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Defines | |
| #define | ENC_PULSE 4000 |
| #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 |
| #define | BODY_TREAD_MM 300.0 |
| #define | DEFAULT_WHL_RIGHT WHL_CW_BACK |
| #define | DEFAULT_WHL_LEFT WHL_CW_BACK |
| #define | WHL_DIAMETER_RIGHT 114.8 |
| #define | WHL_DIAMETER_LEFT 114.8 |
| #define | WHL_GEAR_RATIO 17.14 |
| #define | MM_STABLE_SHIFT 3 |
| #define | DIV16_STABLE_SHIFT 5 |
$Id$
Definition in file param_M1.h.
| #define ENC_PULSE 4000 |
エンコーダの分解能
Definition at line 14 of file param_M1.h.
| #define MTR_POWER 24.0 |
公称電圧 [V]
Definition at line 17 of file param_M1.h.
| #define MTR_OHM 4.7 |
端子間抵抗 [ohm]
Definition at line 18 of file param_M1.h.
| #define MTR_RPM_PER_V 195 |
回転数定数 [rpm/V] (逆起電圧定数の逆数)
Definition at line 19 of file param_M1.h.
| #define MTR_MAX_mA 836 |
最大連続電流 [mA]
Definition at line 20 of file param_M1.h.
| #define MTR_TORQUE_CONST 14.1 |
トルク定数 [mNm/A]
Definition at line 21 of file param_M1.h.
| #define MTR_GAIN_P 40 |
重みは 1/1024
Definition at line 22 of file param_M1.h.
| #define MTR_GAIN_I 1 |
重みは 1/1024
Definition at line 23 of file param_M1.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_M1.h.
| #define I_VALUE_MAX 850 |
I項の値の最大値
Definition at line 25 of file param_M1.h.
| #define WHL_GEAR_RATIO 17.14 |
ギア比
Definition at line 35 of file param_M1.h.
1.5.7.1