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ArduRover: deleting this. Please see APMRover2 for latest Rover code.

This commit is contained in:
rmackay9 2012-08-14 00:31:50 +09:00
parent db59065d26
commit 26d83791db
1 changed files with 0 additions and 60 deletions
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60
ArduRover/TankGeneric.h
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/*
* TankGeneric.h
*
* Created on: Sep 26, 2011
* Author: jgoppert
*/
// NOT CURRENTLY WORKING
#ifndef TANKGENERIC_H_
#define TANKGENERIC_H_
// vehicle options
static const AP_Board::options_t options = AP_Board::opt_gps | AP_Board::opt_baro | AP_Board::opt_compass;
static const MAV_TYPE vehicle = UGV_GROUND_ROVER;
//static const apo::AP_Board::mode_e = apo::AP_Board::MODE_HIL_CNTL;
static const apo::AP_Board::mode_e = apo::AP_Board::MODE_LIVE;
static const uint8_t heartBeatTimeout = 0;
// algorithm selection
#define CONTROLLER_CLASS ControllerTank
#define GUIDE_CLASS MavlinkGuide
#define NAVIGATOR_CLASS Navigator_Dcm
// hardware selection
//#define BOARD_TYPE Board_APM1
//#define BOARD_TYPE Board_APM1_2560
#define BOARD_TYPE Board_APM2
// loop rates
static const float loopRate = 150; // attitude nav
static const float loop0Rate = 50; // controller
static const float loop1Rate = 5; // pos nav/ gcs fast
static const float loop2Rate = 1; // gcs slow
static const float loop3Rate = 0.1;
// gains
const float steeringP = 1.0;
const float steeringI = 0.0;
const float steeringD = 0.0;
const float steeringIMax = 0.0;
const float steeringYMax = 3.0;
const float steeringDFCut = 25;
const float throttleP = 0.0;
const float throttleI = 0.0;
const float throttleD = 0.0;
const float throttleIMax = 0.0;
const float throttleYMax = 0.0;
const float throttleDFCut = 3.0;
// guidance
static const float velCmd = 5;
static const float xt = 10;
static const float xtLim = 90;
#include "ControllerTank.h"
#endif /* TANKGENERIC_H_ */
// vim:ts=4:sw=4:expandtab