Header file for MD_SmartCar library hardware related parameters. More...

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Variables
const uint8_t	MC_INA1_PIN = 6
	Motor A Mode pin 1 - simple digital pin.

const uint8_t	MC_INA2_PIN = 7
	Motor A Mode pin 2 - simple digital pin.

const uint8_t	MC_ENA_PIN = 10
	Motor A output enable - PWM capable pin (L29x type only)

const uint8_t	MC_INB1_PIN = 4
	Motor B Mode pin 1 - simple digital pin.

const uint8_t	MC_INB2_PIN = 5
	Motor B Mode pin 2 - simple digital pin.

const uint8_t	MC_ENB_PIN = 9
	Motor B output enable - PWM capable pin (L29x type only)

const uint8_t	MC_PWM_MIN = 40
	Minimum PWM that will turn the motor.

const uint8_t	MC_PWM_MAX = 255
	Maximum PWM.

const uint8_t	MC_PWM_MOVE = 40
	Slow move() speed PWM default value.

const uint8_t	MC_PWM_KICKER = 60
	Kicker for drive() to overcome static friction from standing start.

const uint8_t	MC_KICKER_ACTIVE = 100
	Kicker active time in milliseconds.

const float	MC_SPIN_ADJUST = 0.75
	Inertial adjustment for spin() operation.

const uint8_t	EN_L_PIN = 3
	Left Motor encoder interrupt pin.

const uint8_t	EN_R_PIN = 2
	Right Motor encoder interrupt pin.

const float	DefKp = 1.50
	PID proportional weighting default.

const float	DefKi = 0.00
	PID integral weighting default.

const float	DefKd = 0.15
	PID derivative weighting default.

const uint16_t	PID_PERIOD = 250
	PID calculation period in ms.

const uint16_t	MS_PER_SEC = 1000
	number of ms in 1 second

const float	PID_FREQ = ((float)MS_PER_SEC / (float)PID_PERIOD)
	whole divisor is better

const uint16_t	EEPROM_ADDR = 1023
	EEPROM config data ENDS at this address (ie saved below addr)

const uint8_t	SIG [2] = { 0xaa, 0x33 }
	EEPROM config signature bytes.

Detailed Description

Header file for MD_SmartCar library hardware related parameters.

Variables

Detailed Description