2014 sift / Mbed 2 deprecated TVDctrller2017_brdRev1_PandA

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Dependencies:   mbed

Fork of TVDctrller2017_brdRev1_ver6 by 2014 sift

Global.h@46:16f1a7a01f5f, 2017-12-12 (annotated)

Committer:
sift
Date:
Tue Dec 12 11:37:33 2017 +0000
Revision:
46:16f1a7a01f5f
Parent:
45:8e5d35beb957
Child:
47:949e6c2e69fc
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
sift 25:c21d35c7f0de 1 #ifndef GLOBAL_H
sift 25:c21d35c7f0de 2 #define GLOBAL_H
sift 25:c21d35c7f0de 3
sift 25:c21d35c7f0de 4 //制御周期
sift 39:c05074379713 5 const float CONTROL_CYCLE_S = 0.01f;
sift 39:c05074379713 6 const int CONTROL_CYCLE_MS = (int)(CONTROL_CYCLE_S * 1000.0f);
sift 39:c05074379713 7 const int CONTROL_CYCLE_US = (int)(CONTROL_CYCLE_S * 1000000.0f);
sift 25:c21d35c7f0de 8
sift 43:5da6b1574227 9 const float RPS_MEAS_CYCLE_S = 0.01f;
sift 43:5da6b1574227 10 const int RPS_MEAS_CYCLE_US = (int)(RPS_MEAS_CYCLE_S * 1000000);
sift 40:8e33c60c6590 11
sift 44:d433bb5f77c0 12 const float LSB_MOTORSPEED = 0.01f; //[(m/s) / bit]
sift 44:d433bb5f77c0 13 const float LSB_RPS = 0.0004f; //[rps / bit]
sift 28:47e9531a3a9d 14
sift 25:c21d35c7f0de 15 //エラーカウンタ型
sift 25:c21d35c7f0de 16 struct errCounter_t {
sift 25:c21d35c7f0de 17 int apsUnderVolt; //aps電圧不足
sift 25:c21d35c7f0de 18 int apsExceedVolt; //aps電圧超過
sift 25:c21d35c7f0de 19 int apsErrorTolerance; //aps偏差超過
sift 25:c21d35c7f0de 20 int apsStick; //aps固着
sift 25:c21d35c7f0de 21 int brakeUnderVolt; //brake電圧不足
sift 25:c21d35c7f0de 22 int brakeExceedVolt; //brake電圧超過
sift 25:c21d35c7f0de 23 int brakeFuzzyVolt; //brake曖昧な電圧(ONでもOFFでもない)
sift 25:c21d35c7f0de 24 int brakeOverRide; //accel-brake同時踏み
sift 25:c21d35c7f0de 25 };
sift 25:c21d35c7f0de 26
sift 43:5da6b1574227 27 typedef enum {
sift 45:8e5d35beb957 28 FR_WHEEL = 0, FL_WHEEL = 1, RR_MOTOR = 2, RL_MOTOR = 3, SELECT_T_NUM
sift 43:5da6b1574227 29 }select_t;
sift 25:c21d35c7f0de 30
sift 46:16f1a7a01f5f 31 const double M_PI =3.1415f; //[-]
sift 25:c21d35c7f0de 32
sift 45:8e5d35beb957 33 const double ratioLPF =0.67; //各センサLPF:CutOff:20Hz
sift 45:8e5d35beb957 34 const double ratioLPF_ACC_BRK =0.061; //各センサLPF:CutOff:1Hz
sift 45:8e5d35beb957 35 //const double ratioLPF_ACC_BRK =0.67; //各センサLPF:CutOff:1Hz
sift 46:16f1a7a01f5f 36 const double ratioLPF_RPS =0.27; //各センサLPF:CutOff:5Hz
sift 25:c21d35c7f0de 37
sift 38:11753ee9734f 38 #define myAbs(x) (((x)>0)?(x):(-(x)))
sift 46:16f1a7a01f5f 39 #define mySign(x) (((x)>0)?(1.0):(-1.0))
sift 46:16f1a7a01f5f 40 #define myMin(x,y) (((x)<(y))?(x):(y))
sift 25:c21d35c7f0de 41
sift 46:16f1a7a01f5f 42 const double GEAR_RATIO =13.0f; //[-]
sift 46:16f1a7a01f5f 43 const double TIRE_DIAMETER =0.533f; //[m]
sift 46:16f1a7a01f5f 44 const double WHEEL_BASE =1.760f; //[m]
sift 46:16f1a7a01f5f 45 const double TREAD =1.3f; //[m]
sift 46:16f1a7a01f5f 46 const double A =0.005f; //[s^2/m^2]
sift 46:16f1a7a01f5f 47 const double STEER_RATIO =0.32f; //[-]
sift 46:16f1a7a01f5f 48 const double ALPHA =5.0f; //[-]増幅率α
sift 25:c21d35c7f0de 49
sift 25:c21d35c7f0de 50 #endif