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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

Parameters_ps3.h@21:79b94cb922f0, 2015-09-18 (annotated)

Committer:
DeguNaoto
Date:
Fri Sep 18 01:49:16 2015 +0000
Revision:
21:79b94cb922f0
Parent:
18:526124eef0d1
Child:
30:2923c6879e5f
autoMode.h ? prototype.h ???

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 21:79b94cb922f0 9 /**
DeguNaoto 21:79b94cb922f0 10 * Defines
DeguNaoto 21:79b94cb922f0 11 */
DeguNaoto 21:79b94cb922f0 12 #define RATE 0.01
DeguNaoto 21:79b94cb922f0 13 #define PI 3.14159265359
DeguNaoto 21:79b94cb922f0 14 //#define speed 10000.0
DeguNaoto 21:79b94cb922f0 15 #define speed 10000.0
DeguNaoto 0:bd4719e15f7e 16
DeguNaoto 0:bd4719e15f7e 17 /**
DeguNaoto 0:bd4719e15f7e 18 * PID parameters.
DeguNaoto 0:bd4719e15f7e 19 */
DeguNaoto 2:cf8ca6742db9 20
DeguNaoto 0:bd4719e15f7e 21 /***Move PID controller***/
DeguNaoto 0:bd4719e15f7e 22 #define MOVE_R_INPUT_LIMIT_BOTTOM -100.0
DeguNaoto 0:bd4719e15f7e 23 #define MOVE_R_INPUT_LIMIT_TOP 100.0
DeguNaoto 0:bd4719e15f7e 24 #define MOVE_R_OUTPUT_LIMIT_BOTTOM -1.0
DeguNaoto 0:bd4719e15f7e 25 #define MOVE_R_OUTPUT_LIMIT_TOP 1.0
DeguNaoto 0:bd4719e15f7e 26 #define MOVE_R_BIAS 0.0
DeguNaoto 10:36f81cc33202 27 #define MOVE_R_Kc 0.15
DeguNaoto 9:c1177b8a2bd8 28 #define MOVE_R_TAUi 0.05
DeguNaoto 4:51d87d2b698c 29 //#define MOVE_R_TAUi 0.01
DeguNaoto 0:bd4719e15f7e 30 #define MOVE_R_TAUd 0.0
DeguNaoto 0:bd4719e15f7e 31
DeguNaoto 0:bd4719e15f7e 32 #define MOVE_L_INPUT_LIMIT_BOTTOM -100.0
DeguNaoto 0:bd4719e15f7e 33 #define MOVE_L_INPUT_LIMIT_TOP 100.0
DeguNaoto 0:bd4719e15f7e 34 #define MOVE_L_OUTPUT_LIMIT_BOTTOM -1.0
DeguNaoto 0:bd4719e15f7e 35 #define MOVE_L_OUTPUT_LIMIT_TOP 1.0
DeguNaoto 0:bd4719e15f7e 36 #define MOVE_L_BIAS 0.0
DeguNaoto 10:36f81cc33202 37 #define MOVE_L_Kc 0.15
DeguNaoto 9:c1177b8a2bd8 38 #define MOVE_L_TAUi 0.05
DeguNaoto 4:51d87d2b698c 39 //#define MOVE_L_TAUi 0.01
DeguNaoto 2:cf8ca6742db9 40 #define MOVE_L_TAUd 0.0
DeguNaoto 0:bd4719e15f7e 41
DeguNaoto 0:bd4719e15f7e 42 /**
DeguNaoto 0:bd4719e15f7e 43 * Motor Parameters.
DeguNaoto 0:bd4719e15f7e 44 */
DeguNaoto 0:bd4719e15f7e 45
DeguNaoto 0:bd4719e15f7e 46 /***Move motor period us.***/
DeguNaoto 0:bd4719e15f7e 47 #define MOVE_R_PERIOD_US 125
DeguNaoto 0:bd4719e15f7e 48 #define MOVE_L_PERIOD_US 125
DeguNaoto 0:bd4719e15f7e 49
DeguNaoto 18:526124eef0d1 50 /**
DeguNaoto 18:526124eef0d1 51 * Machine Parameters.
DeguNaoto 18:526124eef0d1 52 */
DeguNaoto 18:526124eef0d1 53 const double d = 375.0;
DeguNaoto 18:526124eef0d1 54 const double r_wheel = 34.0;
DeguNaoto 18:526124eef0d1 55
DeguNaoto 18:526124eef0d1 56 /**
DeguNaoto 18:526124eef0d1 57 * Encoder Parameters.
DeguNaoto 18:526124eef0d1 58 */
DeguNaoto 18:526124eef0d1 59 const double ppr = 400.0;
DeguNaoto 0:bd4719e15f7e 60
DeguNaoto 0:bd4719e15f7e 61 #endif /*Parameters.h*/