.h.
◆ CONTROL_UPDATE_RATE
| #define CONTROL_UPDATE_RATE 2500 |
Definition at line 88 of file constants.h.
◆ LINE_FOLLOW_STOP_DISTANCE
| #define LINE_FOLLOW_STOP_DISTANCE 0.3 |
Definition at line 64 of file constants.h.
◆ LINE_FOLLOW_VELOCITY
| #define LINE_FOLLOW_VELOCITY 2.1 |
Definition at line 62 of file constants.h.
◆ LINE_FOLLOW_VELOCITY_UTURN
| #define LINE_FOLLOW_VELOCITY_UTURN 2.1 |
Definition at line 63 of file constants.h.
◆ MANUAL_ACCEL_ANGLE
| #define MANUAL_ACCEL_ANGLE 60 |
Definition at line 78 of file constants.h.
◆ MANUAL_ACCEL_DISTANCE
| #define MANUAL_ACCEL_DISTANCE 0.5 |
Definition at line 77 of file constants.h.
◆ MANUAL_ACCEL_SPEED
| #define MANUAL_ACCEL_SPEED 0.5 |
Definition at line 76 of file constants.h.
◆ PID_A_KD
| #define PID_A_KD 0 |
Definition at line 51 of file constants.h.
◆ PID_A_KI
| #define PID_A_KI 0.1 |
Definition at line 50 of file constants.h.
◆ PID_A_KP
| #define PID_A_KP 0.2 |
Definition at line 49 of file constants.h.
◆ PID_A_MAX_INT
| #define PID_A_MAX_INT 0 |
Definition at line 48 of file constants.h.
◆ PID_A_MAX_OUT
| #define PID_A_MAX_OUT 0.6 |
Definition at line 46 of file constants.h.
◆ PID_A_MIN_INT
| #define PID_A_MIN_INT -PID_A_MAX_INT |
Definition at line 47 of file constants.h.
◆ PID_A_MIN_OUT
| #define PID_A_MIN_OUT -PID_A_MAX_OUT |
Definition at line 45 of file constants.h.
◆ PID_A_TAU
| #define PID_A_TAU 0.01 |
Definition at line 44 of file constants.h.
◆ PID_M_L_KD
| #define PID_M_L_KD 0 |
Definition at line 23 of file constants.h.
◆ PID_M_L_KI
| #define PID_M_L_KI 7.5 |
Definition at line 22 of file constants.h.
◆ PID_M_L_KP
| #define PID_M_L_KP 0.5 |
Definition at line 21 of file constants.h.
◆ PID_M_MAX_INT
| #define PID_M_MAX_INT 1 |
Definition at line 18 of file constants.h.
◆ PID_M_MAX_OUT
| #define PID_M_MAX_OUT 1 |
Definition at line 16 of file constants.h.
◆ PID_M_MIN_INT
| #define PID_M_MIN_INT -PID_M_MAX_INT |
Definition at line 17 of file constants.h.
◆ PID_M_MIN_OUT
| #define PID_M_MIN_OUT -PID_M_MAX_OUT |
Definition at line 15 of file constants.h.
◆ PID_M_R_KD
| #define PID_M_R_KD PID_M_L_KD |
Definition at line 28 of file constants.h.
◆ PID_M_R_KI
| #define PID_M_R_KI PID_M_L_KI |
Definition at line 27 of file constants.h.
◆ PID_M_R_KP
| #define PID_M_R_KP PID_M_L_KP |
Definition at line 26 of file constants.h.
◆ PID_M_TAU
| #define PID_M_TAU 1 |
Definition at line 14 of file constants.h.
◆ PID_S_KD
| #define PID_S_KD 0.08 |
Definition at line 39 of file constants.h.
◆ PID_S_KI
| #define PID_S_KI 0 |
Definition at line 35 of file constants.h.
◆ PID_S_KP
| #define PID_S_KP 0.30 |
Definition at line 38 of file constants.h.
◆ PID_S_MAX_INT
| #define PID_S_MAX_INT 0 |
Definition at line 34 of file constants.h.
◆ PID_S_MAX_OUT
| #define PID_S_MAX_OUT 1.5 |
Definition at line 32 of file constants.h.
◆ PID_S_MIN_INT
| #define PID_S_MIN_INT -PID_S_MAX_INT |
Definition at line 33 of file constants.h.
◆ PID_S_MIN_OUT
| #define PID_S_MIN_OUT -PID_S_MAX_OUT |
Definition at line 31 of file constants.h.
◆ PID_S_TAU
| #define PID_S_TAU 0.001 |
Definition at line 37 of file constants.h.
◆ SENS_ANGLE_COEFF
| #define SENS_ANGLE_COEFF 1 |
Definition at line 58 of file constants.h.
◆ SENS_DETECT_RANGE
| #define SENS_DETECT_RANGE 0.4 |
Definition at line 59 of file constants.h.
◆ SENS_SAMPLE_COUNT
| #define SENS_SAMPLE_COUNT 1 |
Definition at line 57 of file constants.h.
◆ SENSOR_UPDATE_PERIOD
| #define SENSOR_UPDATE_PERIOD (1.0f / CONTROL_UPDATE_RATE) |
Definition at line 94 of file constants.h.
◆ SENSOR_UPDATE_PERIOD_US
| #define SENSOR_UPDATE_PERIOD_US (int)(1'000'000 / CONTROL_UPDATE_RATE) |
Definition at line 95 of file constants.h.
◆ SENSOR_UPDATE_RATE
| #define SENSOR_UPDATE_RATE 5000 |
Definition at line 93 of file constants.h.
◆ SERIAL_UPDATE_PERIOD
| #define SERIAL_UPDATE_PERIOD 0.02 |
Definition at line 98 of file constants.h.
◆ SLOW_ACCEL_DIVIDER
| #define SLOW_ACCEL_DIVIDER 2 |
Definition at line 68 of file constants.h.
◆ SLOW_ACCEL_TIME
| #define SLOW_ACCEL_TIME 0.4 |
Definition at line 67 of file constants.h.
◆ SLOW_TURNING_GAIN
| #define SLOW_TURNING_GAIN 0 |
Definition at line 73 of file constants.h.
◆ SLOW_TURNING_THRESH
| #define SLOW_TURNING_THRESH 2 |
Definition at line 74 of file constants.h.
◆ SQUARE_DISTANCE
| #define SQUARE_DISTANCE 1.01 |
Definition at line 85 of file constants.h.
◆ SQUARE_TURNING_LEFT_ANGLE
| #define SQUARE_TURNING_LEFT_ANGLE 101.5 |
Definition at line 84 of file constants.h.
◆ SQUARE_TURNING_RIGHT_ANGLE
| #define SQUARE_TURNING_RIGHT_ANGLE 92 |
Definition at line 83 of file constants.h.
◆ SQUARE_VELOCITY_SET
| #define SQUARE_VELOCITY_SET 0.4 |
Definition at line 82 of file constants.h.
◆ STOP_DETECT_TIME
| #define STOP_DETECT_TIME 1 |
Definition at line 70 of file constants.h.
◆ UTURN_ANGLE
| #define UTURN_ANGLE 190 |
Definition at line 65 of file constants.h.
