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paraglider_config.cfg
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paraglider_config.cfg
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/*******************************
* Paraglider Configuration File
*******************************/
/*IMU Sample Rate*/
SAMPLE_RATE_HZ = 200;
/*Structural properties of BBB */
CAPE_MOUNT_ANGLE_X = 1.5708; /*pi/2 */
CAPE_MOUNT_ANGLE_Y = 1.5708;
CAPE_MOUNT_ANGLE_Z = 0.0;
V_NOMINAL = 7.4;
PULSE_DELAY = 20000;
/* electrical hookups */
WS_MOTOR_CHANNEL = 112;
WS_MOTOR_DIR_PIN = 111;
LIMIT_SWITCH_1_PIN = 98;
LIMIT_SWITCH_2_PIN = 97;
BL_MOTOR_CHANNEL_L = 57;
BL_MOTOR_DIR_PIN_L = 49;
BL_MOTOR_CHANNEL_R = 116;
BL_MOTOR_DIR_PIN_R = 113;
BL_MOTOR_POLARITY_L = 1;
BL_MOTOR_POLARITY_R = -1;
/*1 step is BL_STEP_TO_DIST cm in BL length. 0.9 deg/step * 0.5 (1/2 microstep) * pi/180 * 2.54 cm pulley rad = arc length */
BL_STEP_TO_DIST = 0.01995;
/* Thread Loop Rates */
BATTERY_CHECK_HZ = 5;
PRINTF_HZ = 20;
READ_INPUT_HZ = 15;
MOTOR_OUTPUT_HZ = 15;
/* PID Parameters */
K_P = 0.1;
K_I = 0.0;
K_D = 0.0001;
WINGOVER_ANGLES = [-90, 90, -90, 90, -90, 90, -90, 90, -90, 90, -90, 90, -90, 90, -90, 90,-90,90,-90,90,-90,90,-90,90,-90,90,-90,90,-90,90];
WINGOVER_TIMING = [950000, 950000,950000, 950000, 950000, 950000,950000, 950000,950000, 950000,950000, 950000,1000000, 1000000,1050000, 1050000,1100000, 1100000,1150000, 1150000,1200000, 1200000,1250000, 1250000,1300000, 1300000];
### eof