Mid level control code
Dependencies: ros_lib_kinetic
MLSettings.h
00001 // MLSettings.h 00002 00003 #ifndef MLSETTINGS_H 00004 #define MLSETTINGS_H 00005 00006 // GENERAL SETTINGS 00007 const unsigned short int N_CHANNELS = 9; // Number of channels to control 00008 // 1-3: front segment; 4-6: rear segment; 7-8: mid segment 00009 const int BAUD_RATE = 115200; //9600; //115200 00010 00011 // HL COMMUNICATION SETTINGS 00012 const bool IS_DHCP = false; 00013 const unsigned short int HL_COMMS_FREQ_HZ = 200; // Frequency at which communications can happen with HL, if messages are waiting 00014 00015 // REAL TIME FREQUENCIES 00016 const short int SENSOR_FEEDBACK_HZ = 20; // Frequency at which sensor messages are queued / published to HL 00017 const float LL_DEMANDS_FREQ_HZ = 50; 00018 const unsigned int LOW_LEVEL_SPI_FREQUENCY = 10000000; 00019 00020 const float MAX_PRESSURE_LIMIT = 12.0; 00021 00022 // PATH GENERATION SETTINGS 00023 const float MAX_ACTUATOR_LIMIT_MM = 40.0; 00024 const float MAX_ACTUATOR_LENGTH_MM = 52.2; 00025 const float MAX_SPEED_MMPS = 24.3457; 00026 00027 #endif
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