2014 sift / Mbed 2 deprecated TVDctrller2017_brdRev1_PandA

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Dependencies:   mbed

Fork of TVDctrller2017_brdRev1_ver6 by 2014 sift

Diff: TVDCTRL.h

Revision:
19:571a4d00b89c
Parent:
18:b7c362c8f0fd
Child:
20:3c5061281a7a
--- a/TVDCTRL.h	Wed Aug 10 11:21:47 2016 +0000
+++ b/TVDCTRL.h	Wed Aug 17 14:17:14 2016 +0000
@@ -29,7 +29,7 @@
     int brakeOverRide;      //accel-brake同時踏み
 };
 
-#define ratioLPF        0.2679f //各センサLPF:CutOff:5Hz
+#define ratioLPF        0.061f //各センサLPF:CutOff:1Hz
 #define ratioLPF_V      0.061f  //車速LPF:CutOff:1Hz(sampling:10ms)
 #define M_PI            3.1415f //[-]
 #define TVD_GEAR_RATIO  10.0f   //[-]
@@ -54,7 +54,7 @@
 const int MAX_DISTRIBUTION_TORQUE   = (int)(0xFFFF/45.0 * 25.0);
 const float MAX_STEER_ANGLE         = (float)(M_PI/180.0 * 25.0);   //[-]
 
-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 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 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