2015_robocon_bteam
/
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.
Fork of
2015robot_main
by 
Naoto Deguchi
Parameters_ps3.h
- Committer:
- DeguNaoto
- Date:
- 2015-09-09
- Revision:
- 10:36f81cc33202
- Parent:
- 9:c1177b8a2bd8
- Child:
- 14:a99f81878336
- Child:
- 18:526124eef0d1
File content as of revision 10:36f81cc33202:
/**
* This define list is included main.cpp.
* Defined some parameters.
*/
#ifndef PARAMETERS_H
#define PARAMETERS_H
/////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////
/**
* 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
/***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.
*/
/***Move motor period us.***/
#define MOVE_R_PERIOD_US 125
#define MOVE_L_PERIOD_US 125
#define SWING_PERIOD_US 125
/////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////
#endif /*Parameters.h*/
