69 lines
1.7 KiB
C
69 lines
1.7 KiB
C
// 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
|
|
|
|
//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 150 // Normal 10 untested
|
|
#define ACCELERATE_STEPS 1
|
|
|
|
//ManualControl config
|
|
#define RUN_MANUALCONTROL_DELAY 10
|
|
#define MANUALCONTROL_MAX_SPEED 1.0
|
|
#define MANUALCONTROL_MAX_ROTATION 1.0
|
|
|
|
// PS3 Controller
|
|
// ESP32 MAC BL 24:62:AB:F2:4B:3A
|
|
|
|
//Network config
|
|
#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 0x1300a8c0 //192.168.0.19
|
|
#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
|
|
|