// 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 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 // 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

#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 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
#define RUN_ROUTE_DELAY  330

// CaptureRoute config
#define RUN_CAPTuRE_ROUTE_DELAY 300

// Route config
#define DISTANCE_BETWEEN_POINTS 0.75 // Meter