2014 sift
/
TVDctrller2017_brdRev1_PandA
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TVDctrller2017_brdRev1_ver6
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2014 sift
Diff: TVDCTRL.h
- Revision:
- 20:3c5061281a7a
- Parent:
- 19:571a4d00b89c
- Child:
- 22:95c1f753ecad
--- a/TVDCTRL.h Wed Aug 17 14:17:14 2016 +0000 +++ b/TVDCTRL.h Sat Aug 27 22:08:24 2016 +0000 @@ -51,10 +51,10 @@ const int MAX_MOTOR_TORQUE = 0xFFFF; //LSB : 45/65535 = 0.686655[mNm] const int MAX_OUTPUT_TORQUE = (int)(MAX_MOTOR_TORQUE * 0.7);//出力最大値 -const int MAX_DISTRIBUTION_TORQUE = (int)(0xFFFF/45.0 * 25.0); +const int MAX_DISTRIBUTION_TORQUE = (int)(0xFFFF/45.0 * 20.0); const float MAX_STEER_ANGLE = (float)(M_PI/180.0 * 25.0); //[-] -const int MIN_INNERWHEEL_MOTOR_TORQUE = (int)(0xFFFF/45.0 * 1.0); //内輪側モーターの最低トルク(MITSUBA社MC仕様対策) +const int MIN_INNERWHEEL_MOTOR_TORQUE = (int)(0xFFFF/45.0 * 2.0); //内輪側モーターの最低トルク(MITSUBA社MC仕様対策) const int APS_MIN_POSITION =(int)(0xFFFF/3.3 * 1.0); //"正常時"最小入力電圧 const int APS_MAX_POSITION =(int)(0xFFFF/3.3 * 2.0); //"正常時"最大入力電圧 @@ -72,8 +72,9 @@ const int ERRCOUNTER_DECISION = 100; //エラーカウンタ閾値 //DACは12bit仕様だが一旦16bitに統一してから12bitに変換する -const int DACOUTPUT_MIN =(int)(0xFFFF/3.3 * 0.49); //MCの最低入力電圧 -const int DACOUTPUT_MAX =(int)(0xFFFF/3.3 * 2.0); //MCの最大入力電圧 +//const int DACOUTPUT_MIN =(int)(0xFFFF/3.3 * 0.49); //MCの最低入力電圧 +const int DACOUTPUT_MIN =(int)(0xFFFF/3.3 * 0.4); //MCの最低入力電圧 +const int DACOUTPUT_MAX =(int)(0xFFFF/3.3 * 2.45); //MCの最大入力電圧 const int DACOUTPUT_VALID_RANGE =DACOUTPUT_MAX - DACOUTPUT_MIN; //実質有効電圧範囲 const int LINEAR_REGION_TORQUE =(int)(MAX_MOTOR_TORQUE/45.0 * 2.5); //トルクに回転数が影響しない領域の境界値(トルク値)