Tetrapod Project
Macros | Variables
config_motor_driver.h File Reference
#include "Arduino.h"
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Macros

#define SERIAL_PRINT   false
 
#define FRONT_LEGS   true
 
#define REAR_LEGS   false
 
#define position_offset_motor_1   0.0
 
#define position_offset_motor_2   0.0
 
#define position_offset_motor_3   0.0
 
#define position_offset_motor_4   0.0
 
#define position_offset_motor_5   0.0
 
#define position_offset_motor_6   0.0
 

Variables

const double k_p_pos = 30.0
 
const double k_i_pos = 15.0
 
const double k_p_vel = 50.0
 
const double k_i_vel = 25.0
 
const double k_p_tor = 100.0
 
const double k_i_tor = 50.0
 
static int K_P_POS [6] = {k_p_pos, k_p_pos, k_p_pos, k_p_pos, k_p_pos, k_p_pos}
 
static int K_I_POS [6] = {k_i_pos, k_i_pos, k_i_pos, k_i_pos, k_i_pos, k_i_pos}
 
static int K_P_VEL [6] = {k_p_vel, k_p_vel, k_p_vel, k_p_vel, k_p_vel, k_p_vel}
 
static int K_I_VEL [6] = {k_i_vel, k_i_vel, k_i_vel, k_i_vel, k_i_vel, k_i_vel}
 
static int K_P_TOR [6] = {k_p_tor, k_p_tor, k_p_tor, k_p_tor, k_p_tor, k_p_tor}
 
static int K_I_TOR [6] = {k_i_tor, k_i_tor, k_i_tor, k_i_tor, k_i_tor, k_i_tor}
 
static double POSITION_OFFSET [6]
 
static int INITIAL_NUMBER_OF_MOTOR_ROTATIONS [6] = {0, 0, 0, 0, 0, 0}
 

Macro Definition Documentation

◆ SERIAL_PRINT

#define SERIAL_PRINT   false

Definition at line 6 of file config_motor_driver.h.

◆ FRONT_LEGS

#define FRONT_LEGS   true

Definition at line 8 of file config_motor_driver.h.

◆ REAR_LEGS

#define REAR_LEGS   false

Definition at line 9 of file config_motor_driver.h.

◆ position_offset_motor_1

#define position_offset_motor_1   0.0

Definition at line 46 of file config_motor_driver.h.

◆ position_offset_motor_2

#define position_offset_motor_2   0.0

Definition at line 47 of file config_motor_driver.h.

◆ position_offset_motor_3

#define position_offset_motor_3   0.0

Definition at line 48 of file config_motor_driver.h.

◆ position_offset_motor_4

#define position_offset_motor_4   0.0

Definition at line 49 of file config_motor_driver.h.

◆ position_offset_motor_5

#define position_offset_motor_5   0.0

Definition at line 50 of file config_motor_driver.h.

◆ position_offset_motor_6

#define position_offset_motor_6   0.0

Definition at line 51 of file config_motor_driver.h.

Variable Documentation

◆ k_p_pos

const double k_p_pos = 30.0

Definition at line 11 of file config_motor_driver.h.

◆ k_i_pos

const double k_i_pos = 15.0

Definition at line 12 of file config_motor_driver.h.

◆ k_p_vel

const double k_p_vel = 50.0

Definition at line 13 of file config_motor_driver.h.

◆ k_i_vel

const double k_i_vel = 25.0

Definition at line 14 of file config_motor_driver.h.

◆ k_p_tor

const double k_p_tor = 100.0

Definition at line 15 of file config_motor_driver.h.

◆ k_i_tor

const double k_i_tor = 50.0

Definition at line 16 of file config_motor_driver.h.

◆ K_P_POS

int K_P_POS[6] = {k_p_pos, k_p_pos, k_p_pos, k_p_pos, k_p_pos, k_p_pos}
static

Definition at line 19 of file config_motor_driver.h.

◆ K_I_POS

int K_I_POS[6] = {k_i_pos, k_i_pos, k_i_pos, k_i_pos, k_i_pos, k_i_pos}
static

Definition at line 20 of file config_motor_driver.h.

◆ K_P_VEL

int K_P_VEL[6] = {k_p_vel, k_p_vel, k_p_vel, k_p_vel, k_p_vel, k_p_vel}
static

Definition at line 21 of file config_motor_driver.h.

◆ K_I_VEL

int K_I_VEL[6] = {k_i_vel, k_i_vel, k_i_vel, k_i_vel, k_i_vel, k_i_vel}
static

Definition at line 22 of file config_motor_driver.h.

◆ K_P_TOR

int K_P_TOR[6] = {k_p_tor, k_p_tor, k_p_tor, k_p_tor, k_p_tor, k_p_tor}
static

Definition at line 23 of file config_motor_driver.h.

◆ K_I_TOR

int K_I_TOR[6] = {k_i_tor, k_i_tor, k_i_tor, k_i_tor, k_i_tor, k_i_tor}
static

Definition at line 24 of file config_motor_driver.h.

◆ POSITION_OFFSET

double POSITION_OFFSET[6]
static
Initial value:
=
{
position_offset_motor_1,
position_offset_motor_2,
position_offset_motor_3,
position_offset_motor_4,
position_offset_motor_5,
position_offset_motor_6
}
position_offset_motor_3
#define position_offset_motor_3
Definition: config_motor_driver.h:48
position_offset_motor_1
#define position_offset_motor_1
Definition: config_motor_driver.h:46
position_offset_motor_4
#define position_offset_motor_4
Definition: config_motor_driver.h:49
position_offset_motor_6
#define position_offset_motor_6
Definition: config_motor_driver.h:51
position_offset_motor_2
#define position_offset_motor_2
Definition: config_motor_driver.h:47
position_offset_motor_5
#define position_offset_motor_5
Definition: config_motor_driver.h:50

Definition at line 54 of file config_motor_driver.h.

◆ INITIAL_NUMBER_OF_MOTOR_ROTATIONS

int INITIAL_NUMBER_OF_MOTOR_ROTATIONS[6] = {0, 0, 0, 0, 0, 0}
static

Definition at line 64 of file config_motor_driver.h.