init

BALANCE/robot_select_init.h

@@ -0,0 +1,108 @@
+#ifndef __ROBOTSELECTINIT_H
+#define __ROBOTSELECTINIT_H
+#include "sys.h"
+#include "system.h"
+
+//Parameter structure of robot
+//机器人参数结构体
+typedef struct  
+{
+  float WheelSpacing;      //Wheelspacing, Mec_Car is half wheelspacing //轮距 麦轮车为半轮距
+  float AxleSpacing;       //Axlespacing, Mec_Car is half axlespacing //轴距 麦轮车为半轴距	
+  int GearRatio;           //Motor_gear_ratio //电机减速比
+  int EncoderAccuracy;     //Number_of_encoder_lines //编码器精度(编码器线数)
+  float WheelDiameter;     //Diameter of driving wheel //主动轮直径	
+  float OmniTurnRadiaus;   //Rotation radius of omnidirectional trolley //全向轮小车旋转半径	
+}Robot_Parament_InitTypeDef;
+
+// Encoder structure
+//编码器结构体
+typedef struct  
+{
+  int A;      
+  int B; 
+	int C; 
+	int D; 
+}Encoder;
+
+//The minimum turning radius of Ackermann models is determined by the mechanical structure: 
+//the maximum Angle of the wheelbase, wheelbase and front wheels
+//阿克曼车型的最小转弯半径，由机械结构决定：轮距、轴距、前轮最大转角
+#define MINI_AKM_MIN_TURN_RADIUS 0.350f 
+
+//Wheelspacing, Mec_Car is half wheelspacing
+//轮距 麦轮是一半
+//#define MEC_wheelspacing         0.109
+#define MEC_wheelspacing         0.0930 //修正2021.03.30
+#define Akm_wheelspacing         0.162f
+#define Diff_wheelSpacing        0.177f
+#define Four_Mortor_wheelSpacing 0.26f
+#define Tank_wheelSpacing        0.235f
+
+//Axlespacing, Mec_Car is half axlespacing
+//轴距 麦轮是一半
+#define MEC_axlespacing           0.085
+#define Akm_axlespacing           0.158f
+#define Diff_axlespacing          0.155f
+#define Four_Mortor__axlespacing  0.28f
+#define Tank_axlespacing          0.222f
+
+//Motor_gear_ratio
+//电机减速比
+#define   HALL_30F    30
+#define   HALL_60F    60
+#define   MD36N_5_18  5.18
+#define   MD36N_27    27
+#define   MD36N_51    51
+#define   MD36N_71    71
+#define   MD60N_18    18
+#define   MD60N_47    47
+
+//Number_of_encoder_lines
+//编码器精度
+#define		Photoelectric_500 500
+#define	  Hall_13           13
+
+//Mecanum wheel tire diameter series
+//麦轮轮胎直径
+#define		Mecanum_60  0.060f
+#define		Mecanum_75  0.075f
+#define		Mecanum_100 0.100f
+#define		Mecanum_127 0.127f
+#define		Mecanum_152 0.152f
+ 
+//Omni wheel tire diameter series
+//轮径全向轮直径系列
+#define	  FullDirecion_60  0.060
+#define	  FullDirecion_75  0.075
+#define	  FullDirecion_127 0.127
+#define	  FullDirecion_152 0.152
+#define	  FullDirecion_203 0.203
+#define	  FullDirecion_217 0.217
+
+//Black tire, tank_car wheel diameter
+//黑色轮胎、履带车轮直径
+#define	  Black_WheelDiameter   0.065
+//#define	  Tank_WheelDiameter 0.047
+#define	  Tank_WheelDiameter 0.043
+
+//Rotation radius of omnidirectional trolley
+//全向轮小车旋转半径
+#define   Omni_Turn_Radiaus_109 0.109
+#define   Omni_Turn_Radiaus_164 0.164
+#define   Omni_Turn_Radiaus_180 0.180
+#define   Omni_Turn_Radiaus_290 0.290
+
+//The encoder octave depends on the encoder initialization Settings
+//编码器倍频数，取决于编码器初始化设置
+#define   EncoderMultiples  4
+//Encoder data reading frequency
+//编码器数据读取频率
+#define   CONTROL_FREQUENCY 100
+
+//#define PI 3.1415f  //PI //圆周率
+
+void Robot_Select(void);
+void Robot_Init(double wheelspacing, float axlespacing, float omni_turn_radiaus, float gearratio,float Accuracy,float tyre_diameter);
+
+#endif