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https://github.com/modelec/PAMI-2025.git
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56 lines
895 B
C
56 lines
895 B
C
#ifndef MAIN_H
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#define MAIN_H
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enum Direction
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{
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FORWARD,
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BACKWARD,
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LEFT,
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RIGHT,
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STOP
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};
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// UART
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#define TX_PIN 17
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#define RX_PIN 16
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/* Réel */
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#define M1_DIR_PIN 18
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#define M1_STEP_PIN 22
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#define M1_ENABLE_PIN 32
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#define M2_DIR_PIN 19
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#define M2_STEP_PIN 23
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#define M2_ENABLE_PIN 26
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/* Simulateur
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// Moteur 1 - Gauche
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#define M1_DIR_PIN 4
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#define M1_STEP_PIN 33
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#define M1_ENABLE_PIN 14
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// Moteur 2 - Droite
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#define M2_DIR_PIN 16
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#define M2_STEP_PIN 32
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#define M2_ENABLE_PIN 27
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*/
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// Paramètres moteurs
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#define R_SENSE 0.11f
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#define CURRENT 800 // mA
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// Adresses des drivers TMC2209
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#define DRIVER1_ADDR 0b00
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#define DRIVER2_ADDR 0b01
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// Capteur à ultrasons
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#define TRIG_PIN 18
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#define ECHO_PIN 5
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// Constantes pour les roues
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#define WHEEL_DIAMETER 5.5 // cm
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#define STEPS_PER_REV 200 * 16 // microsteps
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#define WHEEL_BASE 7.2 // cm
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#endif // MAIN_H
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