Diff: controlDefineVariables.h

Revision:

6:584653235830

Child:

10:62e9b61ed1ad

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/controlDefineVariables.h	Tue Sep 14 11:18:35 2021 +0000
@@ -0,0 +1,34 @@
+#ifndef CONTROL_DEFINE_VARIABLES_H
+#define CONTROL_DEFINE_VARIABLES_H
+
+
+#define ionMcBoudRate  460800
+#define frontBoardAddress  128
+#define frontMotorGearBoxRatio  103
+#define frontEncoderPulse  512
+#define frontKt  0.00667
+#define frontTransmissionRatio  1.0
+#define retroTransmissionRatio  1.0
+#define retroBoardAddress  129
+#define retroMotorGearBoxRatio  103
+#define retroEncoderPulse  512
+#define retroKt  0.00667
+
+#define  FS_a 8192    //per avere letture in g, sarebbe 32768/4         perchè 4g è il fondo scala
+#define  FS_g 131.072    //per avere letture in gradi/s, sarebbe 32768/250 perchè 250 è il fondo scala
+
+
+
+/*#define dtBoard 0.002
+
+#define r_frontWheel  0.03
+#define r_retroWheel  0.03
+
+#define pipeCurve_I  0.165
+#define pipeCurve_E  0.2925
+#define pipeCurve_M  0.228
+        
+#define retroFrontCentralDistance  0.25
+#define wheelsCntactPointDistanceFromPipeCenter 0.08 */
+
+#endif
\ No newline at end of file