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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

Parameters_ps3.h

Committer:
DeguNaoto
Date:
2015-09-17
Revision:
18:526124eef0d1
Parent:
10:36f81cc33202
Child:
21:79b94cb922f0

File content as of revision 18:526124eef0d1:

/**
 * 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

/**
 * Motor Parameters.
 */

/***Move motor period us.***/
#define MOVE_R_PERIOD_US 125
#define MOVE_L_PERIOD_US 125

/**
 * Machine Parameters.
 */
const double d              = 375.0;
const double r_wheel        = 34.0;

/**
 * Encoder Parameters.
 */
 const double ppr = 400.0;
/////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////

#endif /*Parameters.h*/