136 lines
3.5 KiB
C
136 lines
3.5 KiB
C
// Global config file
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// 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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//GPS
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#define GPS_RX 16
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#define GPS_TX 17
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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 10
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#define ACCELERATE_STEPS 1
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#define PID_LEFT_P 85
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#define PID_LEFT_I 0
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#define PID_LEFT_D 0
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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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#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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//ManualControl config
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#define RUN_MANUALCONTROL_DELAY 10 // normaly 10
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#define MANUALCONTROL_MAX_SPEED 1.0 // m/s
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#define MANUALCONTROL_MAX_ROTATION 7.0 // rad/s
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//MQTT global config
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#define MQTT_BUFFER_SITE 128
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#define MQTT_TIME_RECONNECT 2500
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// PS3 Controller
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// ESP32 MAC BL 24:62:AB:F2:4B:3A
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#define RHEDE
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//Network config RHEDE
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#ifdef RHEDE
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#define WLAN_SSID "LebennigHuus"
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#define WLAN_PASSWORD "Punica-699"
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#define WLAN_IP 0x040BA8C0 //192.168.11.4
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#define WLAN_SUBNETMASK 0x0080FFFF //255.255.128.0
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#define WLAN_GATEWAY 0x0100a8c0 //192.168.0.1
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#define MQTT_SERVER 0x0701A8C0 //192.168.1.7
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#define MQTT_PORT 1883
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#define MQTT_AUTH
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#define MQTT_USER "kleiax"
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#define MQTT_PASSWORD "p?{$_~5%hBM7wrcFkr55KWr#"
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#define NTP_SERVER 0x0100a8c0 //192.168.0.1
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#endif //RHEDE
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//Network config HW1
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#ifdef HW1
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#define WLAN_SSID "hw1_gast"
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#define WLAN_PASSWORD "KeineAhnung"
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#define WLAN_IP 0x3400a8c0 //192.168.0.67
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#define WLAN_SUBNETMASK 0x00FFFFFF //255.255.255.0
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#define WLAN_GATEWAY 0x0100a8c0 //192.168.0.1
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#define MQTT_SERVER 0xD84016AC // 172.22.64.216
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#define MQTT_PORT 1883
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#define NTP_SERVER "2.de.pool.ntp.org"
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#endif //HW1
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//Network config FRENZY
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#ifdef FRENZY
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#define WLAN_SSID "GNX7EDD84-2"
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#define WLAN_PASSWORD "2W2ZLPJ9NVQ3"
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#define WLAN_IP 0x0F01a8c0 //192.168.1.15
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#define WLAN_SUBNETMASK 0x00FFFFFF //255.255.255.0
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#define WLAN_GATEWAY 0xfe01a8c0 //192.168.1.254
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#define MQTT_SERVER 0x0201a8c0 //192.168.1.2
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#define MQTT_PORT 1883
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#define NTP_SERVER 0x0201a8c0 //192.168.1.2
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#endif //FRENZY
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//Network config TPMOBIL
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#ifdef TPMOBIL
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#define WLAN_SSID "TP-Mobil"
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#define WLAN_PASSWORD "Punica-699"
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#define WLAN_IP 0x0F01a8c0 //192.168.1.15
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#define WLAN_SUBNETMASK 0x00FFFFFF //255.255.255.0
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#define WLAN_GATEWAY 0x0101a8c0 //192.168.1.1
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#define MQTT_SERVER 0x0201a8c0 //192.168.1.2
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#define MQTT_PORT 1883
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#define NTP_SERVER 0x0201a8c0 //192.168.1.2
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#endif //TPMOBIL
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// GPS config
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#define GPS_BAUD 9600
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#define RUN_ROUTE_DELAY 330
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// CaptureRoute config
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#define RUN_CAPTuRE_ROUTE_DELAY 300
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// Route config
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#define DISTANCE_BETWEEN_POINTS 0.75 // Meter
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