Diff: SystemConstant.h

Revision:

0:bf9bf4b7625f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SystemConstant.h	Fri Jun 08 14:11:49 2018 +0000
@@ -0,0 +1,29 @@
+#ifndef SYSTEMCONST_H_INCLUDED
+#define SYSTEMCONST_H_INCLUDED
+
+#define pi      3.14f
+
+#define M       23.1f
+#define J       5.2067f
+#define g       9.81f
+#define Xt      0.3857f
+#define Zt      0.4338f
+#define L       1.053f
+#define lammda  20/180*pi
+
+#define R_wheel 0.0695f  ///radius of wheels
+#define l_rs    0.095f   ///length from rear wheel to sensor on XY plane
+#define l_rg    0.13f    ///length from rear wheel to center of mass on XY plane
+#define Vmin    0.5f
+#define Vmax    5.0f
+
+
+/*
+    steer      u2steer_lpf_freq*speed                1
+    ----- = ----------------------------- * --------------------
+      u      S + u2steer_lpf_freq*speed      u2steer_gain*speed
+*/
+#define u2steer_lpf_freq    2.52668f//2.52668f
+#define u2steer_gain        0.6251f
+
+#endif // ROBOTBICYCLECONST_H_INCLUDED