obot_constants.h
/*
* 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 3308 2005-12-09 01:25:10Z gerkey $
*
* 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 50000
// time between consecutive publishes
#define OBOT_PUBLISH_INTERVAL 0.1
/************************************************************************/
/* 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)
#define OBOT_WIDTH 0.45
#define OBOT_LENGTH 0.45
#define OBOT_POSE_X 0.0
#define OBOT_POSE_Y 0.0
#define OBOT_POSE_A 0.0
#define OBOT_NOMINAL_VOLTAGE 48.0
/* 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
/************************************************************************/

Last updated 12 September 2005 21:38:45