File content as of revision 15:59471daef4cb:

// 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 MIN_MAX_ACT_LENS[2] = { 0.0 , 40.0 };
const float PATH_SAMPLE_TIME_S = 0.005; //0.01; //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 = 0.7; //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