MorphGI
/
LoCoMoTE_MidLevel_7-0
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Dependencies: ros_lib_kinetic
MLSettings.h@31:08cb04eb75fc, 2019-03-06 (annotated)
- Committer:
- WD40andTape
- Date:
- Wed Mar 06 10:28:59 2019 +0000
- Revision:
- 31:08cb04eb75fc
- Parent:
- 30:6c8eea90735e
- Child:
- 36:4459be8296e9
Updated to accept input speed, process, and output time separately for each segment. Tested and working.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| dofydoink | 12:595ed862e52f | 1 | // MLSettings.h |
| dofydoink | 12:595ed862e52f | 2 | |
| dofydoink | 12:595ed862e52f | 3 | #ifndef MLSETTINGS_H |
| dofydoink | 12:595ed862e52f | 4 | #define MLSETTINGS_H |
| dofydoink | 12:595ed862e52f | 5 | |
| dofydoink | 12:595ed862e52f | 6 | // GENERAL SETTINGS |
| dofydoink | 12:595ed862e52f | 7 | const unsigned short int N_CHANNELS = 8; // Number of channels to control |
| dofydoink | 12:595ed862e52f | 8 | // 1-3: front segment; 4-6: rear segment; 7-8: mid segment |
| WD40andTape | 28:8e0c502c1a50 | 9 | const int BAUD_RATE = 115200; //9600; //115200 |
| dofydoink | 12:595ed862e52f | 10 | |
| dofydoink | 12:595ed862e52f | 11 | // HL COMMUNICATION SETTINGS |
| dofydoink | 12:595ed862e52f | 12 | const bool IS_DHCP = false; |
| WD40andTape | 31:08cb04eb75fc | 13 | const unsigned short int HL_COMMS_FREQ_HZ = 200; // Frequency at which communications can happen with HL, if messages are waiting |
| WD40andTape | 24:bc852aa89e7a | 14 | |
| WD40andTape | 24:bc852aa89e7a | 15 | // REAL TIME FREQUENCIES |
| WD40andTape | 28:8e0c502c1a50 | 16 | const short int SENSOR_FEEDBACK_HZ = 20; // Frequency at which sensor messages are queued / published to HL |
| WD40andTape | 27:6853ee8ffefd | 17 | const float LL_DEMANDS_FREQ_HZ = 50; |
| dofydoink | 12:595ed862e52f | 18 | const unsigned int LOW_LEVEL_SPI_FREQUENCY = 10000000; |
| dofydoink | 12:595ed862e52f | 19 | |
| WD40andTape | 26:7c59002c9cd7 | 20 | const float MAX_PRESSURE_LIMIT = 10.0; |
| WD40andTape | 26:7c59002c9cd7 | 21 | |
| dofydoink | 12:595ed862e52f | 22 | // PATH GENERATION SETTINGS |
| WD40andTape | 27:6853ee8ffefd | 23 | const float MAX_ACTUATOR_LIMIT_MM = 40.0; |
| WD40andTape | 26:7c59002c9cd7 | 24 | const float MAX_ACTUATOR_LENGTH_MM = 52.2; |
| dofydoink | 12:595ed862e52f | 25 | const float MAX_SPEED_MMPS = 24.3457; |
| dofydoink | 12:595ed862e52f | 26 | |
| dofydoink | 12:595ed862e52f | 27 | #endif |