78 lines
2.4 KiB
C
78 lines
2.4 KiB
C
#pragma once
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#include "stm32f1xx_hal.h"
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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 15 // 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 31.0 // 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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#define TIMEOUT 5 //number of wrong / missing commands before emergency off
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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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//Turno boost at high speeds while button1 is pressed:
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//#define ADDITIONAL_CODE \
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if (button1 && speed > 700) { /* field weakening at high speeds */ \
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weakl = cmd1 - 700; /* weak should never exceed 400 or 450 MAX!! */ \
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weakr = cmd1 - 700; } \
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else { \
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weakl = 0; \
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weakr = 0; }
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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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// #define ADDITIONAL_CODE \
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if (button1 && speedR < 300) { \
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speedR = speedR * -0.2f; \
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speedL = speedL * -0.2f; } \
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else { \
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direction = 1; } \
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if (button1 && speedR > 700) { /* field weakening at high speeds */ \
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weakl = speedR - 600; /* weak should never exceed 400 or 450 MAX!! */ \
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weakr = speedR - 600; } \
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else { \
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weakl = 0; \
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weakr = 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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