NagaokaRoboticsClub_mbedTeam / Mbed 2 deprecated 2021_NHK_A

2021 nhk A team

Dependencies:   mbed QEI　led beep softPWM Servo_softpwm IR2302 lpf

control_parameter.h@31:ce079259f559, 2021-10-31 (annotated)

Committer:
THtakahiro702286
Date:
Sun Oct 31 13:45:53 2021 +0000
Revision:
31:ce079259f559
Parent:
30:00a513858a44 
10/31 last parameter

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Washio 11:b041e6cea0ef 1 #ifndef CONTROL_PARAMETER_H
Washio 11:b041e6cea0ef 2 #define CONTROL_PARAMETER_H
Washio 11:b041e6cea0ef 3
Washio 11:b041e6cea0ef 4 #define LPF_C_TIME 1.0/60 //制御周期
THtakahiro702286 19:b9f53bc0fdf2 5 #define LPF_A_TIME 0.15 //到達時間
THtakahiro702286 21:b7734064c7dc 6 #define MOT_C_TIME 1.0/60
THtakahiro702286 21:b7734064c7dc 7 #define MOT_A_TIME 0.15
Washio 11:b041e6cea0ef 8
THtakahiro702286 24:952a01c8baee 9 //振り子のスピード
THtakahiro702286 24:952a01c8baee 10 #define FIRST_POWER 0.8
THtakahiro702286 24:952a01c8baee 11 #define SECOND_POWER 0.95
THtakahiro702286 27:818783bc9a89 12 #define THIRD_POWER 1.0
THtakahiro702286 24:952a01c8baee 13 //振り子振る間隔
THtakahiro702286 24:952a01c8baee 14 #define FIRST_WAIT 0.15
THtakahiro702286 24:952a01c8baee 15 #define SECOND_WAIT 0.25
THtakahiro702286 31:ce079259f559 16 #define THIRD_WAIT 0.35
THtakahiro702286 24:952a01c8baee 17
THtakahiro702286 31:ce079259f559 18 #define FURIKO_STOP_LINE 73 //ふり幅
THtakahiro702286 21:b7734064c7dc 19 #define SET_WAIT 0.15 //ロリコン依存で振り切った後の待ち時間
THtakahiro702286 26:7cb2c322153a 20 #define SECOND_LINE 1 //firstからsecondに移行するための時間
THtakahiro702286 26:7cb2c322153a 21 #define THIRD_LINE 2 //secondからthirdに移行するための時間
THtakahiro702286 31:ce079259f559 22 #define JUMP_TIME 14.5 //飛ぶために必要そうな時間
THtakahiro702286 31:ce079259f559 23 #define JUMP_LINE -45 //飛ぶために必要そうなエンコーダーのタイミング
THtakahiro702286 24:952a01c8baee 24 #define RELEASE_LINE 70 //離す瞬間のZ軸の加速度、重力に逆らうので98より小さくなるはず
THtakahiro702286 27:818783bc9a89 25 //ロープ検知の閾値
THtakahiro702286 28:a77d8d164630 26 #define PH_LINE1 0.1
THtakahiro702286 27:818783bc9a89 27 #define PH_LINE2 0.2
THtakahiro702286 27:818783bc9a89 28 #define PH_LINE3 0.6
THtakahiro702286 27:818783bc9a89 29
THtakahiro702286 27:818783bc9a89 30 #define NEXT_PALSE 130 //飛んだあとの基準
THtakahiro702286 27:818783bc9a89 31 const double ROPE_ACRROS[3]={PH_LINE1,PH_LINE2,PH_LINE3};
Washio 11:b041e6cea0ef 32
THtakahiro702286 24:952a01c8baee 33 #define PI 3.14159265358979 //梅沢追加　円周率の定義
Washio 11:b041e6cea0ef 34
Washio 11:b041e6cea0ef 35 #endif