五力全開 / Mbed 2 deprecated Robotics_test1

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Show/hide line numbers Define.h Source File

Define.h

00001 #define TIMER_CYCLING_TIME 10000.0 //us
00002 
00003 #define REDUCE_MAGNIFICATION 29
00004 #define ENCODER_RESOLUTION 12
00005 #define ENCODER_TO_DISTANCE 125 //3700/300
00006 #define ENCODER_TO_RAD 353  // 2218/2pi
00007 #define RAD_TO_DEGREE   57.2957795
00008 #define PI   3.1415926535
00009 
00010 const double INVERSE_TIMER_CYCLING_TIME = 1000000/TIMER_CYCLING_TIME ;
00011 const double OneRotationCounts = ENCODER_RESOLUTION * REDUCE_MAGNIFICATION;
00012 const double INVERSE_OneRotationCounts = 1/OneRotationCounts;
00013 double FieldLength = 305;
00014 double FieldWidth = 240;
00015 double angleErrorFromPC = 0;
00016 bool   GREEN_BALL_MODE;// = false;//true:greenball, false:blueball;
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