Control system parameters. More...

Collaboration diagram for Control parameters.:

Macros
#define	PARAM_MOTOR_DIR_L -1.0

#define	PARAM_MOTOR_DIR_R 1.0

#define	PARAM_MOTOR_RATED_TORQUE 20.0

#define	PARAM_MOTOR_REDUCTION_RATIO 13.1

#define	PARAM_TORQ_LIMIT 20.0

#define	PARAM_TORQ_SLEW 4.0

#define	PARAM_TORQ_DERATE_BEGIN 3000.0

#define	PARAM_TORQ_DERATE_END 5000.0

#define	CTRL_PARAM(name, type, default)
	Specify aa control parameter. Used in CTRL_PARAM_DECLARE and CTRL_PARAM_EXTERN.

#define	CTRL_PARAM_DECLARE(...)
	Declare control parameters in getter (`ctrl_param_<name>_get`) and setter (`ctrl_param_<name>_set`) functions.

#define	CTRL_PARAM_EXTERN(...)
	Declare control parameters as extern variables.

#define	CTRL_PARAM_LIST
	List of control parameters.

Functions
	CTRL_PARAM_DECLARE (CTRL_PARAM_LIST)

Detailed Description

Control system parameters.

Macro Definition Documentation

◆ CTRL_PARAM

#define CTRL_PARAM	(	name,
		type,
		default )

#include <vcu/ctrl/params.h>

Value:

(name, type, default)

Specify aa control parameter. Used in CTRL_PARAM_DECLARE and CTRL_PARAM_EXTERN.

Parameters

[in]	name	Name of the parameter.
[in]	type	Type of the parameter.
[in]	default	Default value of the parameter.

◆ CTRL_PARAM_DECLARE

#define CTRL_PARAM_DECLARE ( ... )

#include <vcu/ctrl/params.h>

Value:

FOR_EACH(_CTRL_PARAM_DECLARE, (;), __VA_ARGS__)

Declare control parameters in getter (ctrl_param_<name>_get) and setter (ctrl_param_<name>_set) functions.

Parameters

[in] ... Control parameters to declare, must be specified by CTRL_PARAM.

◆ CTRL_PARAM_EXTERN

#define CTRL_PARAM_EXTERN ( ... )

#include <vcu/ctrl/params.h>

Value:

FOR_EACH(_CTRL_PARAM_EXTERN, (;), __VA_ARGS__)

Declare control parameters as extern variables.

Parameters

[in] ... Control parameters to declare, must be specified by CTRL_PARAM.

◆ CTRL_PARAM_LIST

#define CTRL_PARAM_LIST

#include <vcu/ctrl/params.h>

Value:

  CTRL_PARAM(torq_derate_begin, double, PARAM_TORQ_DERATE_BEGIN), \
      CTRL_PARAM(torq_derate_end, double, PARAM_TORQ_DERATE_END), \
      CTRL_PARAM(torq_limit_fl, double, PARAM_TORQ_LIMIT),        \
      CTRL_PARAM(torq_limit_fr, double, PARAM_TORQ_LIMIT),        \
      CTRL_PARAM(torq_limit_rl, double, PARAM_TORQ_LIMIT),        \
      CTRL_PARAM(torq_limit_rr, double, PARAM_TORQ_LIMIT),        \
      CTRL_PARAM(torq_slew, double, PARAM_TORQ_SLEW)