Diff: MLSettings.h

Revision:

12:595ed862e52f

Child:

13:a373dfc57b89

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MLSettings.h	Mon Aug 13 09:16:29 2018 +0000
@@ -0,0 +1,30 @@
+// MLSettings.h
+
+#ifndef MLSETTINGS_H
+#define MLSETTINGS_H
+
+// GENERAL SETTINGS
+const unsigned short int N_CHANNELS = 8; // Number of channels to control
+// 1-3: front segment; 4-6: rear segment; 7-8: mid segment
+const int BAUD_RATE = 9600; //115200
+
+// HL COMMUNICATION SETTINGS
+const bool IS_PRINT_OUTPUT = false;
+const bool IS_DHCP = false;
+const unsigned short int SERVER_PORT = 80;
+
+// LL COMMUNICATION SETTINGS
+const unsigned int LOW_LEVEL_SPI_FREQUENCY = 10000000;
+
+// PATH GENERATION SETTINGS
+const float PATH_SAMPLE_TIME_S = 0.005; //0.109
+const float MAX_LENGTH_MM = 100.0;
+const float MAX_ACTUATOR_LENGTH = 52.2;
+const float MAX_SPEED_MMPS = 24.3457;
+//const float FLT_MAX_CHAMBER_LENGTHS_MM[N_CHANNELS] = {80.0,80.0,80.0,80.0,80.0,80.0,80.0,80.0};
+//const float FLT_ACTUATOR_CONVERSION[N_CHANNELS] = {0.30586,0.30586,0.30586,0.30586,0.30586,0.4588,0.4588}; // Convert from chamber lengths to actuator lengths
+const float FLT_ACTUATOR_CONVERSION[N_CHANNELS] = {1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0}; // Convert from chamber lengths to actuator 
+const float FLT_SMOOTHING_FACTOR = 0.1; // 0<x<=1, where 1 is no smoothing
+const float FLT_PERCENT_PATH_TOLERANCE = 0.05; // Additional % tolerance beyond maximum achievable mm tolerance
+
+#endif
\ No newline at end of file