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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

Parameters_ps3.h@32:eb7c263cb5cf, 2015-09-20 (annotated)

Committer:
DeguNaoto
Date:
Sun Sep 20 04:31:34 2015 +0000
Revision:
32:eb7c263cb5cf
Parent:
30:2923c6879e5f
Child:
33:9f14e89f74eb
??(Vr,Vl)?????

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 0:bd4719e15f7e 16
DeguNaoto 0:bd4719e15f7e 17 /**
DeguNaoto 32:eb7c263cb5cf 18 * Address.
DeguNaoto 32:eb7c263cb5cf 19 */
DeguNaoto 32:eb7c263cb5cf 20 #define ADR_R 5
DeguNaoto 32:eb7c263cb5cf 21 #define ADR_L 4
DeguNaoto 32:eb7c263cb5cf 22 #define ADR_E 6
DeguNaoto 32:eb7c263cb5cf 23
DeguNaoto 32:eb7c263cb5cf 24 /**
DeguNaoto 32:eb7c263cb5cf 25 * Command sendDATA.
DeguNaoto 32:eb7c263cb5cf 26 */
DeguNaoto 32:eb7c263cb5cf 27 #define CMD_STOP 0
DeguNaoto 32:eb7c263cb5cf 28 #define CMD_RET 31
DeguNaoto 32:eb7c263cb5cf 29 //angle betweet 1~31
DeguNaoto 32:eb7c263cb5cf 30
DeguNaoto 32:eb7c263cb5cf 31 /**
DeguNaoto 0:bd4719e15f7e 32 * PID parameters.
DeguNaoto 0:bd4719e15f7e 33 */
DeguNaoto 2:cf8ca6742db9 34
DeguNaoto 0:bd4719e15f7e 35 /***Move PID controller***/
DeguNaoto 0:bd4719e15f7e 36 #define MOVE_R_INPUT_LIMIT_BOTTOM -100.0
DeguNaoto 0:bd4719e15f7e 37 #define MOVE_R_INPUT_LIMIT_TOP 100.0
DeguNaoto 0:bd4719e15f7e 38 #define MOVE_R_OUTPUT_LIMIT_BOTTOM -1.0
DeguNaoto 0:bd4719e15f7e 39 #define MOVE_R_OUTPUT_LIMIT_TOP 1.0
DeguNaoto 0:bd4719e15f7e 40 #define MOVE_R_BIAS 0.0
DeguNaoto 10:36f81cc33202 41 #define MOVE_R_Kc 0.15
DeguNaoto 9:c1177b8a2bd8 42 #define MOVE_R_TAUi 0.05
DeguNaoto 4:51d87d2b698c 43 //#define MOVE_R_TAUi 0.01
DeguNaoto 0:bd4719e15f7e 44 #define MOVE_R_TAUd 0.0
DeguNaoto 0:bd4719e15f7e 45
DeguNaoto 0:bd4719e15f7e 46 #define MOVE_L_INPUT_LIMIT_BOTTOM -100.0
DeguNaoto 0:bd4719e15f7e 47 #define MOVE_L_INPUT_LIMIT_TOP 100.0
DeguNaoto 0:bd4719e15f7e 48 #define MOVE_L_OUTPUT_LIMIT_BOTTOM -1.0
DeguNaoto 0:bd4719e15f7e 49 #define MOVE_L_OUTPUT_LIMIT_TOP 1.0
DeguNaoto 0:bd4719e15f7e 50 #define MOVE_L_BIAS 0.0
DeguNaoto 10:36f81cc33202 51 #define MOVE_L_Kc 0.15
DeguNaoto 9:c1177b8a2bd8 52 #define MOVE_L_TAUi 0.05
DeguNaoto 4:51d87d2b698c 53 //#define MOVE_L_TAUi 0.01
DeguNaoto 2:cf8ca6742db9 54 #define MOVE_L_TAUd 0.0
DeguNaoto 0:bd4719e15f7e 55
DeguNaoto 0:bd4719e15f7e 56 /**
DeguNaoto 0:bd4719e15f7e 57 * Motor Parameters.
DeguNaoto 0:bd4719e15f7e 58 */
DeguNaoto 0:bd4719e15f7e 59
DeguNaoto 0:bd4719e15f7e 60 /***Move motor period us.***/
DeguNaoto 0:bd4719e15f7e 61 #define MOVE_R_PERIOD_US 125
DeguNaoto 0:bd4719e15f7e 62 #define MOVE_L_PERIOD_US 125
DeguNaoto 0:bd4719e15f7e 63
DeguNaoto 18:526124eef0d1 64 /**
DeguNaoto 18:526124eef0d1 65 * Machine Parameters.
DeguNaoto 18:526124eef0d1 66 */
DeguNaoto 18:526124eef0d1 67 const double d = 375.0;
DeguNaoto 18:526124eef0d1 68 const double r_wheel = 34.0;
DeguNaoto 18:526124eef0d1 69
DeguNaoto 18:526124eef0d1 70 /**
DeguNaoto 18:526124eef0d1 71 * Encoder Parameters.
DeguNaoto 18:526124eef0d1 72 */
DeguNaoto 18:526124eef0d1 73 const double ppr = 400.0;
DeguNaoto 0:bd4719e15f7e 74
DeguNaoto 0:bd4719e15f7e 75 #endif /*Parameters.h*/