\hypertarget{structt___config_struct}{\section{t\-\_\-\-Config\-Struct Struct Reference}
\label{structt___config_struct}\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}}
}


{\ttfamily \#include $<$Defines.\-h$>$}

\subsection*{Data Fields}
\begin{DoxyCompactItemize}
\item 
uint8\-\_\-t \hyperlink{structt___config_struct_afc663deb11b64a1ca30572016ba660d1}{S\-R\-F08\-\_\-\-Front}
\item 
uint8\-\_\-t \hyperlink{structt___config_struct_a20c56bd8425a9ab092d01b36e3f3745c}{S\-R\-F08\-\_\-\-Rear}
\item 
uint8\-\_\-t \hyperlink{structt___config_struct_a71cc120cf6b15a3628f5a5d372985272}{Imp\-Per\-Round\-R}
\item 
uint8\-\_\-t \hyperlink{structt___config_struct_a24caaeaf5b05f2b177746fbbcf63a889}{Imp\-Per\-Round\-L}
\item 
uint16\-\_\-t \hyperlink{structt___config_struct_aa7cc319dfc901be47ca3eaa7927fa693}{Circum\-R}
\item 
uint16\-\_\-t \hyperlink{structt___config_struct_a21c535fa46ee6af9fb52e6b57d324193}{Circum\-L}
\item 
uint16\-\_\-t \hyperlink{structt___config_struct_ada59414973aaac73bb926a116e939648}{Track}
\item 
uint8\-\_\-t \hyperlink{structt___config_struct_ad025bf689dd4e3455897dc47a9ab4b30}{Max\-Acc}
\item 
uint8\-\_\-t \hyperlink{structt___config_struct_a61209c30a49abcc4986d63477577d2f0}{Kp}
\item 
uint8\-\_\-t \hyperlink{structt___config_struct_a10c49ed90184f3008fd88012b990f92a}{Ki}
\item 
uint8\-\_\-t \hyperlink{structt___config_struct_a87cbad78fdcd89009d3743f9894d1aca}{Kd}
\item 
uint8\-\_\-t \hyperlink{structt___config_struct_ab3022b97a150a616775d018059cf61f3}{Reg\-Error\-Filter}
\item 
uint8\-\_\-t \hyperlink{structt___config_struct_af81515063fd9f38ddaeeffe3a3b7022f}{Omega0}
\item 
uint8\-\_\-t \hyperlink{structt___config_struct_aee73cc056696e504430c53eaa9c58cf0}{L}
\item 
uint8\-\_\-t \hyperlink{structt___config_struct_a441df0f294764893ceaad2f2eeb4412e}{Ksi}
\item 
uint8\-\_\-t \hyperlink{structt___config_struct_a45ffe8b1921595b4dad586258a09811c}{Omega\-Thresh}
\item 
uint8\-\_\-t \hyperlink{structt___config_struct_afbf30386ae5dba97308f97aecc23108f}{S\-R\-F08\-\_\-\-Rear\-Correction}
\item 
uint8\-\_\-t \hyperlink{structt___config_struct_ab6421023e0445e104f3112d7dbe9d9ed}{Right\-Wheel\-Increment}
\item 
uint8\-\_\-t \hyperlink{structt___config_struct_a7286ba53574f7fc2f6efefa95ac253e1}{Left\-Wheel\-Increment}
\item 
uint8\-\_\-t \hyperlink{structt___config_struct_a3314260b5cf39ee075c1c0e1f3a1196d}{S\-R\-F08\-\_\-\-Safety\-First}
\item 
uint8\-\_\-t \hyperlink{structt___config_struct_a4eb5613e6bcd6fc2a16a467251ef8108}{S\-R\-F08\-\_\-\-Safety\-Second}
\item 
uint8\-\_\-t \hyperlink{structt___config_struct_a177168ecba60a6d0f7c080e8121180ff}{Reg\-Gamma}
\item 
uint8\-\_\-t \hyperlink{structt___config_struct_a954c51946237afa31a21636e1bd1b973}{Reg\-Epsilon}
\item 
uint8\-\_\-t \hyperlink{structt___config_struct_acd4b5197cfb03561b9474fe0a4fc6d65}{Reg\-Angle\-Gain}
\item 
uint8\-\_\-t \hyperlink{structt___config_struct_ae2adea8d873ca266b7fe4cd21ff74b5e}{Reg\-Position\-Gain}
\item 
uint8\-\_\-t \hyperlink{structt___config_struct_a1936f3ec1c65a666e5cca881fe702a80}{Reg\-Speed}
\end{DoxyCompactItemize}


\subsection{Detailed Description}
Configuration structure. 

Definition at line 200 of file Defines.\-h.



\subsection{Field Documentation}
\hypertarget{structt___config_struct_a21c535fa46ee6af9fb52e6b57d324193}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!Circum\-L@{Circum\-L}}
\index{Circum\-L@{Circum\-L}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{Circum\-L}]{\setlength{\rightskip}{0pt plus 5cm}uint16\-\_\-t Circum\-L}}\label{structt___config_struct_a21c535fa46ee6af9fb52e6b57d324193}
Left wheel circumference in cm. 

Definition at line 204 of file Defines.\-h.

\hypertarget{structt___config_struct_aa7cc319dfc901be47ca3eaa7927fa693}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!Circum\-R@{Circum\-R}}
\index{Circum\-R@{Circum\-R}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{Circum\-R}]{\setlength{\rightskip}{0pt plus 5cm}uint16\-\_\-t Circum\-R}}\label{structt___config_struct_aa7cc319dfc901be47ca3eaa7927fa693}
Right wheel circumference in cm. 

Definition at line 204 of file Defines.\-h.

\hypertarget{structt___config_struct_a24caaeaf5b05f2b177746fbbcf63a889}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!Imp\-Per\-Round\-L@{Imp\-Per\-Round\-L}}
\index{Imp\-Per\-Round\-L@{Imp\-Per\-Round\-L}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{Imp\-Per\-Round\-L}]{\setlength{\rightskip}{0pt plus 5cm}uint8\-\_\-t Imp\-Per\-Round\-L}}\label{structt___config_struct_a24caaeaf5b05f2b177746fbbcf63a889}
Impulses per round of left wheel speed encoder (divided by 2 to fit uint8\-\_\-t size when sampling S\-T\-E\-P on both edges). 

Definition at line 203 of file Defines.\-h.

\hypertarget{structt___config_struct_a71cc120cf6b15a3628f5a5d372985272}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!Imp\-Per\-Round\-R@{Imp\-Per\-Round\-R}}
\index{Imp\-Per\-Round\-R@{Imp\-Per\-Round\-R}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{Imp\-Per\-Round\-R}]{\setlength{\rightskip}{0pt plus 5cm}uint8\-\_\-t Imp\-Per\-Round\-R}}\label{structt___config_struct_a71cc120cf6b15a3628f5a5d372985272}
Impulses per round of right wheel speed encoder (divided by 2 to fit uint8\-\_\-t size when sampling S\-T\-E\-P on both edges). 

Definition at line 203 of file Defines.\-h.

\hypertarget{structt___config_struct_a87cbad78fdcd89009d3743f9894d1aca}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!Kd@{Kd}}
\index{Kd@{Kd}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{Kd}]{\setlength{\rightskip}{0pt plus 5cm}uint8\-\_\-t Kd}}\label{structt___config_struct_a87cbad78fdcd89009d3743f9894d1aca}
Derivative coefficient of the P\-S\-D speed regulators (multiplied by 10!!!). 

Definition at line 207 of file Defines.\-h.

\hypertarget{structt___config_struct_a10c49ed90184f3008fd88012b990f92a}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!Ki@{Ki}}
\index{Ki@{Ki}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{Ki}]{\setlength{\rightskip}{0pt plus 5cm}uint8\-\_\-t Ki}}\label{structt___config_struct_a10c49ed90184f3008fd88012b990f92a}
Integral coefficient of the P\-S\-D speed regulators (multiplied by 10!!!). 

Definition at line 207 of file Defines.\-h.

\hypertarget{structt___config_struct_a61209c30a49abcc4986d63477577d2f0}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!Kp@{Kp}}
\index{Kp@{Kp}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{Kp}]{\setlength{\rightskip}{0pt plus 5cm}uint8\-\_\-t Kp}}\label{structt___config_struct_a61209c30a49abcc4986d63477577d2f0}
Proportional coefficient of the P\-S\-D speed regulators (multiplied by 10!!!). 

Definition at line 207 of file Defines.\-h.

\hypertarget{structt___config_struct_a441df0f294764893ceaad2f2eeb4412e}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!Ksi@{Ksi}}
\index{Ksi@{Ksi}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{Ksi}]{\setlength{\rightskip}{0pt plus 5cm}uint8\-\_\-t Ksi}}\label{structt___config_struct_a441df0f294764893ceaad2f2eeb4412e}
Ksi (damping factor, multiplied by 10!!). 

Definition at line 209 of file Defines.\-h.

\hypertarget{structt___config_struct_aee73cc056696e504430c53eaa9c58cf0}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!L@{L}}
\index{L@{L}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{L}]{\setlength{\rightskip}{0pt plus 5cm}uint8\-\_\-t L}}\label{structt___config_struct_aee73cc056696e504430c53eaa9c58cf0}
Distance between S\-R\-F08 sensors/2 (in cm). 

Definition at line 209 of file Defines.\-h.

\hypertarget{structt___config_struct_a7286ba53574f7fc2f6efefa95ac253e1}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!Left\-Wheel\-Increment@{Left\-Wheel\-Increment}}
\index{Left\-Wheel\-Increment@{Left\-Wheel\-Increment}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{Left\-Wheel\-Increment}]{\setlength{\rightskip}{0pt plus 5cm}uint8\-\_\-t Left\-Wheel\-Increment}}\label{structt___config_struct_a7286ba53574f7fc2f6efefa95ac253e1}
Track increment (mm per pulse) of left wheel. 

Definition at line 212 of file Defines.\-h.

\hypertarget{structt___config_struct_ad025bf689dd4e3455897dc47a9ab4b30}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!Max\-Acc@{Max\-Acc}}
\index{Max\-Acc@{Max\-Acc}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{Max\-Acc}]{\setlength{\rightskip}{0pt plus 5cm}uint8\-\_\-t Max\-Acc}}\label{structt___config_struct_ad025bf689dd4e3455897dc47a9ab4b30}
max. acceleration (0 -\/ 10 recommended). 

Definition at line 206 of file Defines.\-h.

\hypertarget{structt___config_struct_af81515063fd9f38ddaeeffe3a3b7022f}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!Omega0@{Omega0}}
\index{Omega0@{Omega0}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{Omega0}]{\setlength{\rightskip}{0pt plus 5cm}uint8\-\_\-t Omega0}}\label{structt___config_struct_af81515063fd9f38ddaeeffe3a3b7022f}
Natural frequency (multiplied by 10!!). 

Definition at line 209 of file Defines.\-h.

\hypertarget{structt___config_struct_a45ffe8b1921595b4dad586258a09811c}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!Omega\-Thresh@{Omega\-Thresh}}
\index{Omega\-Thresh@{Omega\-Thresh}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{Omega\-Thresh}]{\setlength{\rightskip}{0pt plus 5cm}uint8\-\_\-t Omega\-Thresh}}\label{structt___config_struct_a45ffe8b1921595b4dad586258a09811c}
Threshold for angular speed. 

Definition at line 210 of file Defines.\-h.

\hypertarget{structt___config_struct_acd4b5197cfb03561b9474fe0a4fc6d65}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!Reg\-Angle\-Gain@{Reg\-Angle\-Gain}}
\index{Reg\-Angle\-Gain@{Reg\-Angle\-Gain}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{Reg\-Angle\-Gain}]{\setlength{\rightskip}{0pt plus 5cm}uint8\-\_\-t Reg\-Angle\-Gain}}\label{structt___config_struct_acd4b5197cfb03561b9474fe0a4fc6d65}
Position regulator angle gain (x10!!!). 

Definition at line 214 of file Defines.\-h.

\hypertarget{structt___config_struct_a954c51946237afa31a21636e1bd1b973}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!Reg\-Epsilon@{Reg\-Epsilon}}
\index{Reg\-Epsilon@{Reg\-Epsilon}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{Reg\-Epsilon}]{\setlength{\rightskip}{0pt plus 5cm}uint8\-\_\-t Reg\-Epsilon}}\label{structt___config_struct_a954c51946237afa31a21636e1bd1b973}
Position regulator epsilon. 

Definition at line 214 of file Defines.\-h.

\hypertarget{structt___config_struct_ab3022b97a150a616775d018059cf61f3}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!Reg\-Error\-Filter@{Reg\-Error\-Filter}}
\index{Reg\-Error\-Filter@{Reg\-Error\-Filter}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{Reg\-Error\-Filter}]{\setlength{\rightskip}{0pt plus 5cm}uint8\-\_\-t Reg\-Error\-Filter}}\label{structt___config_struct_ab3022b97a150a616775d018059cf61f3}
Lower threshold of the regulator error. 

Definition at line 208 of file Defines.\-h.

\hypertarget{structt___config_struct_a177168ecba60a6d0f7c080e8121180ff}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!Reg\-Gamma@{Reg\-Gamma}}
\index{Reg\-Gamma@{Reg\-Gamma}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{Reg\-Gamma}]{\setlength{\rightskip}{0pt plus 5cm}uint8\-\_\-t Reg\-Gamma}}\label{structt___config_struct_a177168ecba60a6d0f7c080e8121180ff}
Position regulator gamma (x10!!!). 

Definition at line 214 of file Defines.\-h.

\hypertarget{structt___config_struct_ae2adea8d873ca266b7fe4cd21ff74b5e}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!Reg\-Position\-Gain@{Reg\-Position\-Gain}}
\index{Reg\-Position\-Gain@{Reg\-Position\-Gain}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{Reg\-Position\-Gain}]{\setlength{\rightskip}{0pt plus 5cm}uint8\-\_\-t Reg\-Position\-Gain}}\label{structt___config_struct_ae2adea8d873ca266b7fe4cd21ff74b5e}
Position regulator distance gain (x10!!!). 

Definition at line 214 of file Defines.\-h.

\hypertarget{structt___config_struct_a1936f3ec1c65a666e5cca881fe702a80}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!Reg\-Speed@{Reg\-Speed}}
\index{Reg\-Speed@{Reg\-Speed}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{Reg\-Speed}]{\setlength{\rightskip}{0pt plus 5cm}uint8\-\_\-t Reg\-Speed}}\label{structt___config_struct_a1936f3ec1c65a666e5cca881fe702a80}
Position regulator constant forwars speed (in cm/s, if allowed). 

Definition at line 214 of file Defines.\-h.

\hypertarget{structt___config_struct_ab6421023e0445e104f3112d7dbe9d9ed}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!Right\-Wheel\-Increment@{Right\-Wheel\-Increment}}
\index{Right\-Wheel\-Increment@{Right\-Wheel\-Increment}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{Right\-Wheel\-Increment}]{\setlength{\rightskip}{0pt plus 5cm}uint8\-\_\-t Right\-Wheel\-Increment}}\label{structt___config_struct_ab6421023e0445e104f3112d7dbe9d9ed}
Track increment (mm per pulse) of right wheel. 

Definition at line 212 of file Defines.\-h.

\hypertarget{structt___config_struct_afc663deb11b64a1ca30572016ba660d1}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!S\-R\-F08\-\_\-\-Front@{S\-R\-F08\-\_\-\-Front}}
\index{S\-R\-F08\-\_\-\-Front@{S\-R\-F08\-\_\-\-Front}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{S\-R\-F08\-\_\-\-Front}]{\setlength{\rightskip}{0pt plus 5cm}uint8\-\_\-t S\-R\-F08\-\_\-\-Front}}\label{structt___config_struct_afc663deb11b64a1ca30572016ba660d1}
Address of front S\-R\-F08 sensor. 

Definition at line 202 of file Defines.\-h.

\hypertarget{structt___config_struct_a20c56bd8425a9ab092d01b36e3f3745c}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!S\-R\-F08\-\_\-\-Rear@{S\-R\-F08\-\_\-\-Rear}}
\index{S\-R\-F08\-\_\-\-Rear@{S\-R\-F08\-\_\-\-Rear}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{S\-R\-F08\-\_\-\-Rear}]{\setlength{\rightskip}{0pt plus 5cm}uint8\-\_\-t S\-R\-F08\-\_\-\-Rear}}\label{structt___config_struct_a20c56bd8425a9ab092d01b36e3f3745c}
Address of rear S\-R\-F08 sensors. 

Definition at line 202 of file Defines.\-h.

\hypertarget{structt___config_struct_afbf30386ae5dba97308f97aecc23108f}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!S\-R\-F08\-\_\-\-Rear\-Correction@{S\-R\-F08\-\_\-\-Rear\-Correction}}
\index{S\-R\-F08\-\_\-\-Rear\-Correction@{S\-R\-F08\-\_\-\-Rear\-Correction}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{S\-R\-F08\-\_\-\-Rear\-Correction}]{\setlength{\rightskip}{0pt plus 5cm}uint8\-\_\-t S\-R\-F08\-\_\-\-Rear\-Correction}}\label{structt___config_struct_afbf30386ae5dba97308f97aecc23108f}
S\-R\-F08 rear sensor distance correction. 

Definition at line 211 of file Defines.\-h.

\hypertarget{structt___config_struct_a3314260b5cf39ee075c1c0e1f3a1196d}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!S\-R\-F08\-\_\-\-Safety\-First@{S\-R\-F08\-\_\-\-Safety\-First}}
\index{S\-R\-F08\-\_\-\-Safety\-First@{S\-R\-F08\-\_\-\-Safety\-First}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{S\-R\-F08\-\_\-\-Safety\-First}]{\setlength{\rightskip}{0pt plus 5cm}uint8\-\_\-t S\-R\-F08\-\_\-\-Safety\-First}}\label{structt___config_struct_a3314260b5cf39ee075c1c0e1f3a1196d}
Address of S\-R\-F08 front safety sensors. 

Definition at line 213 of file Defines.\-h.

\hypertarget{structt___config_struct_a4eb5613e6bcd6fc2a16a467251ef8108}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!S\-R\-F08\-\_\-\-Safety\-Second@{S\-R\-F08\-\_\-\-Safety\-Second}}
\index{S\-R\-F08\-\_\-\-Safety\-Second@{S\-R\-F08\-\_\-\-Safety\-Second}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{S\-R\-F08\-\_\-\-Safety\-Second}]{\setlength{\rightskip}{0pt plus 5cm}uint8\-\_\-t S\-R\-F08\-\_\-\-Safety\-Second}}\label{structt___config_struct_a4eb5613e6bcd6fc2a16a467251ef8108}
Address of S\-R\-F08 rear safety sensors. 

Definition at line 213 of file Defines.\-h.

\hypertarget{structt___config_struct_ada59414973aaac73bb926a116e939648}{\index{t\-\_\-\-Config\-Struct@{t\-\_\-\-Config\-Struct}!Track@{Track}}
\index{Track@{Track}!t_ConfigStruct@{t\-\_\-\-Config\-Struct}}
\subsubsection[{Track}]{\setlength{\rightskip}{0pt plus 5cm}uint16\-\_\-t Track}}\label{structt___config_struct_ada59414973aaac73bb926a116e939648}
Wheels track in cm. 

Definition at line 205 of file Defines.\-h.



The documentation for this struct was generated from the following file\-:\begin{DoxyCompactItemize}
\item 
C\-:/\-Users/\-Ondra/\-Desktop/\-Wheelchair Control M\-C\-U/\hyperlink{_defines_8h}{Defines.\-h}\end{DoxyCompactItemize}
