45 lines
961 B
C
45 lines
961 B
C
/**
|
|
* @file moveControlConfig.h
|
|
* @author Alexander Klein (alex@kleiax.de)
|
|
* @brief This file inherits some configurations 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 75
|
|
#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
|