Mid level control code

Dependencies:   ros_lib_kinetic

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Show/hide line numbers MLSettings.h Source File

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