param_M1.h

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#ifndef PARAM_M1_H
#define PARAM_M1_H

// device/encCtrl.h
#define ENC_PULSE 4000          
// device/motorCtrl.h
#define MTR_POWER 24.0          
#define MTR_OHM 4.7             
#define MTR_RPM_PER_V 195 
#define MTR_MAX_mA 836          
#define MTR_TORQUE_CONST 14.1   
#define MTR_GAIN_P 40           
#define MTR_GAIN_I 1            
#define MTR_I_BIT_WIDTH 11      
#define I_VALUE_MAX 850         
// framework/bodyCtrl.h
#define BODY_TREAD_MM 300.0
#define DEFAULT_WHL_RIGHT WHL_CW_BACK 
#define DEFAULT_WHL_LEFT WHL_CW_BACK 
// framework/wheelCtrl.h
#define WHL_DIAMETER_RIGHT 114.8
#define WHL_DIAMETER_LEFT 114.8
#define WHL_GEAR_RATIO 17.14    
// control/veclotyCtrl.h
#define MM_STABLE_SHIFT 3
#define DIV16_STABLE_SHIFT 5

#endif /* !PARAM_M1_H */