Clara Keng
/
FreeFlyerROS_clarakhl
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Dependencies: mbed ros_lib_kinetic
defines_debug.h@4:cae255669971, 2018-06-29 (annotated)
- Committer:
- ambyld
- Date:
- Fri Jun 29 02:30:38 2018 +0000
- Revision:
- 4:cae255669971
- Parent:
- 2:984eb2c5e8ee
- Child:
- 5:864709d3eb76
Enabled negative wheel speed measurement
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Knillinux | 1:40bdbe1a93b7 | 1 | #ifndef DEFINES_DEBUG_H |
| Knillinux | 1:40bdbe1a93b7 | 2 | #define DEFINES_DEBUG_H |
| Knillinux | 1:40bdbe1a93b7 | 3 | |
| Knillinux | 1:40bdbe1a93b7 | 4 | //#####################################################################################\\ |
| Knillinux | 1:40bdbe1a93b7 | 5 | // Mode defines: |
| Knillinux | 1:40bdbe1a93b7 | 6 | #define NORMAL 0 |
| Knillinux | 1:40bdbe1a93b7 | 7 | #define DEBUG_THRUSTERS 1 |
| Knillinux | 1:40bdbe1a93b7 | 8 | #define DEBUG_WHEEL_CONST 2 |
| Knillinux | 1:40bdbe1a93b7 | 9 | #define DEBUG_WHEEL_PID 3 |
| Knillinux | 1:40bdbe1a93b7 | 10 | #define DEBUG_LED_CONST 4 |
| Knillinux | 1:40bdbe1a93b7 | 11 | #define DEBUG_LED_COLOR_SEQ 5 |
| Knillinux | 1:40bdbe1a93b7 | 12 | #define DEBUG_LED_ALPHA_SEQ 6 |
| Knillinux | 1:40bdbe1a93b7 | 13 | |
| ambyld | 4:cae255669971 | 14 | #define MODE NORMAL |
| Knillinux | 1:40bdbe1a93b7 | 15 | |
| Knillinux | 1:40bdbe1a93b7 | 16 | // Thruster debugging |
| Knillinux | 1:40bdbe1a93b7 | 17 | #define DT_PERIOD 500.0 // [ms] Length of thrust pulse |
| Knillinux | 1:40bdbe1a93b7 | 18 | |
| Knillinux | 1:40bdbe1a93b7 | 19 | // Wheel constant PWM debugging |
| Knillinux | 1:40bdbe1a93b7 | 20 | #define DWC_PWM 0.2 |
| Knillinux | 1:40bdbe1a93b7 | 21 | |
| Knillinux | 1:40bdbe1a93b7 | 22 | // Wheel PID debugging |
| Knillinux | 1:40bdbe1a93b7 | 23 | #define DWP_SETPOINT 400.0 |
| Knillinux | 1:40bdbe1a93b7 | 24 | |
| Knillinux | 1:40bdbe1a93b7 | 25 | // LED constant debugging |
| Knillinux | 1:40bdbe1a93b7 | 26 | #define DLC_COLOR red |
| Knillinux | 1:40bdbe1a93b7 | 27 | |
| Knillinux | 1:40bdbe1a93b7 | 28 | // Other modes |
| Knillinux | 1:40bdbe1a93b7 | 29 | #define MODE_DUTY_CYCLE_CMD false |
| Knillinux | 1:40bdbe1a93b7 | 30 | #define MODE_FEED_FORWARD false |
| Knillinux | 1:40bdbe1a93b7 | 31 | |
| Knillinux | 1:40bdbe1a93b7 | 32 | #endif |