rp6config.h

RP6机器人范例程序。包括移动

/* ****************************************************************************
 *                           _______________________
 *                           \| RP6  ROBOT SYSTEM |/
 *                            \_-_-_-_-_-_-_-_-_-_/         >>> BASE CONTROLLER
 * ----------------------------------------------------------------------------
 * ------------------- [c]2006 / 2007 - AREXX ENGINEERING ---------------------
 * -------------------------- http://www.arexx.com/ ---------------------------
 * ****************************************************************************
 * File: RP6Config.h
 * Version: 1.2
 * Target: RP6 Base - ATMEGA32 @8.00MHz
 * Author(s): Dominik S. Herwald
 * ****************************************************************************
 * Description:
 *
 * This file contains the calibration values for Encoder resolution and
 * the DIST_MM macros.
 * You need to do some experiments to get good encoder resolution values!
 *
 * ****************************************************************************
 * CHANGELOG AND LICENSING INFORMATION CAN BE FOUND AT THE END OF THIS FILE!
 * ****************************************************************************
 */

#ifndef RP6CONFIG_H
#define RP6CONFIG_H

/*****************************************************************************/


/**
 * You can change the Encoder resolution setting of 0.25mm to another 
 * value if you measured different resolution for your encoders.
 * 
 */
//#define ENCODER_RESOLUTION 0.23
//#define ENCODER_RESOLUTION 0.235
#define ENCODER_RESOLUTION 0.24
//#define ENCODER_RESOLUTION 0.25


#define DIST_MM(__DST__) (uint16_t)(__DST__/ENCODER_RESOLUTION)
#define DIST_CM(__DST__) (uint16_t)(__DST__/(ENCODER_RESOLUTION/10))
#define DIST_M(__DST__) (uint16_t)(__DST__/(ENCODER_RESOLUTION/1000))


/**
 * Defines a Factor for the rotation error. 
 * As you may have read in the Manual, the rotation is unprecise
 * because of wheel/track slippery. This Factor allows you to
 * make it roughly precise. 
 * The Problem is: You need to use different rotation factor
 * for different surfaces, as the Robot behaves different on
 * different surfaces (e.g. carpet vs. wooden floor).
 *
 * You need to do some experiments with this until you get
 * good results. Let the Robot rotate by 90