45 lines
961 B
C
45 lines
961 B
C
/**
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* @file moveControlConfig.h
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* @author Alexander Klein (alex@kleiax.de)
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* @brief This file inherits some configurations for moveControl.h
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* @version 0.1
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* @date 2021-12-14
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*
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* @copyright Copyright (c) 2021
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*
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*/
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//Pin config
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//Left Motor
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#define M_DIR_11 12
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#define M_DIR_12 27
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#define M_PWM_1 13
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#define M_ENCODE_1A 32
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#define M_ENCODE_1B 33
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//Right Motor
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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 25
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#define M_ENCODE_2B 26
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// PID config
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#define PID_OUT_MIN -100
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#define PID_OUT_MAX 100
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#define PID_SAMPLETIME 30
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// Left PID
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#define PID_LEFT_P 75
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#define PID_LEFT_I 0
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#define PID_LEFT_D 0
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// Right PID
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#define PID_RIGHT_P 75
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#define PID_RIGHT_I 0
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#define PID_RIGHT_D 0
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// PWM
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#define PWM_CHANNEL_M1 0
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#define PWM_CHANNEL_M2 1
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// SPEEDOMETER
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#define WHEEL_DIAMETER 0.1263
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#define ENC_STEPS 1024
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