Bayley Wang
robot
config_driving.h@40:22aede3d096f, 2016-12-12 (annotated)
- Committer:
- bwang
- Date:
- Mon Dec 12 14:18:02 2016 +0000
- Revision:
- 40:22aede3d096f
- Parent:
- 39:80b38a8e1787
- Child:
- 42:030e0ec4eac5
switching to table based optimization
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| bwang | 29:50e6e4e46580 | 1 | #ifndef __CONFIG_DRIVING |
| bwang | 29:50e6e4e46580 | 2 | #define __CONFIG_DRIVING |
| bwang | 29:50e6e4e46580 | 3 | |
| bwang | 30:c25c5bf0d951 | 4 | #define TORQUE_MODE true |
| bwang | 30:c25c5bf0d951 | 5 | |
| bwang | 39:80b38a8e1787 | 6 | /*driving and braking torque limits, Nm*/ |
| bwang | 39:80b38a8e1787 | 7 | #define FORWARD_TORQUE_MAX 75.0f |
| bwang | 29:50e6e4e46580 | 8 | #define REVERSE_TORQUE_MAX -20.0f |
| bwang | 29:50e6e4e46580 | 9 | |
| bwang | 39:80b38a8e1787 | 10 | /*forward and regen power limits, W*/ |
| bwang | 39:80b38a8e1787 | 11 | #define P_FORWARD_MAX 20000.0f |
| bwang | 29:50e6e4e46580 | 12 | #define P_REVERSE_MAX 4000.0f |
| bwang | 29:50e6e4e46580 | 13 | |
| bwang | 39:80b38a8e1787 | 14 | /*max speed, including any field weakening, rad/s*/ |
| bwang | 40:22aede3d096f | 15 | #define W_MAX 800.0f |
| bwang | 29:50e6e4e46580 | 16 | |
| bwang | 29:50e6e4e46580 | 17 | #endif |