// hinf.h

#define START_TASK      1
#define STOP_TASK       2

struct my_msg_struct {
  int command;
  int order;
  double sampling_period;
};

#define BUF_LEN 5 // column number of time response record
//#define RECORDING_SAMPLES 38000 // recording samples
#define RECORDING_SAMPLES 24000 // recording samples
//#define WAITING_SAMPLES 2000 // waiting samples without control
#define WAITING_SAMPLES 0 // waiting samples without control 10/10/12
#define ORDER_MAX 20 // maximum number of controller order

//#define NO_CONTROL // if defined, controller never operates

//ここにはサ＝ボパックで設定したパラメータを入力 実験前に確認すること
//#define Pn212 65536 //１周何パルス出力するか？
#define Pn212 262144 //１周何パルス出力するか？
#define Pn400_1 20.0
#define Pn400_0 30.0

//#define RATED_TORQ 1.91 //定格トルク1.91[Nm]
#define RATED_TORQ 0.637 //

#define COM_ROT_SPEED 20 //指令速度[rad/s]

#define PACK // if controller's matrices A, B, C and D are stored as [A, B; C, D] in cont.dat

#define U_MAX (RATED_TORQ / 3.0)

#define SPEED_MAX 60.0 // driving torque becomes zero when rotational speed is out of range from -60.0 rad/s to 60.0 rad/s in order to avoid shutting down the driving motor by the maximum speed excess alarm (2018.12.19)