a lot of bullshit

2021-12-14 19:22:06 +01:00
parent 1fc5a75f33
commit cd29191bb4
27 changed files with 703 additions and 551 deletions
@@ -0,0 +1,44 @@
+/**
+ * @file moveControlConfig.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief This file inherits some configuartion for moveControl.h 
+ * @version 0.1
+ * @date 2021-12-14
+ * 
+ * @copyright Copyright (c) 2021
+ * 
+ */
+//Pin config
+    //Left Motor
+    #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 Motor
+    #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
+
+// PID config
+    #define PID_OUT_MIN -100
+    #define PID_OUT_MAX 100
+    #define PID_SAMPLETIME 30
+    // Left PID
+    #define PID_LEFT_P 85
+    #define PID_LEFT_I 0
+    #define PID_LEFT_D 0
+    // Right PID
+    #define PID_RIGHT_P 75
+    #define PID_RIGHT_I 0
+    #define PID_RIGHT_D 0
+
+// PWM
+    #define PWM_CHANNEL_M1 0
+    #define PWM_CHANNEL_M2 1
+    
+// SPEEDOMETER
+    #define WHEEL_DIAMETER 0.1263
+    #define ENC_STEPS 1024