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◆ CHAIN_LENGTH_M
#define CHAIN_LENGTH_M 0.741 |
◆ COMMAND_POS
◆ COMPONENT_ENDBIT
#define COMPONENT_ENDBIT 4 |
◆ COMPONENT_POS
◆ COMPONENT_STARTBIT
#define COMPONENT_STARTBIT 7 |
◆ COUNT_PER_ROTATION
#define COUNT_PER_ROTATION 3533 |
◆ CP_ALL_M_BV
◆ CP_DEFAULT_BV
◆ CP_LEFT_M_BV
◆ CP_RIGHT_M_BV
◆ ENC_1_A
◆ ENC_1_B
◆ ENC_2_A
◆ ENC_2_B
◆ FRAME_TYPE_ENDBIT
#define FRAME_TYPE_ENDBIT 5 |
◆ FRAME_TYPE_POS
◆ FRAME_TYPE_STARTBIT
#define FRAME_TYPE_STARTBIT 7 |
◆ FT_REQUEST_BV
◆ FT_RESPONSE_BV
#define FT_RESPONSE_BV 64 |
◆ FT_VALUE_BV
◆ KD_1
◆ KD_2
◆ KI_1
◆ KI_2
◆ KP_1
◆ KP_2
◆ LAST
#define LAST |
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k, |
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n |
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) |
| ((k) & ((1<<(n))-1)) |
◆ M1_DIR_PIN
◆ M1_EN_PIN
◆ M2_DIR_PIN
◆ M2_EN_PIN
◆ MAX_PACKET_LENGTH
#define MAX_PACKET_LENGTH 50 |
◆ MAX_SPEED
◆ MID
#define MID |
( |
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k, |
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m, |
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n |
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) |
| LAST((k)>>(m),((n)-(m))) |
◆ NUM_MOTORS
all constants and custom data types
◆ P_GAIN
◆ PACKAGE_LENGTH_NO_P
#define PACKAGE_LENGTH_NO_P 10 |
◆ PACKAGE_PAUSE_MS
#define PACKAGE_PAUSE_MS 10 |
◆ PAYLOAD_LENGTH_POS
#define PAYLOAD_LENGTH_POS 2 |
◆ PAYLOAD_POS
◆ PRINT_RATE_MS
#define PRINT_RATE_MS 500 |
◆ REQUEST_DRIVE_MOTOR
#define REQUEST_DRIVE_MOTOR 0x01 |
◆ REQUEST_RESET_TIMESTAMP
#define REQUEST_RESET_TIMESTAMP 0x02 |
◆ RX_328_PIN
◆ SPEED_THRESHOLD
#define SPEED_THRESHOLD 8 |
◆ START_BYTE
◆ START_BYTE_POS
◆ TIMESTAMP_POS
◆ TX_328_PIN
◆ UART_BAUD_RATE
#define UART_BAUD_RATE 57600 |
◆ UART_TRANSMIT_MS
#define UART_TRANSMIT_MS 10 |
◆ VEL2TORQUE_RATIO
#define VEL2TORQUE_RATIO 1.0 |
◆ VEL_UPDATE_RATE_MS
#define VEL_UPDATE_RATE_MS 20 |
◆ U_Component
◆ U_FrameType
◆ U_Request
◆ components
Enumerator |
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DEFAULT_COMPONENT | |
LEFT_MOTOR | |
RIGHT_MOTOR | |
ALL_MOTORS | |
◆ frametypes
Enumerator |
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VALUE | |
REQUEST | |
RESPONSE | |
◆ requests
Enumerator |
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DEFAULT_REQUEST | |
DRIVE_MOTOR | |
RESET_TIMESTAMP | |
DRIVE_ENCODER | |
PID_PARAMETER | |