param_beego.h

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00001 #ifndef PARAM_BEEGO_H
00002 #define PARAM_BEEGO_H
00003 
00013 // device/encCtrl.h
00014 #define ENC_PULSE 512 * 4       
00016 // device/motorCtrl.h
00017 #define MTR_POWER 12.0          
00018 #define MTR_OHM 3.9             
00019 #define MTR_RPM_PER_V 675       
00020 #define MTR_MAX_mA 836          
00021 #define MTR_TORQUE_CONST 14.1   
00022 #define MTR_GAIN_P 40           
00023 #define MTR_GAIN_I 1            
00024 #define MTR_I_BIT_WIDTH 11      
00025 #define I_VALUE_MAX 850         
00027 // framework/bodyCtrl.h
00028 #define BODY_TREAD_MM 290.7     
00029 #define DEFAULT_WHL_RIGHT WHL_CW_BACK 
00030 #define DEFAULT_WHL_LEFT WHL_CW_BACK 
00032 // framework/wheelCtrl.h
00033 #define WHL_DIAMETER_RIGHT 84.5 
00034 #define WHL_DIAMETER_LEFT 84.5 
00035 //#define WHL_DIAMETER_RIGHT 40.0       
00036 //#define WHL_DIAMETER_LEFT 80.0 
00037 #define WHL_GEAR_RATIO (3249.0/169.0 * 45.0/16.0) 
00039 // control/veclotyCtrl.h
00040 #define MM_STABLE_SHIFT 3    
00041 #define DIV16_STABLE_SHIFT 5 
00043 #endif /* !PARAM_BEEGO_H */
00044