diffbot_base_config.h

/// Encoder pins
#define ENCODER_LEFT_H1 5
#define ENCODER_LEFT_H2 6
// Encoder resolution used for initialization 
// will be read from parameter server
#define ENCODER_RESOLUTION 1980

#define ENCODER_RIGHT_H1 7
#define ENCODER_RIGHT_H2 8

/// Motor i2c address
// #define MOTOR_DRIVER_ADDR 0x60
// #define MOTOR_LEFT 4
// #define MOTOR_RIGHT 3
#define MOTOR_LEFT_IN1 21
#define MOTOR_LEFT_IN2 20
#define MOTOR_LEFT_EN 1

#define MOTOR_RIGHT_IN1 17
#define MOTOR_RIGHT_IN2 16
#define MOTOR_RIGHT_EN 2

#define K_P 10 // P constant
#define K_I 0 // I constant
#define K_D 0 // D constant

#define PWM_BITS 8  // PWM Resolution of the microcontroller


#define UPDATE_RATE_CONTROL 20
#define UPDATE_RATE_IMU 1
#define UPDATE_RATE_DEBUG 5

#define E_STOP_COMMAND_RECEIVED_DURATION 5 // Stop motors if no command was received after this amount of seconds



#define PWM_MAX pow(2, PWM_BITS) - 1
#define PWM_MIN -(PWM_MAX)