project-R / Mbed 2 deprecated TOUTEKI_all_mbed

TOUTEKI

Dependencies:   mbed QEI2 UnderBody Filter

define.h

Committer:
sink
Date:
2019-03-11
Revision:
7:24a3e797e7a8
Parent:
6:7afdc6a81566

File content as of revision 7:24a3e797e7a8:

#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)