Added consolControl & PID

src/config.h

@@ -7,14 +7,12 @@
     #define M_PWM_1 13
     #define M_ENCODE_1A 33
     #define M_ENCODE_1B 32
-
     //Right
     #define M_DIR_21 23
     #define M_DIR_22 14
     #define M_PWM_2 22
     #define M_ENCODE_2A 26
     #define M_ENCODE_2B 25
-
     //GPS
     #define GPS_RX 16
     #define GPS_TX 17
@@ -47,28 +45,73 @@
 #define BUF_SIZE 10
 
 //MoveControl config
-#define RUN_MOVE_CONTROL_DELAY 150 // Normal 10 untested
+#define RUN_MOVE_CONTROL_DELAY 30 // Normal 10 untested
 #define ACCELERATE_STEPS 1
+#define PID_LEFT_P 2
+#define PID_LEFT_I 5
+#define PID_LEFT_D 1
+#define PID_RIGHT_P 2
+#define PID_RIGHT_I 5
+#define PID_RIGHT_D 1
+#define PID_OUT_MIN -100
+#define PID_OUT_MAX 100
+#define PID_SAMPLETIME 30
 
 //ManualControl config
-#define RUN_MANUALCONTROL_DELAY 10
+#define RUN_MANUALCONTROL_DELAY 10 // normaly 10
 #define MANUALCONTROL_MAX_SPEED 1.0
 #define MANUALCONTROL_MAX_ROTATION 1.0
 
 // PS3 Controller
 // ESP32 MAC BL 24:62:AB:F2:4B:3A
 
-//Network config
+#define VOERDE
+
+//Network config DORTMUND
+#ifdef DORTMUND
 #define WLAN_SSID "Kleiax2"
 #define WLAN_PASSWORD "Punica-699"
 #define WLAN_IP 0x0101a8c0          //192.168.1.1
 #define WLAN_SUBNETMASK 0x0000FFFF  //255.255.0.0
 #define WLAN_GATEWAY 0x0100a8c0     //192.168.0.1
-// #define MQTT_SERVER 0x1300a8c0      //192.168.0.19
 #define MQTT_SERVER 0x0201a8c0      //192.168.1.2
 #define MQTT_PORT 1883
 #define MQTT_BUFFER_SITE 128
 #define NTP_SERVER 0x0201a8c0       //192.168.1.2
+#endif //DORTMUND
+
+//Network config FRENZY
+#ifdef FRENZY
+#define WLAN_SSID "GNX7EDD84-2"
+#define WLAN_PASSWORD "2W2ZLPJ9NVQ3"
+#define WLAN_IP 0x0F01a8c0          //192.168.1.15
+#define WLAN_SUBNETMASK 0x00FFFFFF  //255.255.255.0
+#define WLAN_GATEWAY 0xfe01a8c0     //192.168.1.254
+#define MQTT_SERVER 0x0201a8c0      //192.168.1.2
+#define MQTT_PORT 1883
+#define MQTT_BUFFER_SITE 128
+#define NTP_SERVER 0x0201a8c0       //192.168.1.2
+#endif //FRENZY 
+
+//Network config VOERDE
+#ifdef VOERDE
+// #define KELLER
+#ifndef KELLER
+    #define WLAN_SSID "Der Neue"
+    #define WLAN_PASSWORD "Punica-699"
+#endif // KELLLER
+#ifdef KELLER
+    #define WLAN_SSID "Keller-Wlan"
+    #define WLAN_PASSWORD "Punica-699"
+#endif // KELLER
+#define WLAN_IP 0x4db2a8c0          //192.168.178.77
+#define WLAN_SUBNETMASK 0x00FFFFFF  //255.255.255.0
+#define WLAN_GATEWAY 0x01b2a8c0     //192.168.178.1
+#define MQTT_SERVER 0x4eb2a8c0      //192.168.178.78
+#define MQTT_PORT 1883
+#define MQTT_BUFFER_SITE 128
+#define NTP_SERVER 0x01b2a8c0       //192.168.178.1
+#endif // VOERDE
 
 // GPS config
 #define GPS_BAUD 9600