/**
 * @file config.h
 * @author Alexander Klein (alex@kleiax.de)
 * @brief Some defines to configere the project.
 * @version 0.1
 * @date 2022-02-15
 * 
 * @copyright Copyright (c) 2022
 * 
 */

#pragma once

namespace PinNumbers {
    constexpr uint8_t spiCopi = 16;
    constexpr uint8_t spiCipo = 4;
    constexpr uint8_t spiSck = 5;
    constexpr uint8_t gnssSpiCs = 17;

    namespace LeftMotor {
        constexpr uint8_t dir1 = 27;
        constexpr uint8_t dir2 = 12;
        constexpr uint8_t pwm  = 13;
        constexpr uint8_t encoder = 32;
        constexpr uint8_t pmwChannel = 0;
    }

    namespace RightMotor {
        constexpr uint8_t dir1 = 14;
        constexpr uint8_t dir2 = 23;
        constexpr uint8_t pwm  = 22;
        constexpr uint8_t encoder = 33;
        constexpr uint8_t pmwChannel = 0;
    }
}

namespace Settings {
    constexpr float wheelDiameter = 0.1263;
    constexpr uint16_t encoderSteps = 360;

    namespace Pid {
        namespace Left {
            constexpr uint8_t P = 75;
            constexpr uint8_t I = 0;
            constexpr uint8_t D = 0;
        }

        namespace Right {
            constexpr uint8_t P = 75;
            constexpr uint8_t I = 0;
            constexpr uint8_t D = 0;
        }

        constexpr int8_t outMin = -100;
        constexpr int8_t outMax = 100;
        constexpr uint8_t sampleTime = 30;
    }
}