robot_constants.h

#pragma once
 
typedef struct RobotConstants
{
    // The mass of the entire robot including batteries [kg]
    // Determined experimentally by weighing the robot and battery
    float mass_kg;
 
    // The inertial factor
    float inertial_factor;
 
    // The radius of the robot [m]
    float robot_radius_m;
 
    // The maximum jerk this robot may safely undergo [m/s^3]
    float jerk_limit_kg_m_per_s_3;
 
    // The front_wheel_angle_deg and back_wheel_angle_deg are measured as absolute angle
    // to each of the wheels from the front y axis of the robot. In the ASCII art below,
    // front_wheel_angle_deg = A and back_wheel_angle_deg = A + B. The angles are assumed
    // to be left/right symmetrical
    //
    //                        ▲
    //                        │
    //                        │
    //                        │
    //                        │
    //                        │
    //                        │
    //                        │
    //                        │
    //                        │
    //           *#### ### ###│### ### ####*
    //        *##             │              ##*
    //      *##               │                ##*   wheel
    //    *##                 │                  ##*   │
    //   *##                  │                xx##*◄──┘
    //  *##                   │   A         xxx   ##*
    // *##                    │         xxxx       ##*
    // *##                    │    xxxx            ##*
    // *##                    │xxxx                ##*
    // *##                     xx       B          ##*
    // *##                       xx                ##*
    // *##                         xx              ##*
    //  *##                          xx           ##*
    //   *##                           xx        ##*
    //    *##                            xx     ##*
    //      *##                            x  ##*
    //        *##                           ##*◄──┐
    //           *##                     ##*      │
    //              *##               ##*       wheel
    //                 *** ### ### ***
 
    // angle between each front wheel and the front y axis of the robot [degrees]
    float front_wheel_angle_deg;
 
    // angle between each back wheel and the front y axis of the robot [degrees]
    float back_wheel_angle_deg;
 
    // The total width of the entire flat face on the front of the robot [meters]
    float front_of_robot_width_meters;
 
    // The distance from one end of the dribbler to the other [meters]
    float dribbler_width_meters;
 
    // Indefinite dribbler mode sets a speed that can be maintained indefinitely [rpm]
    int indefinite_dribbler_speed_rpm;
 
    // Max force dribbler mode sets the speed that applies the maximum amount of force on
    // the ball [rpm]
    int max_force_dribbler_speed_rpm;
 
    // The maximum acceleration achievable by our motors [m/s^2]
    float motor_max_acceleration_m_per_s_2;
 
    // The maximum speed achievable by our robots, in metres per second [m/s]
    float robot_max_speed_m_per_s;
 
    // The maximum acceleration achievable by our robots [m/s^2]
    float robot_max_acceleration_m_per_s_2;
 
    // The maximum deceleration (break) achievable by our robots [m/s^2]
    float robot_max_deceleration_m_per_s_2;
 
    // The maximum angular speed achievable by our robots [rad/s]
    float robot_max_ang_speed_rad_per_s;
 
    // The maximum angular acceleration achievable by our robots [rad/s^2]
    float robot_max_ang_acceleration_rad_per_s_2;
 
    // The radius of the wheel, in meters
    float wheel_radius_meters;
 
    // The gear ratio between the motor shaft and wheel shaft
    // [# of wheel rotations / 1 motor rotation]
    float wheel_rotations_per_motor_rotation;
 
} RobotConstants_t;