2014 sift / Mbed 2 deprecated TVDctrller2017_brdRev1_PandA

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Dependencies:   mbed

Fork of TVDctrller2017_brdRev1_ver6 by 2014 sift

Global.h@40:8e33c60c6590, 2017-10-26 (annotated)

Committer:
sift
Date:
Thu Oct 26 07:58:00 2017 +0000
Revision:
40:8e33c60c6590
Parent:
39:c05074379713
Child:
43:5da6b1574227
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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 40:8e33c60c6590 9 const int TIRE_MEAS_CYCLE_US = 10000;
sift 40:8e33c60c6590 10
sift 31:042c08a7434f 11 const float LSB_MOTORSPEED = 0.01; //[(m/s) / bit]
sift 28:47e9531a3a9d 12
sift 25:c21d35c7f0de 13 //エラーカウンタ型
sift 25:c21d35c7f0de 14 struct errCounter_t {
sift 25:c21d35c7f0de 15 int apsUnderVolt; //aps電圧不足
sift 25:c21d35c7f0de 16 int apsExceedVolt; //aps電圧超過
sift 25:c21d35c7f0de 17 int apsErrorTolerance; //aps偏差超過
sift 25:c21d35c7f0de 18 int apsStick; //aps固着
sift 25:c21d35c7f0de 19 int brakeUnderVolt; //brake電圧不足
sift 25:c21d35c7f0de 20 int brakeExceedVolt; //brake電圧超過
sift 25:c21d35c7f0de 21 int brakeFuzzyVolt; //brake曖昧な電圧(ONでもOFFでもない)
sift 25:c21d35c7f0de 22 int brakeOverRide; //accel-brake同時踏み
sift 25:c21d35c7f0de 23 };
sift 25:c21d35c7f0de 24
sift 28:47e9531a3a9d 25 enum Select {
sift 28:47e9531a3a9d 26 RIGHT=0,
sift 28:47e9531a3a9d 27 LEFT
sift 25:c21d35c7f0de 28 };
sift 25:c21d35c7f0de 29
sift 39:c05074379713 30 const float M_PI =3.1415f; //[-]
sift 25:c21d35c7f0de 31
sift 39:c05074379713 32 #define ratioLPF 0.67f //各センサLPF:CutOff:20Hz
sift 25:c21d35c7f0de 33
sift 38:11753ee9734f 34 #define myAbs(x) (((x)>0)?(x):(-(x)))
sift 25:c21d35c7f0de 35
sift 32:9688c30ac38b 36 const float GEAR_RATIO =13.0f; //[-]
sift 32:9688c30ac38b 37 const float TIRE_DIAMETER =0.533f; //[m]
sift 32:9688c30ac38b 38 const float WHEEL_BASE =1.760f; //[m]
sift 32:9688c30ac38b 39 const float TREAD =1.3f; //[m]
sift 32:9688c30ac38b 40 const float A =0.005f; //[s^2/m^2]
sift 32:9688c30ac38b 41 const float STEER_RATIO =0.32f; //[-]
sift 25:c21d35c7f0de 42
sift 25:c21d35c7f0de 43 #endif