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46 lines
1.2 KiB
Bash
46 lines
1.2 KiB
Bash
#!/bin/sh
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#
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# @name Hiwonder Tracked
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#
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# @url https://www.hiwonder.com/products/suspended-shock-absorbing-tracked-chassis?variant=40378709835863
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#
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# @type Rover
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# @class Rover
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#
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. ${R}etc/init.d/rc.rover_differential_defaults
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param set-default HIWONDER_EMM_EN 1 # Enable motor driver
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param set-default BAT1_N_CELLS 3
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param set-default NAV_ACC_RAD 0.5
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# Differential Parameters
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param set-default RD_WHEEL_TRACK 0.16
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param set-default RD_TRANS_DRV_TRN 0.785398
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param set-default RD_TRANS_TRN_DRV 0.0872665
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# Rover Rate Control Parameters
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param set-default RO_YAW_EXPO 0.2
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param set-default RO_YAW_SUPEXPO 0.1
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param set-default RO_YAW_RATE_I 0.1
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param set-default RO_YAW_RATE_P 0.1
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param set-default RO_YAW_RATE_LIM 140
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# Rover Attitude Control Parameters
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param set-default RO_YAW_P 5
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# Rover Velocity Control Parameters
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param set-default RO_ACCEL_LIM 1
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param set-default RO_DECEL_LIM 1
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param set-default RO_JERK_LIM 10
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param set-default RO_MAX_THR_SPEED 0.3
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param set-default RO_SPEED_LIM 0.28
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param set-default RO_SPEED_I 0.05
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param set-default RO_SPEED_P 0.1
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param set-default RO_SPEED_RED 1
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# Pure Pursuit parameters
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param set-default PP_LOOKAHD_GAIN 1
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param set-default PP_LOOKAHD_MAX 10
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param set-default PP_LOOKAHD_MIN 1
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