63 lines
1.8 KiB
C
63 lines
1.8 KiB
C
#pragma once
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#include "stm32f1xx_hal.h"
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#define R 0.27
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#define P 15
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#define PSI 0.02
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#define V 23
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#define MILLI_R (R * 1000)
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#define MILLI_PSI (PSI * 1000)
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#define MILLI_V (V * 1000)
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// ################################################################################
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#define PWM_FREQ 16000 // PWM frequency in Hz
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#define DEAD_TIME 32 // PWM deadtime
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#define DC_CUR_LIMIT 35 // Motor DC current limit in amps
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#define BAT_LOW_LVL1 36.0 // gently beeps at this voltage level
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#define BAT_LOW_LVL2 33.0 // your battery is almost empty. Charge now!
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#define BAT_LOW_DEAD 30.0 // undervoltage lockout
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// ################################################################################
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#define DEBUG_SERIAL_USART2
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//#define DEBUG_SERIAL_USART3
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#define DEBUG_BAUD 115200 // UART baud rate
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//#define DEBUG_SERIAL_SERVOTERM
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#define DEBUG_SERIAL_ASCII
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//#define DEBUG_I2C_LCD
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// ################################################################################
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// ###### CONTROL VIA RC REMOTE ######
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//#define CONTROL_PPM // use PPM CONTROL_PPM
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//#define PPM_NUM_CHANNELS 6 // number of PPM channels to receive
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// ###### CONTROL VIA TWO POTENTIOMETERS ######
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// #define CONTROL_ADC
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// ###### CONTROL VIA NINTENDO NUNCHUCK ######
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#define CONTROL_NUNCHUCK
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// ################################################################################
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// ###### DRIVING BEHAVIOR ######
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#define FILTER 0.1
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#define SPEED_COEFFICIENT 0.5
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#define STEER_COEFFICIENT 0.5
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// ###### BOBBYCAR ######
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// #define FILTER 0.1
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// #define SPEED_COEFFICIENT -1
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// #define STEER_COEFFICIENT 0
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// ###### ARMCHAIR ######
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// #define FILTER 0.05
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// #define SPEED_COEFFICIENT 0.5
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// #define STEER_COEFFICIENT -0.2
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// #define BEEPS_BACKWARD
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