Bayley Wang
robot
config_driving.h@159:9dbc0657238c, 2017-05-07 (annotated)
- Committer:
- bwang
- Date:
- Sun May 07 17:43:41 2017 +0000
- Revision:
- 159:9dbc0657238c
- Parent:
- 42:030e0ec4eac5
05/07/2017 13:42 - bugfix in constrain_norm(), which previously stepped from max to 1 magnitude when limiting kicked in
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| bwang | 29:50e6e4e46580 | 1 | #ifndef __CONFIG_DRIVING |
| bwang | 29:50e6e4e46580 | 2 | #define __CONFIG_DRIVING |
| bwang | 29:50e6e4e46580 | 3 | |
| bwang | 30:c25c5bf0d951 | 4 | #define TORQUE_MODE true |
| bwang | 30:c25c5bf0d951 | 5 | |
| bwang | 42:030e0ec4eac5 | 6 | /*forward torque scaling*/ |
| bwang | 42:030e0ec4eac5 | 7 | #define MAX_TQPCT_PLUS 1.0f |
| bwang | 29:50e6e4e46580 | 8 | |
| bwang | 42:030e0ec4eac5 | 9 | /*reverse/regen torque scaling*/ |
| bwang | 42:030e0ec4eac5 | 10 | #define MAX_TQPCT_MINUS 0.3f |
| bwang | 42:030e0ec4eac5 | 11 | |
| bwang | 42:030e0ec4eac5 | 12 | /*maximum torque for approximate methods*/ |
| bwang | 42:030e0ec4eac5 | 13 | #define TORQUE_MAX 75.0f |
| bwang | 29:50e6e4e46580 | 14 | |
| bwang | 39:80b38a8e1787 | 15 | /*max speed, including any field weakening, rad/s*/ |
| bwang | 42:030e0ec4eac5 | 16 | #define W_MAX 1000.0f |
| bwang | 29:50e6e4e46580 | 17 | |
| bwang | 29:50e6e4e46580 | 18 | #endif |