param_M1.h

Go to the documentation of this file.
00001 #ifndef PARAM_M1_H
00002 #define PARAM_M1_H
00003 
00013 // device/encCtrl.h
00014 #define ENC_PULSE 4000          
00016 // device/motorCtrl.h
00017 #define MTR_POWER 24.0          
00018 #define MTR_OHM 4.7             
00019 #define MTR_RPM_PER_V 195 
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 300.0
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 114.8
00034 #define WHL_DIAMETER_LEFT 114.8
00035 #define WHL_GEAR_RATIO 17.14    
00037 // control/veclotyCtrl.h
00038 #define MM_STABLE_SHIFT 3
00039 #define DIV16_STABLE_SHIFT 5
00040 
00041 #endif /* !PARAM_M1_H */
00042 

Generated on Mon Apr 13 22:52:04 2009 by  doxygen 1.5.7.1