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