2014 sift / Mbed 2 deprecated TVDctrller2017_brdRev1_PandA

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Dependencies:   mbed

Fork of TVDctrller2017_brdRev1_ver6 by 2014 sift

Global.h@34:594ddb4008b2, 2017-08-04 (annotated)

Committer:
sift
Date:
Fri Aug 04 02:58:51 2017 +0000
Revision:
34:594ddb4008b2
Parent:
32:9688c30ac38b
Child:
38:11753ee9734f
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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 25:c21d35c7f0de 5 const int CONTROL_CYCLE_MS = 10;
sift 25:c21d35c7f0de 6 const float CONTROL_CYCLE_S = 0.01;
sift 25:c21d35c7f0de 7
sift 31:042c08a7434f 8 const float LSB_MOTORSPEED = 0.01; //[(m/s) / bit]
sift 28:47e9531a3a9d 9
sift 25:c21d35c7f0de 10 //エラーカウンタ型
sift 25:c21d35c7f0de 11 struct errCounter_t {
sift 25:c21d35c7f0de 12 int apsUnderVolt; //aps電圧不足
sift 25:c21d35c7f0de 13 int apsExceedVolt; //aps電圧超過
sift 25:c21d35c7f0de 14 int apsErrorTolerance; //aps偏差超過
sift 25:c21d35c7f0de 15 int apsStick; //aps固着
sift 25:c21d35c7f0de 16 int brakeUnderVolt; //brake電圧不足
sift 25:c21d35c7f0de 17 int brakeExceedVolt; //brake電圧超過
sift 25:c21d35c7f0de 18 int brakeFuzzyVolt; //brake曖昧な電圧(ONでもOFFでもない)
sift 25:c21d35c7f0de 19 int brakeOverRide; //accel-brake同時踏み
sift 25:c21d35c7f0de 20 };
sift 25:c21d35c7f0de 21
sift 28:47e9531a3a9d 22 enum Select {
sift 28:47e9531a3a9d 23 RIGHT=0,
sift 28:47e9531a3a9d 24 LEFT
sift 25:c21d35c7f0de 25 };
sift 25:c21d35c7f0de 26
sift 25:c21d35c7f0de 27 #define M_PI 3.1415f //[-]
sift 25:c21d35c7f0de 28
sift 34:594ddb4008b2 29 #define ratioLPF 0.67f //各センサLPF:CutOff:20Hz
sift 25:c21d35c7f0de 30
sift 25:c21d35c7f0de 31 #define myAbs(x) ((x>0)?(x):(-(x)))
sift 25:c21d35c7f0de 32
sift 32:9688c30ac38b 33 const float GEAR_RATIO =13.0f; //[-]
sift 32:9688c30ac38b 34 const float TIRE_DIAMETER =0.533f; //[m]
sift 32:9688c30ac38b 35 const float WHEEL_BASE =1.760f; //[m]
sift 32:9688c30ac38b 36 const float TREAD =1.3f; //[m]
sift 32:9688c30ac38b 37 const float A =0.005f; //[s^2/m^2]
sift 32:9688c30ac38b 38 const float STEER_RATIO =0.32f; //[-]
sift 25:c21d35c7f0de 39
sift 25:c21d35c7f0de 40 #endif