param_M1.h File Reference

M1筐体のパラメータ. More...

Go to the source code of this file.

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


Detailed Description

M1筐体のパラメータ.

Author:
HARA Yoshitaka
$Id$

Definition in file param_M1.h.


Define Documentation

#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.


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