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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

Parameters_ps3.h@8:1638e8c8ca93, 2015-09-07 (annotated)

Committer:
DeguNaoto
Date:
Mon Sep 07 06:28:47 2015 +0000
Revision:
8:1638e8c8ca93
Parent:
4:51d87d2b698c
Child:
9:c1177b8a2bd8
20150907???????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DeguNaoto 0:bd4719e15f7e 1 /**
DeguNaoto 0:bd4719e15f7e 2 * This define list is included main.cpp.
DeguNaoto 2:cf8ca6742db9 3 * Defined some parameters.
DeguNaoto 0:bd4719e15f7e 4 */
DeguNaoto 0:bd4719e15f7e 5
DeguNaoto 0:bd4719e15f7e 6 #ifndef PARAMETERS_H
DeguNaoto 0:bd4719e15f7e 7 #define PARAMETERS_H
DeguNaoto 0:bd4719e15f7e 8
DeguNaoto 0:bd4719e15f7e 9 /////////////////////////////////////////////////////////////////////////
DeguNaoto 0:bd4719e15f7e 10 /////////////////////////////////////////////////////////////////////////
DeguNaoto 0:bd4719e15f7e 11 /////////////////////////////////////////////////////////////////////////
DeguNaoto 0:bd4719e15f7e 12
DeguNaoto 0:bd4719e15f7e 13 /**
DeguNaoto 0:bd4719e15f7e 14 * PID parameters.
DeguNaoto 0:bd4719e15f7e 15 */
DeguNaoto 2:cf8ca6742db9 16
DeguNaoto 0:bd4719e15f7e 17 /***Move PID controller***/
DeguNaoto 0:bd4719e15f7e 18 #define MOVE_R_INPUT_LIMIT_BOTTOM -100.0
DeguNaoto 0:bd4719e15f7e 19 #define MOVE_R_INPUT_LIMIT_TOP 100.0
DeguNaoto 0:bd4719e15f7e 20 #define MOVE_R_OUTPUT_LIMIT_BOTTOM -1.0
DeguNaoto 0:bd4719e15f7e 21 #define MOVE_R_OUTPUT_LIMIT_TOP 1.0
DeguNaoto 0:bd4719e15f7e 22 #define MOVE_R_BIAS 0.0
DeguNaoto 1:a89e2a604dcf 23 #define MOVE_R_Kc 0.1
DeguNaoto 8:1638e8c8ca93 24 #define MOVE_R_TAUi 0.03
DeguNaoto 4:51d87d2b698c 25 //#define MOVE_R_TAUi 0.01
DeguNaoto 0:bd4719e15f7e 26 #define MOVE_R_TAUd 0.0
DeguNaoto 0:bd4719e15f7e 27
DeguNaoto 0:bd4719e15f7e 28 #define MOVE_L_INPUT_LIMIT_BOTTOM -100.0
DeguNaoto 0:bd4719e15f7e 29 #define MOVE_L_INPUT_LIMIT_TOP 100.0
DeguNaoto 0:bd4719e15f7e 30 #define MOVE_L_OUTPUT_LIMIT_BOTTOM -1.0
DeguNaoto 0:bd4719e15f7e 31 #define MOVE_L_OUTPUT_LIMIT_TOP 1.0
DeguNaoto 0:bd4719e15f7e 32 #define MOVE_L_BIAS 0.0
DeguNaoto 1:a89e2a604dcf 33 #define MOVE_L_Kc 0.1
DeguNaoto 8:1638e8c8ca93 34 #define MOVE_L_TAUi 0.03
DeguNaoto 4:51d87d2b698c 35 //#define MOVE_L_TAUi 0.01
DeguNaoto 2:cf8ca6742db9 36 #define MOVE_L_TAUd 0.0
DeguNaoto 0:bd4719e15f7e 37
DeguNaoto 0:bd4719e15f7e 38 /***Swing speed PID controller***/
DeguNaoto 4:51d87d2b698c 39 #define SWING_INPUT_LIMIT_BOTTOM -1000000.0
DeguNaoto 4:51d87d2b698c 40 #define SWING_INPUT_LIMIT_TOP 1000000.0
DeguNaoto 0:bd4719e15f7e 41 #define SWING_OUTPUT_LIMIT_BOTTOM 0.0
DeguNaoto 0:bd4719e15f7e 42 #define SWING_OUTPUT_LIMIT_TOP 1.0
DeguNaoto 0:bd4719e15f7e 43 #define SWING_BIAS 0.0
DeguNaoto 4:51d87d2b698c 44 #define SWING_Kc 1000.0
DeguNaoto 4:51d87d2b698c 45 #define SWING_TAUi 0.01 //tau_i
DeguNaoto 0:bd4719e15f7e 46 #define SWING_TAUd 0.0 //tau_d
DeguNaoto 0:bd4719e15f7e 47
DeguNaoto 0:bd4719e15f7e 48 /**
DeguNaoto 0:bd4719e15f7e 49 * Motor Parameters.
DeguNaoto 0:bd4719e15f7e 50 */
DeguNaoto 0:bd4719e15f7e 51
DeguNaoto 0:bd4719e15f7e 52 /***Move motor period us.***/
DeguNaoto 0:bd4719e15f7e 53 #define MOVE_R_PERIOD_US 125
DeguNaoto 0:bd4719e15f7e 54 #define MOVE_L_PERIOD_US 125
DeguNaoto 0:bd4719e15f7e 55 #define SWING_PERIOD_US 125
DeguNaoto 0:bd4719e15f7e 56
DeguNaoto 0:bd4719e15f7e 57 /////////////////////////////////////////////////////////////////////////
DeguNaoto 0:bd4719e15f7e 58 /////////////////////////////////////////////////////////////////////////
DeguNaoto 0:bd4719e15f7e 59 /////////////////////////////////////////////////////////////////////////
DeguNaoto 0:bd4719e15f7e 60
DeguNaoto 0:bd4719e15f7e 61 #endif /*Parameters.h*/