<commit_before>#ifndef __config__
#define __config__

#include "../base/container.hpp"

// -----* global *-----
typedef int int16_t;
typedef unsigned char Byte;
typedef float Factor;
// frequency of microcontroller
#define F_CPU 20000000UL


// -----* algorithm/PID *-----
#define SAMPLE_TIME 100 // sample time = 100ms
#define dt (SAMPLE_TIME) / F_CPU
#define OUTPUT_CLAMP true
#define P_CONTROL    true
#define I_CONTROL    true
#define D_CONTROL    true
// #define Kp 2.8
// #define Ki 3.6
// #define Kd 5.5


// -----* core/IMU *-----
// our primitive Vector.
// It store x,y,z value in v[0],v[1],v[2]
typedef base::container<float>       Vector;<commit_msg>change frequency to 16MHz<commit_after>#ifndef __config__
#define __config__

#include "../base/container.hpp"

// -----* global *-----
typedef int int16_t;
typedef unsigned char Byte;
typedef float Factor;
// frequency of microcontroller
#define F_CPU 16000000UL


// -----* algorithm/PID *-----
#define SAMPLE_TIME 100 // sample time = 100ms
#define dt (SAMPLE_TIME) / F_CPU
#define OUTPUT_CLAMP true
#define P_CONTROL    true
#define I_CONTROL    true
#define D_CONTROL    true
// #define Kp 2.8
// #define Ki 3.6
// #define Kd 5.5


// -----* core/IMU *-----
// our primitive Vector.
// It store x,y,z value in v[0],v[1],v[2]
typedef base::container<float>       Vector;
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