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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

Parameters_ps3.h@14:a99f81878336, 2015-09-16 (annotated)

Committer:
DeguNaoto
Date:
Wed Sep 16 08:11:06 2015 +0000
Revision:
14:a99f81878336
Parent:
10:36f81cc33202
Child:
15:49ed1bbf3c1d
??????????????????????? "MachineState"??????

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 0:bd4719e15f7e 25 #define MOVE_R_TAUd 0.0
DeguNaoto 0:bd4719e15f7e 26
DeguNaoto 0:bd4719e15f7e 27 #define MOVE_L_INPUT_LIMIT_BOTTOM -100.0
DeguNaoto 0:bd4719e15f7e 28 #define MOVE_L_INPUT_LIMIT_TOP 100.0
DeguNaoto 0:bd4719e15f7e 29 #define MOVE_L_OUTPUT_LIMIT_BOTTOM -1.0
DeguNaoto 0:bd4719e15f7e 30 #define MOVE_L_OUTPUT_LIMIT_TOP 1.0
DeguNaoto 0:bd4719e15f7e 31 #define MOVE_L_BIAS 0.0
DeguNaoto 10:36f81cc33202 32 #define MOVE_L_Kc 0.15
DeguNaoto 9:c1177b8a2bd8 33 #define MOVE_L_TAUi 0.05
DeguNaoto 2:cf8ca6742db9 34 #define MOVE_L_TAUd 0.0
DeguNaoto 0:bd4719e15f7e 35
DeguNaoto 0:bd4719e15f7e 36 /**
DeguNaoto 0:bd4719e15f7e 37 * Motor Parameters.
DeguNaoto 0:bd4719e15f7e 38 */
DeguNaoto 0:bd4719e15f7e 39
DeguNaoto 0:bd4719e15f7e 40 /***Move motor period us.***/
DeguNaoto 0:bd4719e15f7e 41 #define MOVE_R_PERIOD_US 125
DeguNaoto 0:bd4719e15f7e 42 #define MOVE_L_PERIOD_US 125
DeguNaoto 0:bd4719e15f7e 43 #define SWING_PERIOD_US 125
DeguNaoto 0:bd4719e15f7e 44
DeguNaoto 0:bd4719e15f7e 45 /////////////////////////////////////////////////////////////////////////
DeguNaoto 0:bd4719e15f7e 46 /////////////////////////////////////////////////////////////////////////
DeguNaoto 0:bd4719e15f7e 47 /////////////////////////////////////////////////////////////////////////
DeguNaoto 0:bd4719e15f7e 48
DeguNaoto 0:bd4719e15f7e 49 #endif /*Parameters.h*/