taka yamanouchi / Mbed 2 deprecated 2019_tourobo_upper

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Dependencies:   mbed PID QEI2 MotorDrivers Filter

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Show/hide line numbers define.h Source File

define.h

00001 #define INT_TIME 0.05
00002 
00003 #define RESO 48
00004 
00005 #define SB_ADRS1 128
00006 #define SB_ADRS2 129
00007 
00008 #define LIMIT_CMD 127
00009 
00010 #define REF_SPD1_1 (RESO*4*(5.5))//右端
00011 #define REF_SPD1_2 (RESO*4*4)
00012 #define REF_SPD2_1 (RESO*4*(5.5))//真ん中
00013 #define REF_SPD2_2 (RESO*4*4)
00014 #define REF_SPD3_1 (RESO*4*6.1)//右下
00015 #define REF_SPD3_2 (RESO*4*(2.2))
00016 
00017 #define P1 (0.12*INT_TIME)
00018 #define D1 0.0000
00019 
00020 #define P2 (0.12*INT_TIME)
00021 #define D2 0.0000
00022 
00023 #define LIMITER_ACCEL 250
00024 #define LIMITER_DECCEL 250
00025 
00026 #define POWER_ON 1
00027 #define POWER_OFF 0
00028 
00029 #define F1_ON 1
00030 #define F1_OFF (!F1_ON)
00031 #define F2_ON 1
00032 #define F2_OFF (!F2_ON)
00033 #define F3_ON 1
00034 #define F3_OFF (!F3_ON)
00035 #define F4_ON 1
00036 #define F4_OFF (!F4_ON)
00037 
00038 #define CB_COLLECT 0b00000001
00039 #define AUTOMATION 0b00000010
00040 
00041 #define LOADING    0b00000100
00042 #define POINTS_1   0b00001000
00043 #define POINTS_2   0b00010000
00044 #define POINTS_3   0b00100000
00045 #define POSITIONS  0b10000000
00046 #define EMERGENCY  0b01000000
00047 
00048 #define EMER_COUNT 50
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