Diff: libs/pin_config.h

Revision:

0:436bb5bf2bd9

Child:

1:efb7718fd956

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/libs/pin_config.h	Tue Sep 10 01:50:06 2019 +0000
@@ -0,0 +1,63 @@
+#ifndef PIN_CONFIG_H
+#define PIN_CONFIG_H
+
+#include "mbed.h"
+
+#define PI 3.1415926535
+
+/*MDC*/
+#define MDTX PC_6
+#define MDRX PC_7
+#define MDBAUD 115200
+#define MDcontrol D15
+
+/*コントローラ*/
+#define padTX PC_12
+#define padRX PD_2
+
+/*R1370*/
+#define GYROTX PB_6
+#define GYRORX PA_10
+
+/*非常停止*/
+#define STOP PA_7
+
+/*PID*/
+const float KP = 10;         //速さ
+const float KI = 5.0;        //揺れすぎたら大きく、動かな過ぎたら小さく
+const float KD = 0.0000005;  //ずらしたときに戻る力　がでかすぎたら小さく、小さすぎたら大きく
+const float minLimit = -1; //逆回転速度の最大値
+const float maxLimit = 1;  //回転速度の最大値
+
+/*QEI 装填*/
+#define encoder1 PC_8
+#define encoder2 PC_5
+
+const int PPR = 100;
+const int spinLimit = 500;
+
+/*昇降*/
+const float riseSpeed = 0.2;
+const float follSpeed = -0.2;
+
+/*機構回転速度*/
+const float collectSpeed = 0.5;
+const float hookSpeed = 0.2;
+const float loadSpeed = 0.2;
+const float liftSpeed = 0.5;
+
+/*PC出力*/
+#define PCTX USBTX
+#define PCRX USBRX
+#define BTTX PC_10
+#define BTRX PC_11
+const int PCBAUD = 115200;
+const float WAITTIME = 0.05;
+
+/*Arduino出力*/
+#define LEDTX PA_0
+#define LEDRX PA_1
+const int LEDBAUD = 9600;
+const int HEADER = 0xff;
+
+#endif