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:
39:c05074379713
Parent:
37:ba10cf09c151
Child:
43:5da6b1574227
--- a/TVDCTRL.h	Tue Oct 24 10:19:51 2017 +0000
+++ b/TVDCTRL.h	Thu Oct 26 02:04:02 2017 +0000
@@ -71,10 +71,12 @@
 //モータトルク演算は右モータ特性を採用
 //++++++++++++++++++++++++++++++
 
-#define MOTOR_PULSE_NUM     8       //モータパルス数[num/rev]
+const float MOTOR_PULSE_NUM     =8.0f;   //モータパルス数[num/rev]
+const float WHEEL_PULSE_NUM     =40.0f;  //タイヤパルス数[num/rev]
 
 const int MIN_PULSE_TIME            =5000;      //12000rpm時(最高回転数)のパルス時間(最小値)
 const int MAX_PULSE_TIME            =150000;    //最大パルス時間(about:4.02km/h)
+const int MAX_WHEEL_PULSE_TIME_US   =3350000;
 
 void initTVD(void);
 void driveTVD(int TVDmode, bool isRedyToDrive);