2015_robocon_bteam / Mbed 2 deprecated mesure_swing_speed_20150904

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

Parameters_ps3.h@0:569847dea423, 2015-09-05 (annotated)

Committer:
DeguNaoto
Date:
Sat Sep 05 04:40:56 2015 +0000
Revision:
0:569847dea423
localfile

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DeguNaoto 0:569847dea423 1 /**
DeguNaoto 0:569847dea423 2 * This define list is included main.cpp.
DeguNaoto 0:569847dea423 3 * Defined some parameters.
DeguNaoto 0:569847dea423 4 */
DeguNaoto 0:569847dea423 5
DeguNaoto 0:569847dea423 6 #ifndef PARAMETERS_H
DeguNaoto 0:569847dea423 7 #define PARAMETERS_H
DeguNaoto 0:569847dea423 8
DeguNaoto 0:569847dea423 9 /////////////////////////////////////////////////////////////////////////
DeguNaoto 0:569847dea423 10 /////////////////////////////////////////////////////////////////////////
DeguNaoto 0:569847dea423 11 /////////////////////////////////////////////////////////////////////////
DeguNaoto 0:569847dea423 12
DeguNaoto 0:569847dea423 13 /**
DeguNaoto 0:569847dea423 14 * PID parameters.
DeguNaoto 0:569847dea423 15 */
DeguNaoto 0:569847dea423 16
DeguNaoto 0:569847dea423 17 /***Move PID controller***/
DeguNaoto 0:569847dea423 18 #define MOVE_R_INPUT_LIMIT_BOTTOM -100.0
DeguNaoto 0:569847dea423 19 #define MOVE_R_INPUT_LIMIT_TOP 100.0
DeguNaoto 0:569847dea423 20 #define MOVE_R_OUTPUT_LIMIT_BOTTOM -1.0
DeguNaoto 0:569847dea423 21 #define MOVE_R_OUTPUT_LIMIT_TOP 1.0
DeguNaoto 0:569847dea423 22 #define MOVE_R_BIAS 0.0
DeguNaoto 0:569847dea423 23 #define MOVE_R_Kc 0.1
DeguNaoto 0:569847dea423 24 #define MOVE_R_TAUi 0.005
DeguNaoto 0:569847dea423 25 //#define MOVE_R_TAUi 0.01
DeguNaoto 0:569847dea423 26 #define MOVE_R_TAUd 0.01
DeguNaoto 0:569847dea423 27
DeguNaoto 0:569847dea423 28 #define MOVE_L_INPUT_LIMIT_BOTTOM -100.0
DeguNaoto 0:569847dea423 29 #define MOVE_L_INPUT_LIMIT_TOP 100.0
DeguNaoto 0:569847dea423 30 #define MOVE_L_OUTPUT_LIMIT_BOTTOM -1.0
DeguNaoto 0:569847dea423 31 #define MOVE_L_OUTPUT_LIMIT_TOP 1.0
DeguNaoto 0:569847dea423 32 #define MOVE_L_BIAS 0.0
DeguNaoto 0:569847dea423 33 #define MOVE_L_Kc 0.1
DeguNaoto 0:569847dea423 34 #define MOVE_L_TAUi 0.005
DeguNaoto 0:569847dea423 35 //#define MOVE_L_TAUi 0.01
DeguNaoto 0:569847dea423 36 #define MOVE_L_TAUd 0.001
DeguNaoto 0:569847dea423 37
DeguNaoto 0:569847dea423 38 /***Swing speed PID controller***/
DeguNaoto 0:569847dea423 39 #define SWING_INPUT_LIMIT_BOTTOM -1000000.0
DeguNaoto 0:569847dea423 40 #define SWING_INPUT_LIMIT_TOP 1000000.0
DeguNaoto 0:569847dea423 41 #define SWING_OUTPUT_LIMIT_BOTTOM 0.0
DeguNaoto 0:569847dea423 42 #define SWING_OUTPUT_LIMIT_TOP 1.0
DeguNaoto 0:569847dea423 43 #define SWING_BIAS 0.0
DeguNaoto 0:569847dea423 44 #define SWING_Kc 1000.0
DeguNaoto 0:569847dea423 45 #define SWING_TAUi 0.01 //tau_i
DeguNaoto 0:569847dea423 46 #define SWING_TAUd 0.0 //tau_d
DeguNaoto 0:569847dea423 47
DeguNaoto 0:569847dea423 48 /**
DeguNaoto 0:569847dea423 49 * Motor Parameters.
DeguNaoto 0:569847dea423 50 */
DeguNaoto 0:569847dea423 51
DeguNaoto 0:569847dea423 52 /***Move motor period us.***/
DeguNaoto 0:569847dea423 53 #define MOVE_R_PERIOD_US 125
DeguNaoto 0:569847dea423 54 #define MOVE_L_PERIOD_US 125
DeguNaoto 0:569847dea423 55 #define SWING_PERIOD_US 125
DeguNaoto 0:569847dea423 56
DeguNaoto 0:569847dea423 57 /////////////////////////////////////////////////////////////////////////
DeguNaoto 0:569847dea423 58 /////////////////////////////////////////////////////////////////////////
DeguNaoto 0:569847dea423 59 /////////////////////////////////////////////////////////////////////////
DeguNaoto 0:569847dea423 60
DeguNaoto 0:569847dea423 61 #endif /*Parameters.h*/