Diff: Global.h

Revision:

46:16f1a7a01f5f

Parent:

45:8e5d35beb957

Child:

47:949e6c2e69fc

--- a/Global.h	Wed Dec 06 08:02:28 2017 +0000
+++ b/Global.h	Tue Dec 12 11:37:33 2017 +0000
@@ -28,21 +28,23 @@
     FR_WHEEL = 0, FL_WHEEL = 1, RR_MOTOR = 2, RL_MOTOR = 3, SELECT_T_NUM
 }select_t;
 
-const float M_PI            =3.1415f;   //[-]
+const double M_PI            =3.1415f;   //[-]
 
 const double ratioLPF       =0.67;          //各センサLPF:CutOff:20Hz
 const double ratioLPF_ACC_BRK   =0.061;     //各センサLPF:CutOff:1Hz
 //const double ratioLPF_ACC_BRK   =0.67;     //各センサLPF:CutOff:1Hz
-const float ratioLPF_RPS    =0.27f;         //各センサLPF:CutOff:5Hz
+const double ratioLPF_RPS    =0.27;         //各センサLPF:CutOff:5Hz
 
 #define myAbs(x)    (((x)>0)?(x):(-(x)))
+#define mySign(x)   (((x)>0)?(1.0):(-1.0))
+#define myMin(x,y)  (((x)<(y))?(x):(y))
 
-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]
-const float STEER_RATIO     =0.32f;     //[-]
-const float ALPHA           =5.0f;      //[-]増幅率α
+const double GEAR_RATIO      =13.0f;     //[-]
+const double TIRE_DIAMETER   =0.533f;    //[m]
+const double WHEEL_BASE      =1.760f;    //[m]
+const double TREAD           =1.3f;      //[m]
+const double A               =0.005f;    //[s^2/m^2]
+const double STEER_RATIO     =0.32f;     //[-]
+const double ALPHA           =5.0f;      //[-]増幅率α
 
 #endif
\ No newline at end of file