2015_robocon_bteam
/
2015robot_main
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Fork of
2015robot_main
by 
Naoto Deguchi
Parameters_ps3.h
- Committer:
- DeguNaoto
- Date:
- 2015-09-20
- Revision:
- 32:eb7c263cb5cf
- Parent:
- 30:2923c6879e5f
- Child:
- 33:9f14e89f74eb
File content as of revision 32:eb7c263cb5cf:
/**
* This define list is included main.cpp.
* Defined some parameters.
*/
#ifndef PARAMETERS_H
#define PARAMETERS_H
/**
* Defines
*/
#define RATE 0.01
#define PI 3.14159265359
//#define speed 10000.0
#define speed 100000.0
/**
* Address.
*/
#define ADR_R 5
#define ADR_L 4
#define ADR_E 6
/**
* Command sendDATA.
*/
#define CMD_STOP 0
#define CMD_RET 31
//angle betweet 1~31
/**
* 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*/
