constants.h

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#pragma once
 
/* PID CONSTANTS */
 
// General Motor PID constants
#define PID_M_TAU           1
#define PID_M_MIN_OUT       -PID_M_MAX_OUT
#define PID_M_MAX_OUT       1
#define PID_M_MIN_INT       -PID_M_MAX_INT
#define PID_M_MAX_INT       1
 
// Left Motor (M_L) PID Constants
#define PID_M_L_KP          0.5
#define PID_M_L_KI          7.5
#define PID_M_L_KD          0
 
// Right Motor (M_R) PID Constants
#define PID_M_R_KP          PID_M_L_KP
#define PID_M_R_KI          PID_M_L_KI
#define PID_M_R_KD          PID_M_L_KD 
 
// Sensor (S) PID Constants - USED FOR LINE FOLLOW ///////////////////////////
#define PID_S_MIN_OUT       -PID_S_MAX_OUT
#define PID_S_MAX_OUT       1.5
#define PID_S_MIN_INT       -PID_S_MAX_INT
#define PID_S_MAX_INT       0
#define PID_S_KI            0
 
#define PID_S_TAU           0.001
#define PID_S_KP            0.30
#define PID_S_KD            0.08
 
// 0.4 0.15 - Oscillates high freq when 0 - might need LP
 
// Angle (A) PID Constants - USED FOR TURNING
#define PID_A_TAU           0.01
#define PID_A_MIN_OUT       -PID_A_MAX_OUT
#define PID_A_MAX_OUT       0.6
#define PID_A_MIN_INT       -PID_A_MAX_INT
#define PID_A_MAX_INT       0
#define PID_A_KP            0.2
#define PID_A_KI            0.1
#define PID_A_KD            0
 
 
/* OTHER CONSTANTS */
 
// Sensor Array Constants
#define SENS_SAMPLE_COUNT       1   // 5 - 311us, 3 - 195us   
#define SENS_ANGLE_COEFF        1
#define SENS_DETECT_RANGE       0.4
 
// Line Follow Constants
#define LINE_FOLLOW_VELOCITY        2.1
#define LINE_FOLLOW_VELOCITY_UTURN  2.1
#define LINE_FOLLOW_STOP_DISTANCE   0.3
#define UTURN_ANGLE                 190
 
#define SLOW_ACCEL_TIME             0.4
#define SLOW_ACCEL_DIVIDER          2
 
#define STOP_DETECT_TIME            1             // s 
 
// Unused
#define SLOW_TURNING_GAIN           0                       // Higher Means FASTER
#define SLOW_TURNING_THRESH         2
 
#define MANUAL_ACCEL_SPEED         0.5
#define MANUAL_ACCEL_DISTANCE      0.5
#define MANUAL_ACCEL_ANGLE         60
 
 
// Square Task Constants
#define SQUARE_VELOCITY_SET                 0.4
#define SQUARE_TURNING_RIGHT_ANGLE          92
#define SQUARE_TURNING_LEFT_ANGLE           101.5
#define SQUARE_DISTANCE                     1.01
 
// Control Timing Constants
#define CONTROL_UPDATE_RATE         2500                                    // Hz
#define CONTROL_UPDATE_PERIOD       (1.0f / CONTROL_UPDATE_RATE)            // Seconds
#define CONTROL_UPDATE_PERIOD_US    (int)(1'000'000 / CONTROL_UPDATE_RATE)  // Micro Seconds
 
// Control Timing Constants
#define SENSOR_UPDATE_RATE         5000                                    // Hz
#define SENSOR_UPDATE_PERIOD       (1.0f / CONTROL_UPDATE_RATE)            // Seconds
#define SENSOR_UPDATE_PERIOD_US    (int)(1'000'000 / CONTROL_UPDATE_RATE)  // Micro Seconds
 
// Serial Update Timing Constants
#define SERIAL_UPDATE_PERIOD        0.02     
 
#define LOG_SIZE                    8'500
 
// Encoder Constants
#define WHEEL_SEPERATION    0.188       
#define WHEEL_RADIUS        0.0415      
#define PULSE_PER_REV       256         
#define LP_SPEED_B0         0.13575525       
#define LP_SPEED_B1         0.13575525       
#define LP_SPEED_A0         0.7284895      
 
// 2 Hz Pole Freq:
// Filter coefficients b_i: [0.0591174 0.0591174]
// Filter coefficients a_i: [0.88176521]
// 5 Hz Pole Freq:
// Filter coefficients b_i: [0.13575525 0.13575525]
// Filter coefficients a_i: [0.7284895]
// 7 Hz Pole Freq:
// Filter coefficients b_i: [0.1802684 0.1802684]
// Filter coefficients a_i: [0.63946321]
 
// Motor Constants
#define MOTOR_PWM_FREQ      20000
 
// Bluetooth HM10 module default config constants
#define BT_BAUD_RATE        9600
 
// Maths constant
#define PI                  3.14159265