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Dependencies: mbed-rtos mbed QEI BNO055 MPU6050_DMP_Nucleo-I2Cdev virgo3_imuHandler_Orion_PCB MAX17048 Servo
Fork of
Orion_newPCB_test
by 
Team Virgo v3
Diff: Configuration/config.h
- Revision:
- 15:23d79bb4eaf2
- Parent:
- 13:d971833e28ea
- Child:
- 19:7345688260b2
--- a/Configuration/config.h Tue Apr 26 10:44:25 2016 +0000 +++ b/Configuration/config.h Tue May 03 05:36:33 2016 +0000 @@ -16,7 +16,7 @@ #define Hearbeat_RateHz 1 //hearbeat loop run rate in Hz #define Hearbeat_RateMS (1000/Hearbeat_RateHz) //hearbeat loop run rate in ms -#define imu_UpdateRateHz 100 // imu update rate in Hz +#define imu_UpdateRateHz 110 // imu update rate in Hz #define imu_UpdatePeriodMS (1000/imu_UpdateRateHz) // imu update rate in ms #define motorControl_UpdateRateHz 200 // motorControl update rate in Hz @@ -25,7 +25,7 @@ #define odometry_UpdateRateHz 125 //odometry update rate in Hz #define odometry_UpdatePeriodMS (1000/odometry_UpdateRateHz) //odometry update rate in ms -#define PrintLoop_RateHz 100 //print loop run rate in Hz +#define PrintLoop_RateHz 10 //print loop run rate in Hz #define PrintLoop_PeriodMS (1000/PrintLoop_RateHz) //print loop run rate in ms #define PurePursuit_UpdateRateHz 20//Pure pursuit update run rate in Hz @@ -34,13 +34,13 @@ #define WaypointCmd_UpdateRateHz 10 //waypoint commander run rate in Hz #define WaypointCmd_UpdatePeriodMS (1000/WaypointCmd_UpdateRateHz) //waypoint commander run rate in ms -#define CommLoop_UpdateRateHz 15 //Communications loop run rate in Hz +#define CommLoop_UpdateRateHz 100 //Communications loop run rate in Hz #define CommLoop_UpdatePeriodMS (1000/CommLoop_UpdateRateHz) //Communications loop run rate in ms -#define CommPump_UpdateRateHz 100 //nRF network communications pump run rate in Hz +#define CommPump_UpdateRateHz 500 //nRF network communications pump run rate in Hz #define CommPump_UpdatePeriodMS (1000/CommPump_UpdateRateHz) //nRF network communications pump run rate in ms -#define nRfDefault_uploadRateMS 200 //default upload rate in ms for nRF wireless comm +//#define nRfDefault_uploadRateMS 200 //default upload rate in ms for nRF wireless comm #define camera_cycleMinutes 15 //default camera switch on frequency in minutes #define camera_CaptureTimeS 30 //default camera capture time in seconds @@ -86,7 +86,7 @@ //** Localization ********************************************************************************* //** IMU ** #define Pose_MWindowSize 10 -#define GyroAcc_MWindowSize 25 +#define GyroAcc_MWindowSize 10 //* MPU9150 * #define MPU6050_StabilizationReadings 10 //number of non deviating data points to determine if imu has stabilized @@ -118,7 +118,7 @@ //** Communications ******************************************************************************* #define virgo3_robot_address 01 //address of this robot node -#define virgo3_network_channel 74 //communications channel number +#define virgo3_network_channel 72 //communications channel number //------------------------------------------------------------------------------------------------- @@ -153,8 +153,7 @@ #define max_coloumns 16 //#define max_rows 1200 #define max_rows 120 -//#define max_RAM 16*1024 //max permissible ram usage in kB -#define max_RAM 16*102 //max permissible ram usage in kB +#define max_RAM 16*1024 //max permissible ram usage in kB //-------------------------------------------------------------------------------------------------