Diff: TVDCTRL.h

Revision:

1:4d86ec2fe4b1

Parent:

0:276c1dab2d62

Child:

2:9d69f27a3d3b

--- a/TVDCTRL.h	Fri Jul 08 05:29:15 2016 +0000
+++ b/TVDCTRL.h	Sat Jul 09 12:04:47 2016 +0000
@@ -2,15 +2,19 @@
 #define TVDCTRL_H
 #include "mbed.h"
 
-const float convPToV_533[]={
+//受け入れるパルス時間，これより長い時間は停止とみなす
+#define MAX_PULSETIME   100
+//モーターパルスを車速[m/s]に変換する．indexが時間[ms]に対応．0[ms]は無効(0)とする
+const float convPToV_533[MAX_PULSETIME+1]={
 0.000,167.447,83.723,55.816,41.862,33.489,27.908,23.921,20.931,18.605,16.745,15.222,13.954,12.881,11.960,11.163,10.465,9.850,9.303,8.813,
 8.372,7.974,7.611,7.280,6.977,6.698,6.440,6.202,5.980,5.774,5.582,5.402,5.233,5.074,4.925,4.784,4.651,4.526,4.406,4.294,
 4.186,4.084,3.987,3.894,3.806,3.721,3.640,3.563,3.488,3.417,3.349,3.283,3.220,3.159,3.101,3.044,2.990,2.938,2.887,2.838,
 2.791,2.745,2.701,2.658,2.616,2.576,2.537,2.499,2.462,2.427,2.392,2.358,2.326,2.294,2.263,2.233,2.203,2.175,2.147,2.120,
-2.093,2.067,2.042,2.017,1.993,1.970,1.947,1.925,1.903,1.881,1.861,1.840,1.820,1.801,1.781,1.763,1.744,1.726,1.709,1.691
+2.093,2.067,2.042,2.017,1.993,1.970,1.947,1.925,1.903,1.881,1.861,1.840,1.820,1.801,1.781,1.763,1.744,1.726,1.709,1.691,
+1.674
 };
 
-//トルク信号(電圧)をトルクに変換
+//トルク信号[V]をトルク[Nm]に変換
 //[0] -> 0.49V
 //[+1] -> +0.01V
 const float convVToT_500[]={
@@ -50,10 +54,15 @@
 0.000,0.025,0.050,0.075,0.100,0.125,0.150,0.175,0.200,0.225,0.250,0.275,0.300,0.325,0.350,0.375,0.400,0.425,0.450,0.475,0.500,0.525,0.550,0.575,0.600,0.625,0.650,0.675,0.700,0.725,0.750,0.775,0.800,0.825,0.850,0.875,0.900,0.925,0.950,0.975,1.000,1.025,1.050,1.075,1.100,1.125,1.150,1.175,1.200,1.225,1.250,1.275,1.300,1.362,1.423,1.485,1.546,1.608,1.669,1.731,1.792,1.854,1.915,1.977,2.038,2.100,2.162,2.223,2.285,2.346,2.408,2.469,2.531,2.592,2.654,2.715,2.777,2.838,2.900,2.965,3.031,3.096,3.162,3.227,3.292,3.358,3.423,3.488,3.554,3.619,3.685,3.750,3.815,3.881,3.946,4.012,4.077,4.142,4.208,4.273,4.338,4.404,4.469,4.535,4.600,4.677,4.754,4.831,4.908,4.985,5.062,5.138,5.215,5.292,5.369,5.446,5.523,5.600,5.677,5.754,5.831,5.908,5.985,6.062,6.138,6.215,6.292,6.369,6.446,6.523,6.600,6.692,6.785,6.877,6.969,7.062,7.154,7.246,7.338,7.431,7.523,7.615,7.708,7.800,7.892,7.985,8.077,8.169,8.262,8.354,8.446,8.538,8.631,8.723,8.815,8.908,9.000,9.096,9.192,9.288,9.385,9.481,9.577,9.673,9.769,9.865,9.962,10.058,10.154,10.250,10.346,10.442,10.538,10.635,10.731,10.827,10.923,11.019,11.115,11.212,11.308,11.404,11.500,11.611,11.722,11.833,11.944,12.056,12.167,12.278,12.389,12.500,12.611,12.722,12.833,12.944,13.056,13.167,13.278,13.389,13.500
 };
 
-#define DACOUTPUT_MIN           0.4f
-#define DACOUTPUT_MAX           2.45f
-#define DACOUTPUT_VALID_RANGE   (DACOUTPUT_MAX - DACOUTPUT_MIN)
-#define LIMIT                   0.4f
-#define MCP_REFERENCE           3.3f
+#define ratioLPF 0.11795f    //CutOff:20Hz
+
+const unsigned int MAX_MOTOR_TORQUE     = 45;
+
+void loadSensorsLPF(void);
+int checkSensorPlausibility(void);
+
+void initTVD(void);
+
+int getVelocity(void);
 
 #endif
\ No newline at end of file