00001 #ifndef MOTOR_CTRL_H 00002 #define MOTOR_CTRL_H 00003 00015 #include "robotParams.h" 00016 00017 00023 typedef struct { 00024 unsigned char id; 00025 int gain_p; 00026 int gain_i; 00027 int i_value; 00028 int r_per_v; 00029 int ke_per_v; 00030 } motorInfo_t; 00031 00032 00038 enum MotorMode { 00039 MTR_MODE_FREE, 00040 MTR_MODE_CW_BREAK = +1, 00041 MTR_MODE_CCW_BREAK = -1, 00042 }; 00043 00044 00051 #ifndef MTR_POWER 00052 #define MTR_POWER 12.0 00053 #endif 00054 #ifndef MTR_OHM 00055 #define MTR_OHM 3.9 00056 #endif 00057 #ifndef MTR_RPM_PER_V 00058 #define MTR_RPM_PER_V 675 00059 #endif 00060 #ifndef MTR_MAX_mA 00061 #define MTR_MAX_mA 836 00062 #endif 00063 00064 #ifndef MTR_TORQUE_CONST 00065 #define MTR_TORQUE_CONST 14.1 00066 #endif 00067 00068 /* 00069 制御パラメータ 00070 */ 00071 #ifndef MTR_GAIN_P 00072 #define MTR_GAIN_P 40 00073 #endif 00074 #ifndef MTR_GAIN_I 00075 #define MTR_GAIN_I 4 00076 #endif 00077 00083 #ifndef MTR_I_BIT_WIDTH 00084 #define MTR_I_BIT_WIDTH 11 00085 #endif 00086 #ifndef I_VALUE_MAX 00087 #define I_VALUE_MAX 850 00088 #endif 00089 00090 00091 #include "cpp_extern_macro.h" 00092 BEGIN_C_DECLS; 00093 00094 extern void set_mode(const unsigned char id, const int mode); 00095 extern void set_pwm(const unsigned char id, const int duty); 00096 00097 extern void initMotor(void); 00098 extern void initMotorInfo(const unsigned char id, motorInfo_t *mtr); 00099 extern void setMotorFree(motorInfo_t *mtr); 00100 extern int setMotorRevolution(const int ref_cnt, const int cnt_diff, 00101 motorInfo_t *mtr); 00102 00103 END_C_DECLS; 00104 #endif /* !MOTOR_CTRL_H */ 00105
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