Li Weiyi / Mbed 2 deprecated BalanceCar

虽然移植完毕，但是不work。需要细调……

Dependencies:   mbed

userDef.h@3:c6caae712d5d, 2016-06-07 (annotated)

Committer:
lixianyu
Date:
Tue Jun 07 08:14:15 2016 +0000
Revision:
3:c6caae712d5d
Parent:
2:99785a1007a4 
??????????work? ?????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lixianyu 0:a4d8f5b3c546 1 //#include <arduino.h>
lixianyu 0:a4d8f5b3c546 2
lixianyu 0:a4d8f5b3c546 3 //通讯模式
lixianyu 0:a4d8f5b3c546 4 //#define BLE_SoftSerial //软串口模式
lixianyu 0:a4d8f5b3c546 5 #ifndef BLE_SoftSerial //如果没开启软串口,就开硬串口模式
lixianyu 0:a4d8f5b3c546 6 #if defined(__AVR_ATmega32U4__)
lixianyu 0:a4d8f5b3c546 7 #define BLE_HardSerial Serial1
lixianyu 0:a4d8f5b3c546 8 #else
lixianyu 0:a4d8f5b3c546 9 #define BLE_HardSerial Serial
lixianyu 0:a4d8f5b3c546 10 #endif
lixianyu 0:a4d8f5b3c546 11 #endif
lixianyu 0:a4d8f5b3c546 12 #define BLE_SPEED 9600 //蓝牙接口速度
lixianyu 0:a4d8f5b3c546 13 #define NRF_CHANNEL 70 //nRF通道
lixianyu 0:a4d8f5b3c546 14 #define CHANNEL_THROTTLE 1 //油门通道
lixianyu 0:a4d8f5b3c546 15 #define CHANNEL_STEERING 0 //转向通道
lixianyu 0:a4d8f5b3c546 16 #define SAFE_TIME_OUT 250 //失控保护时间
lixianyu 0:a4d8f5b3c546 17
lixianyu 0:a4d8f5b3c546 18 //角度/速度修正参数
lixianyu 2:99785a1007a4 19 #define ANGLE_FIX -1.3
lixianyu 0:a4d8f5b3c546 20 #define MAX_TARGET_ANGLE 12 //最大目标角度12
lixianyu 0:a4d8f5b3c546 21 #define MAX_SPEED 1200
lixianyu 0:a4d8f5b3c546 22 #define MAX_THROTTLE 512 //最大油门 < 512
lixianyu 0:a4d8f5b3c546 23 #define MAX_STEERING 128 //最大转向 < 256
lixianyu 0:a4d8f5b3c546 24
lixianyu 0:a4d8f5b3c546 25 //姿态传感器安装方向
lixianyu 0:a4d8f5b3c546 26 enum _DIRECTION {
lixianyu 0:a4d8f5b3c546 27 YAW = 0,
lixianyu 0:a4d8f5b3c546 28 PITCH,
lixianyu 0:a4d8f5b3c546 29 ROLL
lixianyu 0:a4d8f5b3c546 30 };
lixianyu 0:a4d8f5b3c546 31 #define DIRECTION PITCH
lixianyu 0:a4d8f5b3c546 32
lixianyu 0:a4d8f5b3c546 33 //PID整定参数
lixianyu 0:a4d8f5b3c546 34 #define KP_ANG 0.15 // 0.25
lixianyu 0:a4d8f5b3c546 35 #define KI_ANG 0
lixianyu 0:a4d8f5b3c546 36 #define KD_ANG 35 // 30 28 26
lixianyu 0:a4d8f5b3c546 37 #define KP_SPD 0.04 //0.08//0.065
lixianyu 0:a4d8f5b3c546 38 #define KI_SPD 0.02 //0.05
lixianyu 0:a4d8f5b3c546 39 #define KD_SPD 0.0
lixianyu 0:a4d8f5b3c546 40
lixianyu 0:a4d8f5b3c546 41 #define KP_ANG_RAISUP 0.52
lixianyu 0:a4d8f5b3c546 42 #define KI_ANG_RAISUP 0
lixianyu 0:a4d8f5b3c546 43 #define KD_ANG_RAISUP 45
lixianyu 0:a4d8f5b3c546 44 #define KP_SPD_RAISUP 0
lixianyu 0:a4d8f5b3c546 45 #define KI_SPD_RAISUP 0
lixianyu 0:a4d8f5b3c546 46 #define KD_SPD_RAISUP 0
lixianyu 0:a4d8f5b3c546 47
lixianyu 0:a4d8f5b3c546 48 //#define BAT_DETECT 5*84/33.0
lixianyu 0:a4d8f5b3c546 49
lixianyu 0:a4d8f5b3c546 50