50 lines
1.1 KiB
C
50 lines
1.1 KiB
C
// The front is where the boards are
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//Pin config
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//Left
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#define M_DIR_11 27
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#define M_DIR_12 12
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#define M_PWM_1 13
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#define M_ENCODE_1A 33
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#define M_ENCODE_1B 32
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//Right
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#define M_DIR_21 23
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#define M_DIR_22 14
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#define M_PWM_2 22
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#define M_ENCODE_2A 26
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#define M_ENCODE_2B 25
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//Motors
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#define LEFT_MOTOR 1
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#define RIGHT_MOTOR 2
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#define BOTH_MOTOR 3
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//Directions
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#define STOP 0
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#define FORWARD 1
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#define BACKWARD 2
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//MotorControl config
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#define RUN_MOTOR_CONTROL_DELAY 10 // Normal 10
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#define PWM_FREQ 16000
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#define PWM_RES 8
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#define PWM_CHANNEL_M1 0
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#define PWM_CHANNEL_M2 1
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#define POWER_STEPS 2 // A total of 20 levels ( 100 / SPEED_STEPS ) * RUN_MOTOR_CONTROL_DELAY = 500ms
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#define PWM_MIN 120
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#define PWM_MAX 245 // Max 98% of 2^PWM_RES
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//Speedometer config
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#define RUN_SPEEDOMETER_DELAY 30 // Normal 30 untested
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#define ENC_FILTER 1023 // 1023 is max
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#define ENC_STEPS 1024
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#define WHEEL_DIAMETER 0.1263 //meter
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#define BUF_SIZE 10
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//MoveControl config
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#define RUN_MOVE_CONTROL_DELAY 150 // Normal 10 untested
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#define ACCELERATE_STEPS 1
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// PS3 Controller
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// ESP32 MAC BL 24:62:AB:F2:4B:3A
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