2014 sift
/
TVDctrller2017_brdRev1_PandA
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TVDctrller2017_brdRev1_ver6
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2014 sift
Diff: Global.h
- Revision:
- 47:949e6c2e69fc
- Parent:
- 46:16f1a7a01f5f
- Child:
- 51:640198055ed6
--- a/Global.h Tue Dec 12 11:37:33 2017 +0000
+++ b/Global.h Wed Dec 13 09:20:32 2017 +0000
@@ -28,23 +28,24 @@
FR_WHEEL = 0, FL_WHEEL = 1, RR_MOTOR = 2, RL_MOTOR = 3, SELECT_T_NUM
}select_t;
-const double M_PI =3.1415f; //[-]
+const double M_PI = 3.1415f; //[-]
-const double ratioLPF =0.67; //各センサLPF:CutOff:20Hz
-const double ratioLPF_ACC_BRK =0.061; //各センサLPF:CutOff:1Hz
-//const double ratioLPF_ACC_BRK =0.67; //各センサLPF:CutOff:1Hz
-const double ratioLPF_RPS =0.27; //各センサLPF:CutOff:5Hz
+const double ratioLPF = 0.67; //各センサLPF:CutOff:20Hz
+const double ratioLPF_ACC_BRK = 0.061; //各センサLPF:CutOff:1Hz
+//const double ratioLPF_ACC_BRK = 0.67; //各センサLPF:CutOff:1Hz
+const double ratioLPF_RPS = 0.773; //各センサLPF:CutOff:30Hz
-#define myAbs(x) (((x)>0)?(x):(-(x)))
-#define mySign(x) (((x)>0)?(1.0):(-1.0))
+#define myAbs(x) (((x)>=0)?(x):(-(x)))
+#define mySign(x) (((x)>=0)?(1.0):(-1.0))
#define myMin(x,y) (((x)<(y))?(x):(y))
+#define myMax(x,y) (((x)>(y))?(x):(y))
-const double GEAR_RATIO =13.0f; //[-]
-const double TIRE_DIAMETER =0.533f; //[m]
-const double WHEEL_BASE =1.760f; //[m]
-const double TREAD =1.3f; //[m]
-const double A =0.005f; //[s^2/m^2]
-const double STEER_RATIO =0.32f; //[-]
+const double GEAR_RATIO =13.0; //[-]
+const double TIRE_DIAMETER =0.533; //[m]
+const double WHEEL_BASE =1.760; //[m]
+const double TREAD =1.3; //[m]
+const double A =0.005; //[s^2/m^2]
+const double STEER_RATIO =0.32; //[-]
const double ALPHA =5.0f; //[-]増幅率α
#endif
\ No newline at end of file