35 lines
1.1 KiB
C
35 lines
1.1 KiB
C
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#ifndef MOTOR_CONFIG_H
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#define MOTOR_CONFIG_H
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// ENA and ENB on the L298N
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#define PWM_PIN_RIGHT 1U // chanel B
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#define PWM_PIN_LEFT 0U // chanel A
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// IN1, IN2, IN3, IN4 on the L298N
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#define DIRECTION_PIN_RIGHT_IN1 11U
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#define DIRECTION_PIN_RIGHT_IN2 12U
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#define DIRECTION_PIN_LEFT_IN3 19U
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#define DIRECTION_PIN_LEFT_IN4 20U
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#define DIRECTION_RIGHT_FORWARD (1U << DIRECTION_PIN_RIGHT_IN2)
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#define DIRECTION_RIGHT_BACKWARD (1U << DIRECTION_PIN_RIGHT_IN1)
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#define DIRECTION_LEFT_FORWARD (1U << DIRECTION_PIN_LEFT_IN4)
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#define DIRECTION_LEFT_BACKWARD (1U << DIRECTION_PIN_LEFT_IN3)
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#define SPEED_PIN_RIGHT 15U
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#define SPEED_PIN_LEFT 16U
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#define PWM_CLK_DIV 250.f
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#define PWM_WRAP 5000U
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#define PID_KP 10.f
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#define PID_KI 0.0f
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#define PID_KD 0.0f
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#define START_SPEED 0U
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#define MAX_SPEED 4900U
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#define MIN_SPEED 0U // To be changed
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#endif /* MOTOR_CONFIG_H */ |