mirror of
https://github.com/peter-tanner/des-car-2022.git
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61 lines
1.9 KiB
C
61 lines
1.9 KiB
C
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#ifndef _PARAMETERS_H
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#define _PARAMETERS_H
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/******************************
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* Pin definition for motors *
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******************************/
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#define WHEEL_L_F 10 // D5
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#define WHEEL_L_B 3 // D6
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#define WHEEL_R_F 6 // D9
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#define WHEEL_R_B 5 // D10
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#define GNSS_BAUD_RATE 9600
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/*
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* OFFSET CALIBRATION
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*/
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#define COMPASS
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/*
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* CONTROLLER LOOP
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*/
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#define KP 1
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// The bearing threshold is the amount of degrees the vehicle can be off its desired bearing before adjusting the course
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#define HEADING_THRESHOLD 10 // [DEGREES]
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// Distance threshold is the amount of meters away from target coordinate, that when exceeded it will stop.
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#define DISTANCE_THRESHOLD_M 0.3 // [METERS]
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#define DISTANCE_THRESHOLD_ERR_M 2 // [METERS]
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#define DISTANCE_SLOW 7 // [METERS]
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#define DRIVE_SLOW_DELAY 100 // [*10 ms]
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#define DRIVE_FAST_DELAY 200 // [*10 ms]
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// error between 0 and 180
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// divide by two for prop constant.
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// divide 15 dry, 5 wet
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#define TURNING_DELAY(error) (abs(error) / 5 + 10)
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// Derived from testing with the 50 Hz PWM configuration.
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#define DRIVE_PWM_MAX_VALUE 156
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#define DRIVE_PWM_MIN_VALUE (DRIVE_PWM_MAX_VALUE / 8)
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#define DRIVE_SPEED DRIVE_PWM_MAX_VALUE // (DRIVE_PWM_MAX_VALUE / 7)
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#define GNSS_PORT 8, 9
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#define SATELLITES_MIN 6
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#define NMEAGPS_INTERRUPT_PROCESSING
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// #define GPS_FIX_HDOP
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// #define FAST_GNSS
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#define KM_M_INT(distance_k) int(distance_k * 1000)
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#define ULTRASONIC_SENSOR
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#ifdef ULTRASONIC_SENSOR
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#define US_TRIGGER_PIN 13 // Arduino pin tied to trigger pin on the ultrasonic sensor.
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#define US_ECHO_PIN 11 // Arduino pin tied to echo pin on the ultrasonic sensor.
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#define US_MAX_DISTANCE 500 // Maximum distance we want to ping for (in centimeters). Maximum sensor distance is rated at 400-500cm.
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#define US_SEARCH_TIME 300 // [*10 ms]
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#define US_SEARCH_ANGLE_ITER 10 // [*10 ms]
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#endif
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#endif // _PARAMETERS_H
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