2015_robocon_bteam
/
mesure_swing_speed_20150904
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Parameters_ps3.h
- Committer:
- DeguNaoto
- Date:
- 2015-09-05
- Revision:
- 0:569847dea423
File content as of revision 0:569847dea423:
/**
* 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*/