Basic_Frame_TypeC_2023_Omni
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apps_defines.h
1#ifndef __APPS_CONFIG_H
2#define __APPS_CONFIG_H
3
4/* =========================================================================
5 * PUBLIC DEFINES
6 * ====================================================================== */
7/* Task exec time in milliseconds */
8#define CHASSIS_TASK_EXEC_TIME 5
9#define GIMBAL_TASK_EXEC_TIME 5
10#define SHOOT_TASK_EXEC_TIME 5
11#define IMU_TASK_EXEC_TIME 2
12#define TIMER_TASK_EXEC_TIME 1
13#define COMM_TASK_EXEC_TIME 2
14#define RC_TASK_EXEC_TIME 2
15#define PC_UART_TASK_EXEC_TIME 1
16#define REFEREE_TASK_EXEC_TIME 10
17
18/* =========================================================================
19 * CHASSIS DEFINES
20 * ====================================================================== */
21/* define general declarations for gimbal task here */
22#define CHASSIS_WHEEL_X_LENGTH (0.40f) // meters
23#define CHASSIS_WHEEL_Y_LENGTH (0.35f) // meters
24#define CHASSIS_OMNI_WHEEL_RADIUS (0.076f) // meters
25
26// TODO: Correct reduction ratio to proper one for M3508
27#define CHASSIS_MOTOR_DEC_RATIO (19.0f) // motor deduction ratio 19:1
28#define CHASSIS_SLEF_GYRO_ANG_VEL 80
29#define CHASSIS_MAX_SPEED 16384
30
31/* power limit defines */
32#define CHASSIS_POWER_DANGER 20 //random value, test soon
33#define CHASSIS_POWER_THRESHOLD 45 //random value, test soon
34#define POWER_TO_CURRENT (1.0f) //random value, test soon
35#define CHASSIS_PC_RAMP_VALUE (0.5f) //ramp value for increment of the motors
36
37// Wheel index defines
38#define CHASSIS_WHEEL1_INDEX 0
39#define CHASSIS_WHEEL2_INDEX 1
40#define CHASSIS_WHEEL3_INDEX 2
41#define CHASSIS_WHEEL4_INDEX 3
42
43#define CHASSIS_MAX_WHEELS 4
44
45/* =========================================================================
46 * GIMBAL DEFINES
47 * ====================================================================== */
48#define PITCH_ECD_DELTA 1364 //60/180*4096
49#define PITCH_GEAR_RATIO 1 // The ratio of the gear box of the pitch motor
50#define PITCH_GYRO_DELTA (20.0f * DEGREE2RAD * PITCH_GEAR_RATIO)
51
52#define YAW_GEAR_RATIO 1.0f //if install a gear, calc the gear ratio here
53
54#define GIMBAL_YAW_MOTOR_INDEX 0
55#define GIMBAL_PITCH_MOTOR_INDEX 1
56#define GIMBAL_MOTOR_COUNT 2
57
58#define GIMBAL_IMU_SAMPLES 20
59
60/* =========================================================================
61 * IMU DEFINES
62 * ====================================================================== */
63#define IMU_TMP_PWM_HTIM htim10
64#define IMU_TMP_PWM_CHANNEL TIM_CHANNEL_1
65
66/* =========================================================================
67 * SHOOT DEFINES
68 * ====================================================================== */
69/* define general declarations for gimbal task here */
70#define USE_CAN_FRIC 1 //if use 3508 instead of pwm-based fric wheel motor
71
72//Max input value (abs) for magazine motor, for p2006, it is 10000, f
73//or 3508 it is 16000, for 6020 it is 30000
74#define MAX_PWM_ON_TIME 2000
75#define MIN_PWM_ON_TIME 1000
76
77/* 2305 can value*/
78#define LEVEL_ONE_PWM 300
79
80#define FRIC_PWM_DELAY 10
81#define FRIC_CAN_RAMP_DELAY 40
82
83/* 3508 can value*/
84//#define LEVEL_ONE_CAN_SPD 7500 // 28: 7500, 27:7350
85#define LEVEL_ONE_CAN_SPD 7500
86
87#define SHOOT_ONCE_MAG_ANGLE (20.0f * DEGREE2RAD)
88#define SHOOT_CONT_MAG_SPEED 1.0 * PI //rpm/sec
89#define SHOOT_MAG_GEAR_RATIO 19
90#define SHOOT_REVERSE_MAG_SPEED 0.2 * PI
91
92#define SHOOT_LEFT_FRIC_WHEEL_INDEX 0
93#define SHOOT_RIGHT_FRIC_WHEEL_INDEX 1
94
95/* =========================================================================
96 * COMM DEFINES
97 * ====================================================================== */
98/* Define used can id */
99#define CHANNEL_OFFSET_MAX_ABS_VAL 660
100#define MAX_MOUSE_YAW_OUT 2
101#define MAX_MOUSE_PITCH_OUT 2
102
103#endif
104
105/* =========================================================================
106 * TIMER DEFINES
107 * ====================================================================== */
108// #define DISABLE_MOTOR_SEND
109
110/* Referee App Defines */