60 lines
1.4 KiB
C++
60 lines
1.4 KiB
C++
/**
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* @file config.h
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* @author Alexander Klein (alex@kleiax.de)
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* @brief Some defines to configere the project.
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* @version 0.1
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* @date 2022-02-15
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*
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* @copyright Copyright (c) 2022
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*
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*/
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#pragma once
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namespace PinNumbers {
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constexpr uint8_t spiCopi = 16;
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constexpr uint8_t spiCipo = 4;
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constexpr uint8_t spiSck = 5;
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constexpr uint8_t gnssSpiCs = 17;
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namespace LeftMotor {
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constexpr uint8_t dir1 = 27;
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constexpr uint8_t dir2 = 12;
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constexpr uint8_t pwm = 13;
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constexpr uint8_t encoder = 32;
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constexpr uint8_t pmwChannel = 0;
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}
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namespace RightMotor {
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constexpr uint8_t dir1 = 14;
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constexpr uint8_t dir2 = 23;
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constexpr uint8_t pwm = 22;
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constexpr uint8_t encoder = 33;
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constexpr uint8_t pmwChannel = 1;
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}
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}
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namespace Settings {
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constexpr float wheelDiameter = 0.105;
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constexpr float wheelDistance = 0.255;
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constexpr uint16_t encoderSteps = 384;
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namespace Pid {
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namespace Left {
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constexpr uint8_t P = 5;
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constexpr uint8_t I = 0;
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constexpr uint8_t D = 0;
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}
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namespace Right {
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constexpr uint8_t P = 5;
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constexpr uint8_t I = 0;
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constexpr uint8_t D = 0;
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}
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constexpr int8_t outMin = -100;
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constexpr int8_t outMax = 100;
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constexpr uint8_t sampleTime = 30;
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}
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}
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