2015_robocon_bteam / Mbed 2 deprecated 2015robot_main

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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

Diff: Parameters_ps3.h

Revision:
18:526124eef0d1
Parent:
10:36f81cc33202
Child:
21:79b94cb922f0
--- a/Parameters_ps3.h	Thu Sep 17 02:05:33 2015 +0000
+++ b/Parameters_ps3.h	Thu Sep 17 02:58:36 2015 +0000
@@ -35,16 +35,6 @@
 //#define MOVE_L_TAUi 0.01
 #define MOVE_L_TAUd 0.0
 
-/***Swing speed PID controller***/
-#define SWING_INPUT_LIMIT_BOTTOM -1000000.0
-#define SWING_INPUT_LIMIT_TOP 1000000.0
-#define SWING_OUTPUT_LIMIT_BOTTOM 0.0
-#define SWING_OUTPUT_LIMIT_TOP 1.0
-#define SWING_BIAS 0.0
-#define SWING_Kc 1000.0
-#define SWING_TAUi 0.01 //tau_i
-#define SWING_TAUd 0.0  //tau_d
-
 /**
  * Motor Parameters.
  */
@@ -52,8 +42,17 @@
 /***Move motor period us.***/
 #define MOVE_R_PERIOD_US 125
 #define MOVE_L_PERIOD_US 125
-#define SWING_PERIOD_US 125
 
+/**
+ * Machine Parameters.
+ */
+const double d              = 375.0;
+const double r_wheel        = 34.0;
+
+/**
+ * Encoder Parameters.
+ */
+ const double ppr = 400.0;
 /////////////////////////////////////////////////////////////////////////
 /////////////////////////////////////////////////////////////////////////
 /////////////////////////////////////////////////////////////////////////