car_config.h File Reference

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Namespaces
	car_config

Variables
constexpr double	car_config::PI = 3.14159265358979323846
	Since it's not possible to use <cmath> in a constexpression, it's defined here again. More...
constexpr double	car_config::DEG_TO_RAD = PI / 180
constexpr double	car_config::WHEELBASE = 0.325
	The distance between the front and rear axes. More...
constexpr double	car_config::WHEEL_DIAMETER = 0.098
constexpr double	car_config::WHEEL_WIDTH = 0.042
constexpr double	car_config::FRONT_WHEEL_DISTANCE = 0.23
constexpr double	car_config::REAR_WHEEL_DISTANCE = 0.233
constexpr double	car_config::WHEEL_PERIMETER = WHEEL_DIAMETER * PI
constexpr double	car_config::TURNING_RADIUS = 0.605
constexpr double	car_config::MAX_RPM_MECHANICAL = 60000
	Maximum revolutions per minute of the motor. Divide by TRANSMISSION to get the maximum wheel rpm 1/min. More...
constexpr double	car_config::MOTOR_POLES = 3
	Number of electrical motor poles. More...
constexpr double	car_config::MAX_RPM_ELECTRICAL = MAX_RPM_MECHANICAL / MOTOR_POLES
	Maximum electrical revolutions per minute for use in the VESC 1/min. More...
constexpr double	car_config::ERPM_TO_SPEED = WHEEL_PERIMETER * MOTOR_POLES / 60
	Conversion factor from electrical revolutions per minute to meters per second m/s * minute = m. More...
constexpr double	car_config::SPEED_TO_ERPM = 1 / ERPM_TO_SPEED
	Conversion factor from meters per second to electrical revolutions per minute s/ (m * minute) = 1/m. More...
constexpr double	car_config::RPM_TO_SPEED = WHEEL_PERIMETER / 60
	Conversion factor from mechanical revolutions per minute to meters per second m/s * minute = m. More...
constexpr double	car_config::STEERING_TO_SERVO_OFFSET = 0.5
	Position of the servo for normal wheel position. More...
constexpr double	car_config::STEERING_TO_SERVO_GAIN = -3 / PI
	Conversion factor from steering angle to servo input 1/radian. More...
constexpr double	car_config::MAX_STEERING_ANGLE = 30 * DEG_TO_RAD
constexpr double	car_config::MIN_STEERING_ANGLE = -30 * DEG_TO_RAD
constexpr double	car_config::TRANSMISSION = 20
	Gear transmission inside the differential of the car. This is an estimate, the exact value is not known. More...
constexpr double	car_config::MAX_SERVO_POSITION = 1
constexpr double	car_config::ERPM_TO_RAD_PER_SEC = MOTOR_POLES * 2 * PI / 60
	Conversion factor from electrical revolutions per minute to radian to seconds radian/s * minute = radians. More...