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obot_constants.h Go to the documentation of this file. /* * Player - One Hell of a Robot Server * Copyright (C) 2000-2003 * Brian Gerkey * * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * */ /* * $Id: obot_constants.h,v 1.1 2004/09/23 19:42:48 gerkey Exp $ * * Relevant constants for the so-called "Trogdor" robots, by Botrics. * These values are taken from the 'cerebellum' module of CARMEN; thanks to * the authors of that module. */ #include <math.h> #define OBOT_DEFAULT_PORT "/dev/usb/ttyUSB1" // might need to define a longer delay to wait for acks #define OBOT_DELAY_US 10000 /************************************************************************/ /* Physical constants, in meters, radians, seconds (unless otherwise noted) */ #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) /* the new internal PID loop runs every 1.9375ms (we think) */ #define OBOT_PID_FREQUENCY (1/1.9375e-3) #define OBOT_MAGIC_TIMING_CONSTANT 1.0 #define OBOT_MPS_PER_TICK (OBOT_M_PER_TICK * OBOT_PID_FREQUENCY / \ OBOT_MAGIC_TIMING_CONSTANT) /* assuming that the counts can use the full space of a signed 32-bit int */ #define OBOT_MAX_TICS 2147483648U /* for safety */ //#define OBOT_MAX_WHEELSPEED 1.0 #define OBOT_MAX_WHEELSPEED 5.0 /* to account for our bad low-level PID motor controller */ #define OBOT_MIN_WHEELSPEED_TICKS 5 /************************************************************************/ /* Comm protocol values */ #define OBOT_ACK 6 // if command acknowledged #define OBOT_NACK 21 // if garbled message #define OBOT_INIT1 253 // The init commands are used in sequence(1,2,3) #define OBOT_INIT2 252 // to initialize a link to a cerebellum. #define OBOT_INIT3 251 // It will then blink green and start accepting other // commands. #define OBOT_DEINIT 250 #define OBOT_SET_VELOCITIES 118 // 'v'(left_vel, right_vel) as 16-bit signed ints #define OBOT_SET_ACCELERATIONS 97 // 'a'(left_accel, right_accel) as 16-bit unsigned ints #define OBOT_ENABLE_VEL_CONTROL 101 // 'e'() #define OBOT_DISABLE_VEL_CONTROL 100 // 'd'() #define OBOT_GET_ODOM 111 // 'o'()->(left_count, right_count, left_vel, right_vel) #define OBOT_GET_VOLTAGE 98 // 'b'()->(batt_voltage) #define OBOT_STOP 115 // 's'() [shortcut for set_velocities(0,0)] #define OBOT_KILL 107 // 'k'() [shortcut for disable_velocity_control] #define OBOT_HEARTBEAT 104 // 'h'() sends keepalive /************************************************************************/