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https://github.com/bjoernellens1/cps_microros_imu.git
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177 lines
6.3 KiB
C
177 lines
6.3 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 LINO_BASE_CONFIG_H
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#define LINO_BASE_CONFIG_H
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#define LED_PIN 13 //LED_PIN LED_BUILTIN //13 //used for debugging status
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//uncomment the base you're building
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#define LINO_BASE DIFFERENTIAL_DRIVE // 2WD and Tracked robot w/ 2 motors
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// #define LINO_BASE SKID_STEER // 4WD robot
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// #define LINO_BASE MECANUM // Mecanum drive robot
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//uncomment the motor driver you're using
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#define USE_GENERIC_2_IN_MOTOR_DRIVER // Motor drivers with 2 Direction Pins(INA, INB) and 1 PWM(ENABLE) pin ie. L298, L293, VNH5019
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// #define USE_GENERIC_1_IN_MOTOR_DRIVER // Motor drivers with 1 Direction Pin(INA) and 1 PWM(ENABLE) pin.
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// #define USE_BTS7960_MOTOR_DRIVER // BTS7970 Motor Driver
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// #define USE_ESC_MOTOR_DRIVER // Motor ESC for brushless motors
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//uncomment the IMU you're using
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// #define USE_GY85_IMU
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// #define USE_MPU6050_IMU
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// #define USE_MPU9150_IMU
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// #define USE_MPU9250_IMU
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#define USE_MPU9250_WE_IMU
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//#define USE_FAKE_IMU
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#define K_P 0.6 // P constant
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#define K_I 0.8 // I constant
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#define K_D 0.5 // D constant
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/*
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ROBOT ORIENTATION
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FRONT
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MOTOR1 MOTOR2 (2WD/ACKERMANN)
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MOTOR3 MOTOR4 (4WD/MECANUM)
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BACK
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*/
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//define your robot' specs here
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#define MOTOR_MAX_RPM 140 // motor's max RPM
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#define MAX_RPM_RATIO 0.85 // max RPM allowed for each MAX_RPM_ALLOWED = MOTOR_MAX_RPM * MAX_RPM_RATIO
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#define MOTOR_OPERATING_VOLTAGE 24 // motor's operating voltage (used to calculate max RPM)
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#define MOTOR_POWER_MAX_VOLTAGE 12 // max voltage of the motor's power source (used to calculate max RPM)
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#define MOTOR_POWER_MEASURED_VOLTAGE 12 // current voltage reading of the power connected to the motor (used for calibration)
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#define COUNTS_PER_REV1 144000 // wheel1 encoder's no of ticks per rev
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#define COUNTS_PER_REV2 144000 // wheel2 encoder's no of ticks per rev
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#define COUNTS_PER_REV3 144000 // wheel3 encoder's no of ticks per rev
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#define COUNTS_PER_REV4 144000 // wheel4 encoder's no of ticks per rev
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#define WHEEL_DIAMETER 0.152 // wheel's diameter in meters
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#define LR_WHEELS_DISTANCE 0.271 // distance between left and right wheels
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#define PWM_BITS 10 // PWM Resolution of the microcontroller
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#define PWM_FREQUENCY 20000 // PWM Frequency
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// INVERT ENCODER COUNTS
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#define MOTOR1_ENCODER_INV false
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#define MOTOR2_ENCODER_INV false
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#define MOTOR3_ENCODER_INV false
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#define MOTOR4_ENCODER_INV false
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// INVERT MOTOR DIRECTIONS
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#define MOTOR1_INV false
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#define MOTOR2_INV false
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#define MOTOR3_INV false
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#define MOTOR4_INV false
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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 MOTOR2_ENCODER_A 11
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#define MOTOR2_ENCODER_B 12
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#define MOTOR3_ENCODER_A 17
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#define MOTOR3_ENCODER_B 16
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#define MOTOR4_ENCODER_A 9
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#define MOTOR4_ENCODER_B 10
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// MOTOR PINS
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#ifdef USE_GENERIC_2_IN_MOTOR_DRIVER
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#define MOTOR1_PWM 21 //Pin no 21 is not a PWM pin on Teensy 4.x, you can swap it with pin no 1 instead.
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#define MOTOR1_IN_A 20
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#define MOTOR1_IN_B 1
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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 8
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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 0
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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 2
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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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#ifdef USE_GENERIC_1_IN_MOTOR_DRIVER
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#define MOTOR1_PWM 21 //Pin no 21 is not a PWM pin on Teensy 4.x, you can use pin no 1 instead.
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#define MOTOR1_IN_A 20
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#define MOTOR1_IN_B -1 //DON'T TOUCH THIS! This is just a placeholder
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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 //DON'T TOUCH THIS! This is just a placeholder
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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 //DON'T TOUCH THIS! This is just a placeholder
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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 //DON'T TOUCH THIS! This is just a placeholder
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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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#ifdef USE_BTS7960_MOTOR_DRIVER
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#define MOTOR1_PWM -1 //DON'T TOUCH THIS! This is just a placeholder
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#define MOTOR1_IN_A 21 // Pin no 21 is not a PWM pin on Teensy 4.x, you can use pin no 1 instead.
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#define MOTOR1_IN_B 20 // Pin no 20 is not a PWM pin on Teensy 4.x, you can use pin no 0 instead.
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#define MOTOR2_PWM -1 //DON'T TOUCH THIS! This is just a placeholder
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#define MOTOR2_IN_A 5
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#define MOTOR2_IN_B 6
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#define MOTOR3_PWM -1 //DON'T TOUCH THIS! This is just a placeholder
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#define MOTOR3_IN_A 22
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#define MOTOR3_IN_B 23
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#define MOTOR4_PWM -1 //DON'T TOUCH THIS! This is just a placeholder
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#define MOTOR4_IN_A 4
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#define MOTOR4_IN_B 3
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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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#ifdef USE_ESC_MOTOR_DRIVER
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#define MOTOR1_PWM 21 //Pin no 21 is not a PWM pin on Teensy 4.x. You can use pin no 1 instead.
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#define MOTOR1_IN_A -1 //DON'T TOUCH THIS! This is just a placeholder
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#define MOTOR1_IN_B -1 //DON'T TOUCH THIS! This is just a placeholder
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#define MOTOR2_PWM 5
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#define MOTOR2_IN_A -1 //DON'T TOUCH THIS! This is just a placeholder
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#define MOTOR2_IN_B -1 //DON'T TOUCH THIS! This is just a placeholder
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#define MOTOR3_PWM 22
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#define MOTOR3_IN_A -1 //DON'T TOUCH THIS! This is just a placeholder
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#define MOTOR3_IN_B -1 //DON'T TOUCH THIS! This is just a placeholder
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#define MOTOR4_PWM 4
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#define MOTOR4_IN_A -1 //DON'T TOUCH THIS! This is just a placeholder
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#define MOTOR4_IN_B -1 //DON'T TOUCH THIS! This is just a placeholder
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#define PWM_MAX 400
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#define PWM_MIN -PWM_MAX
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#endif
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#endif
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