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:
10:87ad65eef0e9
Parent:
9:220e4e77e056
Child:
11:88701a5e7eae
--- a/TVDCTRL.h	Wed Jul 27 05:42:33 2016 +0000
+++ b/TVDCTRL.h	Sat Aug 06 05:39:00 2016 +0000
@@ -28,8 +28,8 @@
     int brakeOverRide;      //accel-brake同時踏み
 };
 
-#define ratioLPF        0.456f //CutOff:10Hz
-#define ratioLPF_V      0.456f  //CutOff:10Hz(sampling:10ms)
+#define ratioLPF        0.456f  //CutOff:10Hz
+#define ratioLPF_V      0.118f  //CutOff:2Hz(sampling:10ms)
 #define M_PI            3.1415f //[-]
 #define TVD_GEAR_RATIO  10.0f   //[-]
 #define TIRE_DIAMETER   0.533f  //[m]
@@ -50,7 +50,7 @@
 
 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 * 10);
+const int MAX_DISTRIBUTION_TORQUE   = (int)(0xFFFF/45.0 * 10.0);
 const float MAX_STEER_ANGLE         = (float)(M_PI/180.0 * 25.0); //[-]
 
 const int APS_MIN_POSITION          =(int)(0xFFFF/3.3 * 1.0);     //"正常時"最小入力電圧