2015_robocon_bteam / Mbed 2 deprecated 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.

Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

Parameters_ps3.h@2:cf8ca6742db9, 2015-08-31 (annotated)

Committer:
DeguNaoto
Date:
Mon Aug 31 04:10:00 2015 +0000
Revision:
2:cf8ca6742db9
Parent:
1:a89e2a604dcf
Child:
4:51d87d2b698c
20150831 encoder test

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 1:a89e2a604dcf 24 #define MOVE_R_TAUi 0.05
DeguNaoto 0:bd4719e15f7e 25 #define MOVE_R_TAUd 0.0
DeguNaoto 0:bd4719e15f7e 26
DeguNaoto 0:bd4719e15f7e 27 #define MOVE_L_INPUT_LIMIT_BOTTOM -100.0
DeguNaoto 0:bd4719e15f7e 28 #define MOVE_L_INPUT_LIMIT_TOP 100.0
DeguNaoto 0:bd4719e15f7e 29 #define MOVE_L_OUTPUT_LIMIT_BOTTOM -1.0
DeguNaoto 0:bd4719e15f7e 30 #define MOVE_L_OUTPUT_LIMIT_TOP 1.0
DeguNaoto 0:bd4719e15f7e 31 #define MOVE_L_BIAS 0.0
DeguNaoto 1:a89e2a604dcf 32 #define MOVE_L_Kc 0.1
DeguNaoto 2:cf8ca6742db9 33 #define MOVE_L_TAUi 0.05
DeguNaoto 2:cf8ca6742db9 34 #define MOVE_L_TAUd 0.0
DeguNaoto 0:bd4719e15f7e 35
DeguNaoto 0:bd4719e15f7e 36 /***Swing speed PID controller***/
DeguNaoto 0:bd4719e15f7e 37 #define SWING_INPUT_LIMIT_BOTTOM -100000.0
DeguNaoto 0:bd4719e15f7e 38 #define SWING_INPUT_LIMIT_TOP 100000.0
DeguNaoto 0:bd4719e15f7e 39 #define SWING_OUTPUT_LIMIT_BOTTOM 0.0
DeguNaoto 0:bd4719e15f7e 40 #define SWING_OUTPUT_LIMIT_TOP 1.0
DeguNaoto 0:bd4719e15f7e 41 #define SWING_BIAS 0.0
DeguNaoto 0:bd4719e15f7e 42 #define SWING_Kc 10.0
DeguNaoto 0:bd4719e15f7e 43 #define SWING_TAUi 0.1 //tau_i
DeguNaoto 0:bd4719e15f7e 44 #define SWING_TAUd 0.0 //tau_d
DeguNaoto 0:bd4719e15f7e 45
DeguNaoto 0:bd4719e15f7e 46 /**
DeguNaoto 0:bd4719e15f7e 47 * Motor Parameters.
DeguNaoto 0:bd4719e15f7e 48 */
DeguNaoto 0:bd4719e15f7e 49
DeguNaoto 0:bd4719e15f7e 50 /***Move motor period us.***/
DeguNaoto 0:bd4719e15f7e 51 #define MOVE_R_PERIOD_US 125
DeguNaoto 0:bd4719e15f7e 52 #define MOVE_L_PERIOD_US 125
DeguNaoto 0:bd4719e15f7e 53 #define SWING_PERIOD_US 125
DeguNaoto 0:bd4719e15f7e 54
DeguNaoto 0:bd4719e15f7e 55 /////////////////////////////////////////////////////////////////////////
DeguNaoto 0:bd4719e15f7e 56 /////////////////////////////////////////////////////////////////////////
DeguNaoto 0:bd4719e15f7e 57 /////////////////////////////////////////////////////////////////////////
DeguNaoto 0:bd4719e15f7e 58
DeguNaoto 0:bd4719e15f7e 59 #endif /*Parameters.h*/