Chris LU / Mbed 2 deprecated Self_Riding_Bicycle

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Dependencies:   LSM9DS0 mbed

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Show/hide line numbers SystemConstant.h Source File

SystemConstant.h

00001 #ifndef SYSTEMCONST_H_INCLUDED
00002 #define SYSTEMCONST_H_INCLUDED
00003 
00004 #define pi      3.14f
00005 
00006 #define M       23.1f
00007 #define J       5.2067f
00008 #define g       9.81f
00009 #define Xt      0.3857f
00010 #define Zt      0.4338f
00011 #define L       1.053f
00012 #define lammda  20/180*pi
00013 
00014 #define R_wheel 0.0695f  ///radius of wheels
00015 #define l_rs    0.095f   ///length from rear wheel to sensor on XY plane
00016 #define l_rg    0.13f    ///length from rear wheel to center of mass on XY plane
00017 #define Vmin    0.5f
00018 #define Vmax    5.0f
00019 
00020 
00021 /*
00022     steer      u2steer_lpf_freq*speed                1
00023     ----- = ----------------------------- * --------------------
00024       u      S + u2steer_lpf_freq*speed      u2steer_gain*speed
00025 */
00026 #define u2steer_lpf_freq    2.52668f//2.52668f
00027 #define u2steer_gain        0.6251f
00028 
00029 #endif // ROBOTBICYCLECONST_H_INCLUDED
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