File content as of revision 30:c596a0f5d685:

#ifndef GLOBAL_H
#define GLOBAL_H

//制御周期
const int CONTROL_CYCLE_MS  = 10;
const float CONTROL_CYCLE_S     = 0.01;

const float LSB_MOTORSPEED      = 0.01;

//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
};

#define M_PI            3.1415f //[-]

#define ratioLPF        0.67f  //各センサLPF:CutOff:1Hz
#define ratioLPF_V      0.061f  //車速LPF:CutOff:1Hz(sampling:10ms)

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

#define TVD_GEAR_RATIO  10.0f   //[-]
#define TIRE_DIAMETER   0.533f  //[m]
#define WHEEL_BASE      1.760f  //[m]
#define TREAD           1.3f    //[m]
#define STABIRITY_FACTOR    0.01f   //[-]

#endif