2015_robocon_bteam / Mbed 2 deprecated 2015robot_main

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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

Parameters_ps3.h@65:cebdfc0184d7, 2015-10-05 (annotated)

Committer:
DeguNaoto
Date:
Mon Oct 05 07:53:02 2015 +0000
Revision:
65:cebdfc0184d7
Parent:
60:4a75f3f3a934
Child:
66:14df82661dfa
??????????8kHz->20kHz;

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 30:2923c6879e5f 15 #define speed 100000.0
DeguNaoto 60:4a75f3f3a934 16 #define swingspeed 2.0
DeguNaoto 0:bd4719e15f7e 17
DeguNaoto 0:bd4719e15f7e 18 /**
DeguNaoto 0:bd4719e15f7e 19 * Motor Parameters.
DeguNaoto 0:bd4719e15f7e 20 */
DeguNaoto 0:bd4719e15f7e 21
DeguNaoto 0:bd4719e15f7e 22 /***Move motor period us.***/
DeguNaoto 65:cebdfc0184d7 23 //#define MOVE_R_PERIOD_US 125
DeguNaoto 65:cebdfc0184d7 24 //#define MOVE_L_PERIOD_US 125
DeguNaoto 65:cebdfc0184d7 25 #define MOVE_R_PERIOD_US 50
DeguNaoto 65:cebdfc0184d7 26 #define MOVE_L_PERIOD_US 50
DeguNaoto 48:64d005c70df2 27 #define SWING_PERIOD 125
DeguNaoto 0:bd4719e15f7e 28
DeguNaoto 18:526124eef0d1 29 /**
DeguNaoto 18:526124eef0d1 30 * Machine Parameters.
DeguNaoto 18:526124eef0d1 31 */
DeguNaoto 18:526124eef0d1 32 const double d = 375.0;
DeguNaoto 18:526124eef0d1 33 const double r_wheel = 34.0;
DeguNaoto 18:526124eef0d1 34
DeguNaoto 18:526124eef0d1 35 /**
DeguNaoto 18:526124eef0d1 36 * Encoder Parameters.
DeguNaoto 18:526124eef0d1 37 */
DeguNaoto 48:64d005c70df2 38 const double ppr = 400.0;
DeguNaoto 48:64d005c70df2 39 const double pprS = 360.0;
DeguNaoto 0:bd4719e15f7e 40
DeguNaoto 0:bd4719e15f7e 41 #endif /*Parameters.h*/