param_CQ.h File Reference

CQロボット企画用のパラメータ. More...

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Defines
#define	ENC_PULSE   512 * 4
#define	MTR_POWER   12.0
#define	MTR_OHM   3.9
#define	MTR_RPM_PER_V   675
#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
#define	BODY_TREAD_MM   215.0
#define	DEFAULT_WHL_RIGHT   WHL_CW_BACK
#define	DEFAULT_WHL_LEFT   WHL_CW_BACK
#define	WHL_DIAMETER_RIGHT   60.0
#define	WHL_DIAMETER_LEFT   60.0
#define	WHL_GEAR_RATIO   (3249.0/169.0)
#define	MM_STABLE_SHIFT   3
#define	DIV16_STABLE_SHIFT   5

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Detailed Description

CQロボット企画用のパラメータ.

Author:

Satofumi KAMIMURA

$Id$

Definition in file param_CQ.h.

---

Define Documentation

#define ENC_PULSE   512 * 4

エンコーダの分解能 [1]

Definition at line 14 of file param_CQ.h.

#define MTR_POWER   12.0

公称電圧 [V]

Definition at line 17 of file param_CQ.h.

#define MTR_OHM   3.9

端子間抵抗 [ohm]

Definition at line 18 of file param_CQ.h.

#define MTR_RPM_PER_V   675

回転数定数 [rpm/V]

Definition at line 19 of file param_CQ.h.

#define MTR_MAX_mA   836

最大連続電流 [mA]

Definition at line 20 of file param_CQ.h.

#define MTR_TORQUE_CONST   14.1

トルク定数 [mNm/A]

Definition at line 21 of file param_CQ.h.

#define MTR_GAIN_P   40

重みは 1/1024

Definition at line 22 of file param_CQ.h.

#define MTR_GAIN_I   1

重みは 1/1024

Definition at line 23 of file param_CQ.h.

#define MTR_I_BIT_WIDTH   11

電流の最大値を示すビット位置

Definition at line 24 of file param_CQ.h.

#define I_VALUE_MAX   850

I項の値の最大値

Definition at line 25 of file param_CQ.h.

#define BODY_TREAD_MM   215.0

車輪間の幅 [mm]

Definition at line 28 of file param_CQ.h.

#define DEFAULT_WHL_RIGHT   WHL_CW_BACK

右輪の CW制御時の移動方向

Definition at line 29 of file param_CQ.h.

#define DEFAULT_WHL_LEFT   WHL_CW_BACK

右輪の CW制御時の移動方向

Definition at line 30 of file param_CQ.h.

#define WHL_DIAMETER_RIGHT   60.0

右車輪の直径 [mm]

Definition at line 33 of file param_CQ.h.

#define WHL_DIAMETER_LEFT   60.0

左 車輪の直径 [mm]

Definition at line 34 of file param_CQ.h.

#define WHL_GEAR_RATIO   (3249.0/169.0)

ギヤ比 [1]

Definition at line 35 of file param_CQ.h.