81 lines
1.7 KiB
C++
81 lines
1.7 KiB
C++
/**
|
|
* @file config.h
|
|
* @author Alexander Klein (alex@kleiax.de)
|
|
* @brief Some defines to configure the project.
|
|
* @version 0.1
|
|
* @date 2022-02-15
|
|
*
|
|
* @copyright Copyright (c) 2022
|
|
*
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
/**
|
|
* @brief The numbers of pins to be used
|
|
*
|
|
*/
|
|
namespace PinNumbers
|
|
{
|
|
constexpr uint8_t spiCopi = 16;
|
|
constexpr uint8_t spiCipo = 4;
|
|
constexpr uint8_t spiSck = 5;
|
|
constexpr uint8_t gnssSpiCs = 17;
|
|
constexpr uint8_t sda = 21;
|
|
constexpr uint8_t scl = 19;
|
|
constexpr uint8_t battery = 35;
|
|
|
|
namespace LeftMotor
|
|
{
|
|
constexpr uint8_t dir1 = 27;
|
|
constexpr uint8_t dir2 = 12;
|
|
constexpr uint8_t pwm = 13;
|
|
constexpr uint8_t encoder = 32;
|
|
constexpr uint8_t pmwChannel = 0;
|
|
}
|
|
|
|
namespace RightMotor
|
|
{
|
|
constexpr uint8_t dir1 = 14;
|
|
constexpr uint8_t dir2 = 23;
|
|
constexpr uint8_t pwm = 22;
|
|
constexpr uint8_t encoder = 33;
|
|
constexpr uint8_t pmwChannel = 1;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief Default values for different components
|
|
*
|
|
*/
|
|
namespace Settings
|
|
{
|
|
constexpr uint32_t baudRate = 115200;
|
|
constexpr uint32_t i2cSpeed = 400000;
|
|
|
|
constexpr float wheelDiameter = 0.105;
|
|
constexpr float wheelDistance = 0.255;
|
|
constexpr uint16_t encoderSteps = 384;
|
|
|
|
namespace Pid
|
|
{
|
|
namespace Left
|
|
{
|
|
constexpr uint8_t P = 5;
|
|
constexpr uint8_t I = 0;
|
|
constexpr uint8_t D = 0;
|
|
}
|
|
|
|
namespace Right
|
|
{
|
|
constexpr uint8_t P = 5;
|
|
constexpr uint8_t I = 0;
|
|
constexpr uint8_t D = 0;
|
|
}
|
|
|
|
constexpr int8_t outMin = -100;
|
|
constexpr int8_t outMax = 100;
|
|
constexpr uint8_t sampleTime = 30;
|
|
}
|
|
}
|