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:
9:220e4e77e056
Parent:
8:a22aec357a64
Child:
10:87ad65eef0e9
diff -r a22aec357a64 -r 220e4e77e056 TVDCTRL.h
--- a/TVDCTRL.h	Wed Jul 27 04:45:07 2016 +0000
+++ b/TVDCTRL.h	Wed Jul 27 05:42:33 2016 +0000
@@ -29,7 +29,7 @@
 };
 
 #define ratioLPF        0.456f //CutOff:10Hz
-#define ratioLPF_V      0.061f  //CutOff:10Hz(sampling:10ms)
+#define ratioLPF_V      0.456f  //CutOff:10Hz(sampling:10ms)
 #define M_PI            3.1415f //[-]
 #define TVD_GEAR_RATIO  10.0f   //[-]
 #define TIRE_DIAMETER   0.533f  //[m]
@@ -49,8 +49,8 @@
 };
 
 const int MAX_MOTOR_TORQUE          = 0xFFFF;   //LSB : 45/65535 = 0.686655[mNm]
-const int MAX_OUTPUT_TORQUE         = (int)(MAX_MOTOR_TORQUE * 1.0);  //出力最大値
-const float MAX_DISTRIBUTION_TORQUE = (MAX_OUTPUT_TORQUE*0.8);
+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 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
@@ -74,8 +74,6 @@
 const int LINEAR_REGION_VOLTAGE     =(int)(0xFFFF/3.3 * 1.0); //トルクに回転数が影響しない領域の境界値(出力電圧値)
 const int MAX_REVOLUTION_TORQUE     =(int)(MAX_MOTOR_TORQUE/45.0 * 13.5);     //最高回転数における最大出力トルク
 
-const double FIX_DACOUTFORM         =(double)(((0xFFF/3.3) * 2.5)/0xFFFF);
-
 const int MAX_PULSE_TIME            =5000;  //12000rpmが最高回転数
 
 void initTVD(void);