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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

Parameters_ps3.h@18:526124eef0d1, 2015-09-17 (annotated)

Committer:
DeguNaoto
Date:
Thu Sep 17 02:58:36 2015 +0000
Revision:
18:526124eef0d1
Parent:
10:36f81cc33202
Child:
21:79b94cb922f0
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
DeguNaoto 0:bd4719e15f7e 1 /**
DeguNaoto 0:bd4719e15f7e 2 * This define list is included main.cpp.
DeguNaoto 2:cf8ca6742db9 3 * Defined some parameters.
DeguNaoto 0:bd4719e15f7e 4 */
DeguNaoto 0:bd4719e15f7e 5
DeguNaoto 0:bd4719e15f7e 6 #ifndef PARAMETERS_H
DeguNaoto 0:bd4719e15f7e 7 #define PARAMETERS_H
DeguNaoto 0:bd4719e15f7e 8
DeguNaoto 0:bd4719e15f7e 9 /////////////////////////////////////////////////////////////////////////
DeguNaoto 0:bd4719e15f7e 10 /////////////////////////////////////////////////////////////////////////
DeguNaoto 0:bd4719e15f7e 11 /////////////////////////////////////////////////////////////////////////
DeguNaoto 0:bd4719e15f7e 12
DeguNaoto 0:bd4719e15f7e 13 /**
DeguNaoto 0:bd4719e15f7e 14 * PID parameters.
DeguNaoto 0:bd4719e15f7e 15 */
DeguNaoto 2:cf8ca6742db9 16
DeguNaoto 0:bd4719e15f7e 17 /***Move PID controller***/
DeguNaoto 0:bd4719e15f7e 18 #define MOVE_R_INPUT_LIMIT_BOTTOM -100.0
DeguNaoto 0:bd4719e15f7e 19 #define MOVE_R_INPUT_LIMIT_TOP 100.0
DeguNaoto 0:bd4719e15f7e 20 #define MOVE_R_OUTPUT_LIMIT_BOTTOM -1.0
DeguNaoto 0:bd4719e15f7e 21 #define MOVE_R_OUTPUT_LIMIT_TOP 1.0
DeguNaoto 0:bd4719e15f7e 22 #define MOVE_R_BIAS 0.0
DeguNaoto 10:36f81cc33202 23 #define MOVE_R_Kc 0.15
DeguNaoto 9:c1177b8a2bd8 24 #define MOVE_R_TAUi 0.05
DeguNaoto 4:51d87d2b698c 25 //#define MOVE_R_TAUi 0.01
DeguNaoto 0:bd4719e15f7e 26 #define MOVE_R_TAUd 0.0
DeguNaoto 0:bd4719e15f7e 27
DeguNaoto 0:bd4719e15f7e 28 #define MOVE_L_INPUT_LIMIT_BOTTOM -100.0
DeguNaoto 0:bd4719e15f7e 29 #define MOVE_L_INPUT_LIMIT_TOP 100.0
DeguNaoto 0:bd4719e15f7e 30 #define MOVE_L_OUTPUT_LIMIT_BOTTOM -1.0
DeguNaoto 0:bd4719e15f7e 31 #define MOVE_L_OUTPUT_LIMIT_TOP 1.0
DeguNaoto 0:bd4719e15f7e 32 #define MOVE_L_BIAS 0.0
DeguNaoto 10:36f81cc33202 33 #define MOVE_L_Kc 0.15
DeguNaoto 9:c1177b8a2bd8 34 #define MOVE_L_TAUi 0.05
DeguNaoto 4:51d87d2b698c 35 //#define MOVE_L_TAUi 0.01
DeguNaoto 2:cf8ca6742db9 36 #define MOVE_L_TAUd 0.0
DeguNaoto 0:bd4719e15f7e 37
DeguNaoto 0:bd4719e15f7e 38 /**
DeguNaoto 0:bd4719e15f7e 39 * Motor Parameters.
DeguNaoto 0:bd4719e15f7e 40 */
DeguNaoto 0:bd4719e15f7e 41
DeguNaoto 0:bd4719e15f7e 42 /***Move motor period us.***/
DeguNaoto 0:bd4719e15f7e 43 #define MOVE_R_PERIOD_US 125
DeguNaoto 0:bd4719e15f7e 44 #define MOVE_L_PERIOD_US 125
DeguNaoto 0:bd4719e15f7e 45
DeguNaoto 18:526124eef0d1 46 /**
DeguNaoto 18:526124eef0d1 47 * Machine Parameters.
DeguNaoto 18:526124eef0d1 48 */
DeguNaoto 18:526124eef0d1 49 const double d = 375.0;
DeguNaoto 18:526124eef0d1 50 const double r_wheel = 34.0;
DeguNaoto 18:526124eef0d1 51
DeguNaoto 18:526124eef0d1 52 /**
DeguNaoto 18:526124eef0d1 53 * Encoder Parameters.
DeguNaoto 18:526124eef0d1 54 */
DeguNaoto 18:526124eef0d1 55 const double ppr = 400.0;
DeguNaoto 0:bd4719e15f7e 56 /////////////////////////////////////////////////////////////////////////
DeguNaoto 0:bd4719e15f7e 57 /////////////////////////////////////////////////////////////////////////
DeguNaoto 0:bd4719e15f7e 58 /////////////////////////////////////////////////////////////////////////
DeguNaoto 0:bd4719e15f7e 59
DeguNaoto 0:bd4719e15f7e 60 #endif /*Parameters.h*/