project-R / Mbed 2 deprecated TOUTEKI_all_mbed

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Dependencies:   mbed QEI2 UnderBody Filter

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Show/hide line numbers define.h Source File

define.h

00001 #define SABER_ADDR 128
00002 #define INT_TIME 0.02
00003 #define MULTIPLU 4.0
00004 #define ROBO_ADRS 128
00005 
00006 //下の4つの値を変える
00007 #define MAX_QPPS1 8200   //RoboClawに設定したqppsの最大値
00008 #define MAX_QPPS2 8400   //RoboClawに設定したqppsの最大値
00009 #define REF_REVO1 10.0   //回したい回転数
00010 #define REF_REVO2 10.0   //回したい回転数
00011 
00012 
00013 #define RESOLUTION 48
00014 #define REF_QPPS1 (RESOLUTION*4*REF_REVO1)
00015 #define REF_QPPS2 (RESOLUTION*4*REF_REVO2)
00016 #define QPPS_HIGH_STOP 100
00017 #define QPPS_LOW_STOP -100
00018 #define QPPS_HIGH_RANGE1 (REF_QPPS1 - 100)
00019 #define QPPS_HIGH_RANGE2 (REF_QPPS2 - 100)
00020 #define QPPS_LOW_RANGE1 (100 - REF_QPPS2)
00021 #define QPPS_LOW_RANGE2 (100 - REF_QPPS2)
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