OS更新しない状態ならCLIできるかなと思った
Dependencies: PID R1370 mechanism ikarashiMDC_2byte_ver states omni_wheel PS3
libs/pin_config.h
- Committer:
- THtakahiro702286
- Date:
- 2019-09-13
- Revision:
- 1:efb7718fd956
- Parent:
- 0:436bb5bf2bd9
File content as of revision 1:efb7718fd956:
#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