![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Clone per testare Mbed studio
Dependencies: PwmIn IONMcMotor MPU6050 Eigen ROVER
Fork of Hyfliers_Completo_testato by
controlDefineVariables.h
- Committer:
- anfontanelli
- Date:
- 2021-09-14
- Revision:
- 6:584653235830
- Child:
- 10:62e9b61ed1ad
File content as of revision 6:584653235830:
#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