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:
43:5da6b1574227
Parent:
40:8e33c60c6590
Child:
44:d433bb5f77c0
--- a/Global.h	Sat Oct 28 06:44:09 2017 +0000
+++ b/Global.h	Thu Nov 02 01:56:46 2017 +0000
@@ -6,7 +6,8 @@
 const int CONTROL_CYCLE_MS  = (int)(CONTROL_CYCLE_S * 1000.0f);
 const int CONTROL_CYCLE_US  = (int)(CONTROL_CYCLE_S * 1000000.0f);
 
-const int TIRE_MEAS_CYCLE_US  = 10000;
+const float RPS_MEAS_CYCLE_S  = 0.01f;
+const int RPS_MEAS_CYCLE_US  = (int)(RPS_MEAS_CYCLE_S * 1000000);
 
 const float LSB_MOTORSPEED      = 0.01;     //[(m/s) / bit]
 
@@ -22,14 +23,14 @@
     int brakeOverRide;      //accel-brake同時踏み
 };
 
-enum Select {
-    RIGHT=0,
-    LEFT
-};
+typedef enum {
+    FR_WHEEL = 0, FL_WHEEL, RR_MOTOR, RL_MOTOR, SELECT_T_NUM
+}select_t;
 
 const float M_PI            =3.1415f;   //[-]
 
-#define ratioLPF        0.67f           //各センサLPF:CutOff:20Hz
+const float ratioLPF        =0.67f;           //各センサLPF:CutOff:20Hz
+const float ratioLPF_RPS    =0.27f;           //各センサLPF:CutOff:5Hz
 
 #define myAbs(x)    (((x)>0)?(x):(-(x)))
 
@@ -39,5 +40,6 @@
 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
 
 #endif
\ No newline at end of file