2014 sift / Mbed 2 deprecated TVDctrller2017_brdRev1_PandA

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Dependencies:   mbed

Fork of TVDctrller2017_brdRev1_ver6 by 2014 sift

Diff: Global.h

Revision:
31:042c08a7434f
Parent:
30:c596a0f5d685
Child:
32:9688c30ac38b
--- a/Global.h	Fri Jul 21 10:20:57 2017 +0000
+++ b/Global.h	Thu Jul 27 12:34:06 2017 +0000
@@ -5,7 +5,7 @@
 const int CONTROL_CYCLE_MS  = 10;
 const float CONTROL_CYCLE_S     = 0.01;
 
-const float LSB_MOTORSPEED      = 0.01;
+const float LSB_MOTORSPEED      = 0.01;     //[(m/s) / bit]
 
 //エラーカウンタ型
 struct errCounter_t {
@@ -31,10 +31,10 @@
 
 #define myAbs(x)    ((x>0)?(x):(-(x)))
 
-#define TVD_GEAR_RATIO  10.0f   //[-]
-#define TIRE_DIAMETER   0.533f  //[m]
-#define WHEEL_BASE      1.760f  //[m]
-#define TREAD           1.3f    //[m]
-#define STABIRITY_FACTOR    0.01f   //[-]
+const float GEAR_RATIO      =13.0f;   //[-]
+const float TIRE_DIAMETER   =0.533f;  //[m]
+const float WHEEL_BASE      =1.760f;  //[m]
+const float TREAD           =1.3f;    //[m]
+const float A               =0.005f;  //[s^2/m^2]
 
 #endif
\ No newline at end of file