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:
5:a5462959b3ab
Parent:
3:821e2f07a260
Child:
6:26fa8c78500e
diff -r d7778cde0aff -r a5462959b3ab TVDCTRL.h
--- a/TVDCTRL.h	Sun Jul 24 08:23:56 2016 +0000
+++ b/TVDCTRL.h	Mon Jul 25 07:12:49 2016 +0000
@@ -41,7 +41,7 @@
 };
 
 #define ratioLPF        0.456f //CutOff:10Hz
-#define ratioLPF_V      0.456f  //CutOff:10Hz(sampling:10ms)
+#define ratioLPF_V      0.061f  //CutOff:10Hz(sampling:10ms)
 #define M_PI            3.1415f //[-]
 #define TVD_GEAR_RATIO  10.0f   //[-]
 #define TIRE_DIAMETER   0.533f  //[m]
@@ -60,10 +60,10 @@
     LEFT_MOTOR
 };
 
-const int MAX_MOTOR_TORQUE      = 0xFFFF;   //LSB : 45/65535 = 0.686655[mNm]
-const int MAX_OUTPUT_TORQUE      = (int)(MAX_MOTOR_TORQUE * 0.7);  //出力最大値
+const int MAX_MOTOR_TORQUE          = 0xFFFF;   //LSB : 45/65535 = 0.686655[mNm]
+const int MAX_OUTPUT_TORQUE         = (int)(MAX_MOTOR_TORQUE * 0.7);  //出力最大値
 const float MAX_DISTRIBUTION_TORQUE = (MAX_OUTPUT_TORQUE*0.8);
-const float MAX_STEER_ANGLE     = (float)(M_PI/180.0 * 25.0); //[-]
+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
 const int APS_MAX_POSITION          =(int)(0xFFFF/3.3 * 2.0);    //"正常時"最大入力電圧
@@ -88,12 +88,15 @@
 
 const float FIX_DACOUTFORM          =(float)((0xFFF/3.3 * 2.5)/0xFFFF);
 
+const int MAX_PULSE_TIME            =5000;  //12000rpmが最高回転数
+
 void loadSensorsLPF(void);
 int checkSensorPlausibility(void);
 
 void initTVD(void);
 void driveTVD(void);
 
+int getPulseTime(SelectMotor rl);
 float getVelocity(void);
 int loadCurrentSensor(int sensor);
 int loadRawSensor(int sensor);