2015_robocon_bteam
/
2015robot_main
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Fork of
2015robot_main
by 
Naoto Deguchi
Parameters_ps3.h
- Committer:
- DeguNaoto
- Date:
- 2015-09-16
- Revision:
- 15:49ed1bbf3c1d
- Parent:
- 14:a99f81878336
File content as of revision 15:49ed1bbf3c1d:
/**
* This define list is included main.cpp.
* Defined some parameters.
*/
#ifndef PARAMETERS_H
#define PARAMETERS_H
/////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////
/**
* PID parameters.
*/
//velocity
#define MOVE_VELOCITY_INPUT_LIMIT_BOTTOM -200000.0
#define MOVE_VELOCITY_INPUT_LIMIT_TOP 200000.0
#define MOVE_VELOCITY_OUTPUT_LIMIT_BOTTOM -1.0
#define MOVE_VELOCITY_OUTPUT_LIMIT_TOP 1.0
#define MOVE_VELOCITY_BIAS 0.0
#define MOVE_VELOCITY_Kc 18.0
#define MOVE_VELOCITY_TAUi 5274.0
#define MOVE_VELOCITY_TAUd 0.0
//direction
#define MOVE_DIRECTION_INPUT_LIMIT_BOTTOM -10.0
#define MOVE_DIRECTION_INPUT_LIMIT_TOP 10.0
#define MOVE_DIRECTION_OUTPUT_LIMIT_BOTTOM -1.0
#define MOVE_DIRECTION_OUTPUT_LIMIT_TOP 1.0
#define MOVE_DIRECTION_BIAS 0.0
#define MOVE_DIRECTION_Kc 1.8
#define MOVE_DIRECTION_TAUi 527.4
#define MOVE_DIRECTION_TAUd 0.0
/**
* 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*/
