2014 sift / Mbed 2 deprecated TVDctrller2017_brdRev1_PandA

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Dependencies:   mbed

Fork of TVDctrller2017_brdRev1_ver6 by 2014 sift

Global.h

Committer:
sift
Date:
2017-10-26
Revision:
39:c05074379713
Parent:
38:11753ee9734f
Child:
40:8e33c60c6590

File content as of revision 39:c05074379713:

#ifndef GLOBAL_H
#define GLOBAL_H

//制御周期
const float CONTROL_CYCLE_S = 0.01f;
const int CONTROL_CYCLE_MS  = (int)(CONTROL_CYCLE_S * 1000.0f);
const int CONTROL_CYCLE_US  = (int)(CONTROL_CYCLE_S * 1000000.0f);

const float LSB_MOTORSPEED      = 0.01;     //[(m/s) / bit]

//エラーカウンタ型
struct errCounter_t {
    int apsUnderVolt;       //aps電圧不足
    int apsExceedVolt;      //aps電圧超過
    int apsErrorTolerance;  //aps偏差超過
    int apsStick;           //aps固着
    int brakeUnderVolt;     //brake電圧不足
    int brakeExceedVolt;    //brake電圧超過
    int brakeFuzzyVolt;     //brake曖昧な電圧(ONでもOFFでもない)
    int brakeOverRide;      //accel-brake同時踏み
};

enum Select {
    RIGHT=0,
    LEFT
};

const float M_PI            =3.1415f;   //[-]

#define ratioLPF        0.67f           //各センサLPF:CutOff:20Hz

#define myAbs(x)    (((x)>0)?(x):(-(x)))

const float GEAR_RATIO      =13.0f;     //[-]
const float TIRE_DIAMETER   =0.533f;    //[m]
const float WHEEL_BASE      =1.760f;    //[m]
const float TREAD           =1.3f;      //[m]
const float A               =0.005f;    //[s^2/m^2]
const float STEER_RATIO     =0.32f;     //[-]

#endif