balancer_param.c

   1 /**\r
   2  *******************************************************************************\r
   3  **     \83t\83@\83C\83\8b\96¼ : balancer_param.c\r
   4  **\r
   5  **     \8aT\97v       : \93|\97§\90U\8eq\90§\8cä\83p\83\89\83\81\81[\83^\r
   6  **\r
   7  ** \92\8d\8bL       : \93|\97§\90U\8eq\90§\8cä\83p\83\89\83\81\81[\83^\82Í\90§\8cä\93Á\90«\82É\91å\82«\82È\89e\8b¿\82ð\97^\82¦\82Ü\82·\81B\r
   8  **\r
   9  *******************************************************************************\r
  10  **/\r
  11 \r
  12 /*============================================================================\r
  13  * \83f\81[\83^\92è\8b`\r
  14  *===========================================================================*/\r
  15 float A_D = 0.8F;       /* \83\8d\81[\83p\83X\83t\83B\83\8b\83^\8cW\90\94(\8d¶\89E\8eÔ\97Ö\82Ì\95½\8bÏ\89ñ\93]\8ap\93x\97p) */\r
  16 float A_R = 0.996F;     /* \83\8d\81[\83p\83X\83t\83B\83\8b\83^\8cW\90\94(\8d¶\89E\8eÔ\97Ö\82Ì\96Ú\95W\95½\8bÏ\89ñ\93]\8ap\93x\97p) */\r
  17 \r
  18 /* \8fó\91Ô\83t\83B\81[\83h\83o\83b\83N\8cW\90\94\r
  19  * K_F[0]: \8eÔ\97Ö\89ñ\93]\8ap\93x\8cW\90\94\r
  20  * K_F[1]: \8eÔ\91Ì\8cX\8eÎ\8ap\93x\8cW\90\94\r
  21  * K_F[2]: \8eÔ\97Ö\89ñ\93]\8ap\91¬\93x\8cW\90\94\r
  22  * K_F[3]: \8eÔ\91Ì\8cX\8eÎ\8ap\91¬\93x\8cW\90\94\r
  23  */\r
  24 float K_F[4] = {-0.870303F, -31.9978F, -1.1566F, -2.78873F};\r
  25 float K_I = -0.44721F;   /* \83T\81[\83{\90§\8cä\97p\90Ï\95ª\83t\83B\81[\83h\83o\83b\83N\8cW\90\94 */\r
  26 \r
  27 //float K_PHIDOT = 25.0F; /* \8eÔ\91Ì\96Ú\95W\90ù\89ñ\8ap\91¬\93x\8cW\90\94 */\r
  28 float K_PHIDOT = 25.0F*2.5F; /* \8eÔ\91Ì\96Ú\95W\90ù\89ñ\8ap\91¬\93x\8cW\90\94 */\r
  29 float K_THETADOT = 7.5F; /* \83\82\81[\83^\96Ú\95W\89ñ\93]\8ap\91¬\93x\8cW\90\94 */\r
  30 \r
  31 const float BATTERY_GAIN = 0.001089F;   /* PWM\8fo\97Í\8eZ\8fo\97p\83o\83b\83e\83\8a\93d\88³\95â\90³\8cW\90\94 */\r
  32 const float BATTERY_OFFSET = 0.625F;    /* PWM\8fo\97Í\8eZ\8fo\97p\83o\83b\83e\83\8a\93d\88³\95â\90³\83I\83t\83Z\83b\83g */\r
  33 \r
  34 /******************************** END OF FILE ********************************/\r