/**
 * @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