2014 sift / Mbed 2 deprecated TVDctrller2017_brdRev1_PandA

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Dependencies:   mbed

Fork of TVDctrller2017_brdRev1_ver6 by 2014 sift

Global.h@39:c05074379713, 2017-10-26 (annotated)

Committer:
sift
Date:
Thu Oct 26 02:04:02 2017 +0000
Revision:
39:c05074379713
Parent:
38:11753ee9734f
Child:
40:8e33c60c6590
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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 31:042c08a7434f 9 const float LSB_MOTORSPEED = 0.01; //[(m/s) / bit]
sift 28:47e9531a3a9d 10
sift 25:c21d35c7f0de 11 //エラーカウンタ型
sift 25:c21d35c7f0de 12 struct errCounter_t {
sift 25:c21d35c7f0de 13 int apsUnderVolt; //aps電圧不足
sift 25:c21d35c7f0de 14 int apsExceedVolt; //aps電圧超過
sift 25:c21d35c7f0de 15 int apsErrorTolerance; //aps偏差超過
sift 25:c21d35c7f0de 16 int apsStick; //aps固着
sift 25:c21d35c7f0de 17 int brakeUnderVolt; //brake電圧不足
sift 25:c21d35c7f0de 18 int brakeExceedVolt; //brake電圧超過
sift 25:c21d35c7f0de 19 int brakeFuzzyVolt; //brake曖昧な電圧(ONでもOFFでもない)
sift 25:c21d35c7f0de 20 int brakeOverRide; //accel-brake同時踏み
sift 25:c21d35c7f0de 21 };
sift 25:c21d35c7f0de 22
sift 28:47e9531a3a9d 23 enum Select {
sift 28:47e9531a3a9d 24 RIGHT=0,
sift 28:47e9531a3a9d 25 LEFT
sift 25:c21d35c7f0de 26 };
sift 25:c21d35c7f0de 27
sift 39:c05074379713 28 const float M_PI =3.1415f; //[-]
sift 25:c21d35c7f0de 29
sift 39:c05074379713 30 #define ratioLPF 0.67f //各センサLPF:CutOff:20Hz
sift 25:c21d35c7f0de 31
sift 38:11753ee9734f 32 #define myAbs(x) (((x)>0)?(x):(-(x)))
sift 25:c21d35c7f0de 33
sift 32:9688c30ac38b 34 const float GEAR_RATIO =13.0f; //[-]
sift 32:9688c30ac38b 35 const float TIRE_DIAMETER =0.533f; //[m]
sift 32:9688c30ac38b 36 const float WHEEL_BASE =1.760f; //[m]
sift 32:9688c30ac38b 37 const float TREAD =1.3f; //[m]
sift 32:9688c30ac38b 38 const float A =0.005f; //[s^2/m^2]
sift 32:9688c30ac38b 39 const float STEER_RATIO =0.32f; //[-]
sift 25:c21d35c7f0de 40
sift 25:c21d35c7f0de 41 #endif