maggie_base: maggie_data.h Source File

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00001 
00026 //TODO: convert this to rosparam
00027 
00028 // max revolution speed of the motor (RPM = revolutions / min)
00029 #define VELOCITY_MAX            "SP2500\n\r"
00030 
00031 // reduction factor (engine revs / 1 wheel spin)
00032 #define REDUCTION               36.0
00033 
00034 // pulses per reduction
00035 #define PULSES_PER_REVOLUTION   2000.0
00036 
00037 // maximum linear velocity (mm / sec)
00038 #define LINEAL_VELOCITY_MAX     858.17
00039 
00040 // maximum angular velocity (degrees / sec), where 360 degrees = 1 revolution
00041 #define ANGULAR_VELOCITY_MAX    360.0
00042 
00043 // length of the axe between wheels (mm)
00044 #define AXIS_LENGTH             307.0
00045 
00046 // wheels diameter (mm)
00047 #define WHEEL_DIAMETER          156.0
00048 
00049 // parameters for the motor drivers
00050 
00051 // acceleration ramp for accelerating (sec^-2)
00052 #define ACCELERATION            "AC20\n\r"
00053 
00054 // acceleration ramp for decelerating (sec^-2)
00055 #define DECELERATION            "DEC25\n\r"