2014 sift / Mbed 2 deprecated TVDctrller2017_brdRev1_PandA

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Dependencies:   mbed

Fork of TVDctrller2017_brdRev1_ver6 by 2014 sift

Global.h@43:5da6b1574227, 2017-11-02 (annotated)

Committer:
sift
Date:
Thu Nov 02 01:56:46 2017 +0000
Revision:
43:5da6b1574227
Parent:
40:8e33c60c6590
Child:
44:d433bb5f77c0
???????

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 31:042c08a7434f 12 const float LSB_MOTORSPEED = 0.01; //[(m/s) / bit]
sift 28:47e9531a3a9d 13
sift 25:c21d35c7f0de 14 //エラーカウンタ型
sift 25:c21d35c7f0de 15 struct errCounter_t {
sift 25:c21d35c7f0de 16 int apsUnderVolt; //aps電圧不足
sift 25:c21d35c7f0de 17 int apsExceedVolt; //aps電圧超過
sift 25:c21d35c7f0de 18 int apsErrorTolerance; //aps偏差超過
sift 25:c21d35c7f0de 19 int apsStick; //aps固着
sift 25:c21d35c7f0de 20 int brakeUnderVolt; //brake電圧不足
sift 25:c21d35c7f0de 21 int brakeExceedVolt; //brake電圧超過
sift 25:c21d35c7f0de 22 int brakeFuzzyVolt; //brake曖昧な電圧(ONでもOFFでもない)
sift 25:c21d35c7f0de 23 int brakeOverRide; //accel-brake同時踏み
sift 25:c21d35c7f0de 24 };
sift 25:c21d35c7f0de 25
sift 43:5da6b1574227 26 typedef enum {
sift 43:5da6b1574227 27 FR_WHEEL = 0, FL_WHEEL, RR_MOTOR, RL_MOTOR, SELECT_T_NUM
sift 43:5da6b1574227 28 }select_t;
sift 25:c21d35c7f0de 29
sift 39:c05074379713 30 const float M_PI =3.1415f; //[-]
sift 25:c21d35c7f0de 31
sift 43:5da6b1574227 32 const float ratioLPF =0.67f; //各センサLPF:CutOff:20Hz
sift 43:5da6b1574227 33 const float ratioLPF_RPS =0.27f; //各センサLPF:CutOff:5Hz
sift 25:c21d35c7f0de 34
sift 38:11753ee9734f 35 #define myAbs(x) (((x)>0)?(x):(-(x)))
sift 25:c21d35c7f0de 36
sift 32:9688c30ac38b 37 const float GEAR_RATIO =13.0f; //[-]
sift 32:9688c30ac38b 38 const float TIRE_DIAMETER =0.533f; //[m]
sift 32:9688c30ac38b 39 const float WHEEL_BASE =1.760f; //[m]
sift 32:9688c30ac38b 40 const float TREAD =1.3f; //[m]
sift 32:9688c30ac38b 41 const float A =0.005f; //[s^2/m^2]
sift 32:9688c30ac38b 42 const float STEER_RATIO =0.32f; //[-]
sift 43:5da6b1574227 43 const float ALPHA =5.0f; //[-]増幅率α
sift 25:c21d35c7f0de 44
sift 25:c21d35c7f0de 45 #endif