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https://github.com/bjoernellens1/cps_microros_imu.git
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85 lines
2.2 KiB
C
85 lines
2.2 KiB
C
// Copyright (c) 2021 Juan Miguel Jimeno
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef BEEBO_CONFIG_H
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#define BEEBO_CONFIG_H
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#define LED_PIN 13
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#define LINO_BASE SKID_STEER
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#define USE_GENERIC_1_IN_MOTOR_DRIVER
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#define USE_GY85_IMU
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#define K_P 0.6
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#define K_I 0.8
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#define K_D 0.5
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#define MOTOR_MAX_RPM 140
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#define MAX_RPM_RATIO 0.85
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#define MOTOR_OPERATING_VOLTAGE 24
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#define MOTOR_POWER_MAX_VOLTAGE 14.6
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#define MOTOR_POWER_MEASURED_VOLTAGE 14.6
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#define COUNTS_PER_REV1 144384
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#define COUNTS_PER_REV2 140777
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#define COUNTS_PER_REV3 148326
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#define COUNTS_PER_REV4 144495
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#define WHEEL_DIAMETER 0.152
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#define LR_WHEELS_DISTANCE 0.271
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#define PWM_BITS 10
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#define PWM_FREQUENCY 20000
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/// ENCODER PINS
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#define MOTOR1_ENCODER_A 14
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#define MOTOR1_ENCODER_B 15
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#define MOTOR1_ENCODER_INV false
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#define MOTOR2_ENCODER_A 11
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#define MOTOR2_ENCODER_B 12
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#define MOTOR2_ENCODER_INV false
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#define MOTOR3_ENCODER_A 17
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#define MOTOR3_ENCODER_B 16
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#define MOTOR3_ENCODER_INV true
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#define MOTOR4_ENCODER_A 9
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#define MOTOR4_ENCODER_B 10
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#define MOTOR4_ENCODER_INV false
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// Motor Pins
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#define MOTOR1_PWM 21
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#define MOTOR1_IN_A 20
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#define MOTOR1_IN_B -1
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#define MOTOR1_INV false
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#define MOTOR2_PWM 5
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#define MOTOR2_IN_A 6
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#define MOTOR2_IN_B -1
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#define MOTOR2_INV true
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#define MOTOR3_PWM 22
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#define MOTOR3_IN_A 23
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#define MOTOR3_IN_B -1
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#define MOTOR3_INV false
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#define MOTOR4_PWM 4
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#define MOTOR4_IN_A 3
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#define MOTOR4_IN_B -1
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#define MOTOR4_INV false
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#define PWM_MAX pow(2, PWM_BITS) - 1
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#define PWM_MIN -PWM_MAX
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#endif
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