Diff: userDef.h

Revision:

0:a4d8f5b3c546

Child:

2:99785a1007a4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/userDef.h	Sat Jun 04 03:16:52 2016 +0000
@@ -0,0 +1,50 @@
+//#include <arduino.h>
+
+//通讯模式
+//#define BLE_SoftSerial  //软串口模式
+#ifndef BLE_SoftSerial  //如果没开启软串口,就开硬串口模式
+#if defined(__AVR_ATmega32U4__)
+#define BLE_HardSerial Serial1
+#else
+#define BLE_HardSerial Serial
+#endif
+#endif
+#define BLE_SPEED 9600  //蓝牙接口速度
+#define NRF_CHANNEL 70  //nRF通道
+#define CHANNEL_THROTTLE  1 //油门通道
+#define CHANNEL_STEERING  0 //转向通道
+#define SAFE_TIME_OUT 250   //失控保护时间
+
+//角度/速度修正参数
+#define ANGLE_FIX -1.5
+#define MAX_TARGET_ANGLE 12 //最大目标角度12
+#define MAX_SPEED         1200
+#define MAX_THROTTLE 512 //最大油门 < 512
+#define MAX_STEERING 128 //最大转向 < 256
+
+//姿态传感器安装方向
+enum _DIRECTION {
+  YAW = 0,
+  PITCH,
+  ROLL
+};
+#define DIRECTION PITCH
+
+//PID整定参数
+#define KP_ANG 0.15    // 0.25
+#define KI_ANG 0
+#define KD_ANG 35      // 30 28 26  
+#define KP_SPD 0.04    //0.08//0.065
+#define KI_SPD 0.02   //0.05
+#define KD_SPD 0.0
+
+#define KP_ANG_RAISUP   0.52
+#define KI_ANG_RAISUP   0
+#define KD_ANG_RAISUP   45
+#define KP_SPD_RAISUP   0
+#define KI_SPD_RAISUP   0
+#define KD_SPD_RAISUP   0
+
+//#define BAT_DETECT   5*84/33.0
+
+