2015_robocon_bteam
/
mesure_swing_speed_20150904
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Diff: Parameters_ps3.h
- Revision:
- 0:569847dea423
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Parameters_ps3.h Sat Sep 05 04:40:56 2015 +0000 @@ -0,0 +1,61 @@ +/** + * 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 0.1 +#define MOVE_R_TAUi 0.005 +//#define MOVE_R_TAUi 0.01 +#define MOVE_R_TAUd 0.01 + +#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 0.1 +#define MOVE_L_TAUi 0.005 +//#define MOVE_L_TAUi 0.01 +#define MOVE_L_TAUd 0.001 + +/***Swing speed PID controller***/ +#define SWING_INPUT_LIMIT_BOTTOM -1000000.0 +#define SWING_INPUT_LIMIT_TOP 1000000.0 +#define SWING_OUTPUT_LIMIT_BOTTOM 0.0 +#define SWING_OUTPUT_LIMIT_TOP 1.0 +#define SWING_BIAS 0.0 +#define SWING_Kc 1000.0 +#define SWING_TAUi 0.01 //tau_i +#define SWING_TAUd 0.0 //tau_d + +/** + * Motor Parameters. + */ + +/***Move motor period us.***/ +#define MOVE_R_PERIOD_US 125 +#define MOVE_L_PERIOD_US 125 +#define SWING_PERIOD_US 125 + +///////////////////////////////////////////////////////////////////////// +///////////////////////////////////////////////////////////////////////// +///////////////////////////////////////////////////////////////////////// + +#endif /*Parameters.h*/ \ No newline at end of file