2014 sift / Mbed 2 deprecated TVDctrller2017_brdRev1_PandA

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

Fork of TVDctrller2017_brdRev1_ver6 by 2014 sift

Global.h@25:c21d35c7f0de, 2017-07-01 (annotated)

Committer:
sift
Date:
Sat Jul 01 00:26:28 2017 +0000
Revision:
25:c21d35c7f0de
Child:
28:47e9531a3a9d
??????????????????; (????????? ???)

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 25:c21d35c7f0de 8 //エラーカウンタ型
sift 25:c21d35c7f0de 9 struct errCounter_t {
sift 25:c21d35c7f0de 10 int apsUnderVolt; //aps電圧不足
sift 25:c21d35c7f0de 11 int apsExceedVolt; //aps電圧超過
sift 25:c21d35c7f0de 12 int apsErrorTolerance; //aps偏差超過
sift 25:c21d35c7f0de 13 int apsStick; //aps固着
sift 25:c21d35c7f0de 14 int brakeUnderVolt; //brake電圧不足
sift 25:c21d35c7f0de 15 int brakeExceedVolt; //brake電圧超過
sift 25:c21d35c7f0de 16 int brakeFuzzyVolt; //brake曖昧な電圧(ONでもOFFでもない)
sift 25:c21d35c7f0de 17 int brakeOverRide; //accel-brake同時踏み
sift 25:c21d35c7f0de 18 };
sift 25:c21d35c7f0de 19
sift 25:c21d35c7f0de 20 enum SelectMotor {
sift 25:c21d35c7f0de 21 RIGHT_MOTOR=0,
sift 25:c21d35c7f0de 22 LEFT_MOTOR
sift 25:c21d35c7f0de 23 };
sift 25:c21d35c7f0de 24
sift 25:c21d35c7f0de 25 #define M_PI 3.1415f //[-]
sift 25:c21d35c7f0de 26
sift 25:c21d35c7f0de 27 #define ratioLPF 0.061f //各センサLPF:CutOff:1Hz
sift 25:c21d35c7f0de 28 #define ratioLPF_V 0.061f //車速LPF:CutOff:1Hz(sampling:10ms)
sift 25:c21d35c7f0de 29
sift 25:c21d35c7f0de 30 #define myAbs(x) ((x>0)?(x):(-(x)))
sift 25:c21d35c7f0de 31
sift 25:c21d35c7f0de 32 #define TVD_GEAR_RATIO 10.0f //[-]
sift 25:c21d35c7f0de 33 #define TIRE_DIAMETER 0.533f //[m]
sift 25:c21d35c7f0de 34 #define WHEEL_BASE 1.760f //[m]
sift 25:c21d35c7f0de 35 #define TREAD 1.3f //[m]
sift 25:c21d35c7f0de 36 #define STABIRITY_FACTOR 0.01f //[-]
sift 25:c21d35c7f0de 37
sift 25:c21d35c7f0de 38 #endif