project-R / Mbed 2 deprecated TOUTEKI_all_mbed

TOUTEKI

Dependencies:   mbed QEI2 UnderBody Filter

Diff: define.h

Revision:
6:7afdc6a81566
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/define.h	Fri Mar 08 07:29:25 2019 +0000
@@ -0,0 +1,21 @@
+#define SABER_ADDR 128
+#define INT_TIME 0.02
+#define MULTIPLU 4.0
+#define ROBO_ADRS 128
+
+//下の4つの値を変える
+#define MAX_QPPS1 8200   //RoboClawに設定したqppsの最大値
+#define MAX_QPPS2 8400   //RoboClawに設定したqppsの最大値
+#define REF_REVO1 10.0   //回したい回転数
+#define REF_REVO2 10.0   //回したい回転数
+
+
+#define RESOLUTION 48
+#define REF_QPPS1 (RESOLUTION*4*REF_REVO1)
+#define REF_QPPS2 (RESOLUTION*4*REF_REVO2)
+#define QPPS_HIGH_STOP 100
+#define QPPS_LOW_STOP -100
+#define QPPS_HIGH_RANGE1 (REF_QPPS1 - 100)
+#define QPPS_HIGH_RANGE2 (REF_QPPS2 - 100)
+#define QPPS_LOW_RANGE1 (100 - REF_QPPS2)
+#define QPPS_LOW_RANGE2 (100 - REF_QPPS2)
\ No newline at end of file