falfalla.h

00001 #ifndef FALFALLA_H
00002 #define FALFALLA_H
00003 
00004 #define SWITCH_CHECK 1400
00005 #define NUMBER_FALFALLA 2 //何号機かを入れるとそれに応じて#if以下が変わって設定が変わる
00006 
00007 static int servo_NEUTRAL_R = 1900;
00008 static int servo_NEUTRAL_L = 1900;
00009 static int servo_FORWARD_R = 1860;
00010 static int servo_FORWARD_L = 1860
00011 static int servo_back_R = 1060;
00012 static int servo_back_L = 1060;
00013 static int servo_slow_FORWARD_R = 1560;
00014 static int servo_slow_FORWARD_L = 1560;
00015 static int servo_slow_back_R = 1360;
00016 static int servo_slow_back_L = 1360;
00017 static int TurnTable_NEUTRAL = 1500;//カメラ台座のサーボ
00018 static int MatchSpeed = servo_NEUTRAL_R + 100; //カメラと方向を合わせるときの車輪の速度
00019 static int minFocus = 1200;  //焦点合わせ用サーボの最小値
00020 
00021 static float g_rightloopROLL=-17.0;
00022 static float g_rightloopROLL_approach=-17.0;
00023 static float g_rightloopPITCH=-6.3;
00024 static float g_rightloopPITCH_approach = -15.0;
00025 static float g_leftloopROLL=16.0;
00026 static float g_leftloopROLL_approach=16.0;
00027 static float g_leftloopPITCH=-6.0;
00028 static float g_leftloopPITCH_approach=-13.0;
00029 static float g_gostraightROLL=2.0;
00030 static float g_gostraightPITCH=-3.0;
00031 static float g_takeoffTHR=1.0;
00032 static float g_loopTHR=0.58;
00033 
00034 static float g_rightloopROLLshort=-20.0;
00035 static float g_rightloopPITCHshort=-7.0;
00036 static float g_leftloopROLLshort=22.0;
00037 static float g_leftloopPITCHshort=-6.0;
00038 
00039 static float g_glideloopROLL = -5.0;      //rewrite
00040 static float g_glideloopPITCH = 0.0;
00041 static float g_autoonPITCH = -3.0;
00042 
00043 static int g_rightloopRUD = 1500;
00044 static int g_rightloopRUD_approach=1500;
00045 static int g_rightloopshortRUD = 1500;
00046 static int g_leftloopRUD = 1500;
00047 static int g_leftloopRUD_approach = 1710;
00048 static int g_leftloopshortRUD = 1500;
00049 static int g_glideloopRUD = 1500;
00050 
00051 static int g_AIL_L_correctionrightloop = 0;
00052 static int g_AIL_L_correctionrightloopshort = 0;
00053 static int g_AIL_L_correctionleftloop = 0;
00054 static int g_AIL_L_correctionleftloopshort = 0;
00055 
00056 
00057 #if NUMBER_FALFALLA == 1    //1号機
00058 const int8_t Reverce_falfalla[4] = {1,-1,1,1};   //Nutral:1 , Reverce:-1
00059 
00060 #elif NUMBER_FALFALLA == 2  //2号機
00061 const int16_t Reverce_falfalla[4] = {1,-1,1,-1};   //Nutral:1 , Reverce:-1
00062 
00063 #endif
00064 
00065 
00066 #endif /* ESTRELA_H_ */
00067 
00068 /*
00069 x軸回り    ロール
00070 y軸回り    ピッチ
00071 z軸回り    ヨー
00072 */