Bayley Wang
robot
config_loop.h@15:b583cd30b063, 2016-10-30 (annotated)
- Committer:
- bwang
- Date:
- Sun Oct 30 22:16:30 2016 +0000
- Revision:
- 15:b583cd30b063
- Child:
- 22:72840d3db788
split config.h into three config headers
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| bwang | 15:b583cd30b063 | 1 | #ifndef __CONFIG_LOOP_H |
| bwang | 15:b583cd30b063 | 2 | #define __CONFIG_LOOP_H |
| bwang | 15:b583cd30b063 | 3 | |
| bwang | 15:b583cd30b063 | 4 | #define K_LOOP 1.0f |
| bwang | 15:b583cd30b063 | 5 | #define KI_BASE 0.01f |
| bwang | 15:b583cd30b063 | 6 | |
| bwang | 15:b583cd30b063 | 7 | #define KP (K_LOOP / BUS_VOLTAGE) |
| bwang | 15:b583cd30b063 | 8 | #define KI (KI_BASE * K_LOOP / BUS_VOLTAGE) |
| bwang | 15:b583cd30b063 | 9 | |
| bwang | 15:b583cd30b063 | 10 | #define INTEGRAL_MAX 1.0f |
| bwang | 15:b583cd30b063 | 11 | |
| bwang | 15:b583cd30b063 | 12 | #define W_FILTER_STRENGTH 0.9f |
| bwang | 15:b583cd30b063 | 13 | |
| bwang | 15:b583cd30b063 | 14 | #endif |