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obot_constants.h File Reference

#include <math.h>

Go to the source code of this file.

Defines

#define OBOT_DEFAULT_PORT   "/dev/usb/ttyUSB1"
#define OBOT_DELAY_US   10000
#define OBOT_AXLE_LENGTH   0.317
#define OBOT_WHEEL_DIAM   0.10795 /* 4.25 inches */
#define OBOT_WHEEL_CIRCUM   (OBOT_WHEEL_DIAM * M_PI)
#define OBOT_TICKS_PER_REV   11600.0
#define OBOT_M_PER_TICK   (OBOT_WHEEL_CIRCUM / OBOT_TICKS_PER_REV)
#define OBOT_PID_FREQUENCY   (1/1.9375e-3)
#define OBOT_MAGIC_TIMING_CONSTANT   1.0
#define OBOT_MPS_PER_TICK
#define OBOT_MAX_TICS   2147483648U
#define OBOT_MAX_WHEELSPEED   5.0
#define OBOT_MIN_WHEELSPEED_TICKS   5
#define OBOT_ACK   6
#define OBOT_NACK   21
#define OBOT_INIT1   253
#define OBOT_INIT2   252
#define OBOT_INIT3   251
#define OBOT_DEINIT   250
#define OBOT_SET_VELOCITIES   118
#define OBOT_SET_ACCELERATIONS   97
#define OBOT_ENABLE_VEL_CONTROL   101
#define OBOT_DISABLE_VEL_CONTROL   100
#define OBOT_GET_ODOM   111
#define OBOT_GET_VOLTAGE   98
#define OBOT_STOP   115
#define OBOT_KILL   107
#define OBOT_HEARTBEAT   104


Define Documentation

#define OBOT_DEFAULT_PORT   "/dev/usb/ttyUSB1"
 

#define OBOT_DELAY_US   10000
 

#define OBOT_AXLE_LENGTH   0.317
 

#define OBOT_WHEEL_DIAM   0.10795 /* 4.25 inches */
 

#define OBOT_WHEEL_CIRCUM   (OBOT_WHEEL_DIAM * M_PI)
 

#define OBOT_TICKS_PER_REV   11600.0
 

#define OBOT_M_PER_TICK   (OBOT_WHEEL_CIRCUM / OBOT_TICKS_PER_REV)
 

#define OBOT_PID_FREQUENCY   (1/1.9375e-3)
 

#define OBOT_MAGIC_TIMING_CONSTANT   1.0
 

#define OBOT_MPS_PER_TICK
 

Value:

#define OBOT_MAX_TICS   2147483648U
 

#define OBOT_MAX_WHEELSPEED   5.0
 

#define OBOT_MIN_WHEELSPEED_TICKS   5
 

#define OBOT_ACK   6
 

#define OBOT_NACK   21
 

#define OBOT_INIT1   253
 

#define OBOT_INIT2   252
 

#define OBOT_INIT3   251
 

#define OBOT_DEINIT   250
 

#define OBOT_SET_VELOCITIES   118
 

#define OBOT_SET_ACCELERATIONS   97
 

#define OBOT_ENABLE_VEL_CONTROL   101
 

#define OBOT_DISABLE_VEL_CONTROL   100
 

#define OBOT_GET_ODOM   111
 

#define OBOT_GET_VOLTAGE   98
 

#define OBOT_STOP   115
 

#define OBOT_KILL   107
 

#define OBOT_HEARTBEAT   104
 


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