restructerd projekt

2021-12-12 16:53:19 +01:00
parent 54e84e4b5d
commit a1d59c18ad
26 changed files with 492 additions and 487 deletions
@@ -0,0 +1,136 @@
+// Global config file
+// The front is where the boards are
+
+
+//Pin config
+    //Left
+    #define M_DIR_11 27
+    #define M_DIR_12 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
+
+//Motors
+#define LEFT_MOTOR 1
+#define RIGHT_MOTOR 2
+#define BOTH_MOTOR 3
+
+//Directions
+#define STOP 0
+#define FORWARD 1
+#define BACKWARD 2
+
+//MotorControl config
+#define RUN_MOTOR_CONTROL_DELAY 10 // Normal 10
+#define PWM_FREQ 16000
+#define PWM_RES 8
+#define PWM_CHANNEL_M1 0
+#define PWM_CHANNEL_M2 1
+#define POWER_STEPS 2       //  A total of 20 levels ( 100 / SPEED_STEPS ) * RUN_MOTOR_CONTROL_DELAY = 500ms
+#define PWM_MIN 120
+#define PWM_MAX 245         // Max 98% of 2^PWM_RES
+
+//Speedometer config
+#define RUN_SPEEDOMETER_DELAY 30 // Normal 30 untested
+#define ENC_FILTER 1023 // 1023 is max
+#define ENC_STEPS 1024
+#define WHEEL_DIAMETER 0.1263 //meter
+#define BUF_SIZE 10
+
+//MoveControl config
+#define RUN_MOVE_CONTROL_DELAY 10
+#define ACCELERATE_STEPS 1
+#define PID_LEFT_P 85
+#define PID_LEFT_I 0
+#define PID_LEFT_D 0
+#define PID_RIGHT_P 75
+#define PID_RIGHT_I 0
+#define PID_RIGHT_D 0
+#define PID_OUT_MIN -100
+#define PID_OUT_MAX 100
+#define PID_SAMPLETIME 30
+
+//ManualControl config
+#define RUN_MANUALCONTROL_DELAY 10 // normaly 10
+#define MANUALCONTROL_MAX_SPEED 1.0 // m/s
+#define MANUALCONTROL_MAX_ROTATION 7.0 // rad/s
+
+//MQTT global config
+#define MQTT_BUFFER_SITE 128
+#define MQTT_TIME_RECONNECT 2500
+
+// PS3 Controller
+// ESP32 MAC BL 24:62:AB:F2:4B:3A
+
+#define RHEDE
+
+//Network config RHEDE
+#ifdef RHEDE
+#define WLAN_SSID "LebennigHuus"
+#define WLAN_PASSWORD "Punica-699"
+#define WLAN_IP 0x040BA8C0          //192.168.11.4
+#define WLAN_SUBNETMASK 0x0080FFFF  //255.255.128.0
+#define WLAN_GATEWAY 0x0100a8c0     //192.168.0.1
+#define MQTT_SERVER 0x0701A8C0      //192.168.1.7
+#define MQTT_PORT 1883
+#define MQTT_AUTH
+#define MQTT_USER "kleiax"
+#define MQTT_PASSWORD "p?{$_~5%hBM7wrcFkr55KWr#"
+#define NTP_SERVER 0x0100a8c0       //192.168.0.1
+#endif //RHEDE
+
+
+//Network config HW1
+#ifdef HW1
+#define WLAN_SSID "hw1_gast"
+#define WLAN_PASSWORD "KeineAhnung"
+#define WLAN_IP 0x3400a8c0          //192.168.0.67
+#define WLAN_SUBNETMASK 0x00FFFFFF  //255.255.255.0
+#define WLAN_GATEWAY 0x0100a8c0     //192.168.0.1
+#define MQTT_SERVER 0xD84016AC      // 172.22.64.216
+#define MQTT_PORT 1883
+#define NTP_SERVER "2.de.pool.ntp.org"
+#endif //HW1 
+
+//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 NTP_SERVER 0x0201a8c0       //192.168.1.2
+#endif //FRENZY 
+
+//Network config TPMOBIL
+#ifdef TPMOBIL
+#define WLAN_SSID "TP-Mobil"
+#define WLAN_PASSWORD "Punica-699"
+#define WLAN_IP 0x0F01a8c0          //192.168.1.15
+#define WLAN_SUBNETMASK 0x00FFFFFF  //255.255.255.0
+#define WLAN_GATEWAY 0x0101a8c0     //192.168.1.1
+#define MQTT_SERVER 0x0201a8c0      //192.168.1.2
+#define MQTT_PORT 1883
+#define NTP_SERVER 0x0201a8c0       //192.168.1.2
+#endif //TPMOBIL 
+
+// GPS config
+#define GPS_BAUD 9600
+#define RUN_ROUTE_DELAY  330
+
+// CaptureRoute config
+#define RUN_CAPTuRE_ROUTE_DELAY 300
+
+// Route config
+#define DISTANCE_BETWEEN_POINTS 0.75 // Meter