2015_robocon_bteam / Mbed 2 deprecated 2015robot_main

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

Diff: Parameters_ps3.h

Revision:
48:64d005c70df2
Parent:
30:2923c6879e5f
Child:
50:8ea4714316ce
--- a/Parameters_ps3.h	Fri Sep 25 01:25:22 2015 +0000
+++ b/Parameters_ps3.h	Sat Sep 26 00:52:38 2015 +0000
@@ -13,31 +13,7 @@
 #define PI 3.14159265359
 //#define speed 10000.0
 #define speed 100000.0
-
-/**
- * PID parameters.
- */
-
-/***Move PID controller***/
-#define MOVE_R_INPUT_LIMIT_BOTTOM -100.0
-#define MOVE_R_INPUT_LIMIT_TOP 100.0
-#define MOVE_R_OUTPUT_LIMIT_BOTTOM -1.0
-#define MOVE_R_OUTPUT_LIMIT_TOP 1.0
-#define MOVE_R_BIAS 0.0
-#define MOVE_R_Kc 0.15
-#define MOVE_R_TAUi 0.05
-//#define MOVE_R_TAUi 0.01
-#define MOVE_R_TAUd 0.0
-
-#define MOVE_L_INPUT_LIMIT_BOTTOM -100.0
-#define MOVE_L_INPUT_LIMIT_TOP 100.0
-#define MOVE_L_OUTPUT_LIMIT_BOTTOM -1.0
-#define MOVE_L_OUTPUT_LIMIT_TOP 1.0
-#define MOVE_L_BIAS 0.0
-#define MOVE_L_Kc 0.15
-#define MOVE_L_TAUi 0.05
-//#define MOVE_L_TAUi 0.01
-#define MOVE_L_TAUd 0.0
+#define swingspeed 0.7
 
 /**
  * Motor Parameters.
@@ -46,6 +22,7 @@
 /***Move motor period us.***/
 #define MOVE_R_PERIOD_US 125
 #define MOVE_L_PERIOD_US 125
+#define SWING_PERIOD     125
 
 /**
  * Machine Parameters.
@@ -56,6 +33,7 @@
 /**
  * Encoder Parameters.
  */
- const double ppr = 400.0;
+ const double ppr           = 400.0;
+ const double pprS          = 360.0;
 
 #endif /*Parameters.h*/
\ No newline at end of file