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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: (OBOT_M_PER_TICK * OBOT_PID_FREQUENCY / \ OBOT_MAGIC_TIMING_CONSTANT) #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