81 lines
2.4 KiB
C++
81 lines
2.4 KiB
C++
#pragma once
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#include "pico/stdlib.h"
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#include "ws2812.hpp"
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#include "motor.hpp"
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#include "motor_cluster.hpp"
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#include "encoder.hpp"
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namespace motor {
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namespace motor2040 {
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const uint MOTOR_A_P = 4;
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const uint MOTOR_A_N = 5;
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const uint MOTOR_B_P = 6;
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const uint MOTOR_B_N = 7;
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const uint MOTOR_C_P = 8;
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const uint MOTOR_C_N = 9;
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const uint MOTOR_D_P = 10;
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const uint MOTOR_D_N = 11;
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const pin_pair MOTOR_A(MOTOR_A_P, MOTOR_A_N);
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const pin_pair MOTOR_B(MOTOR_B_P, MOTOR_B_N);
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const pin_pair MOTOR_C(MOTOR_C_P, MOTOR_C_N);
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const pin_pair MOTOR_D(MOTOR_D_P, MOTOR_D_N);
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const uint NUM_MOTORS = 4;
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const uint ENCODER_A_A = 0;
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const uint ENCODER_A_B = 1;
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const uint ENCODER_B_A = 2;
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const uint ENCODER_B_B = 3;
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const uint ENCODER_C_A = 12;
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const uint ENCODER_C_B = 13;
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const uint ENCODER_D_A = 14;
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const uint ENCODER_D_B = 15;
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// Although encoder A and B channels are arbitrary, our MMME Encoders
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// that accompany Motor2040 count down when the motors are diving in a
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// positive direction, so these pin pairs are set as B and A instead
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const pin_pair ENCODER_A(ENCODER_A_B, ENCODER_A_A);
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const pin_pair ENCODER_B(ENCODER_B_B, ENCODER_B_A);
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const pin_pair ENCODER_C(ENCODER_C_B, ENCODER_C_A);
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const pin_pair ENCODER_D(ENCODER_D_B, ENCODER_D_A);
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const uint NUM_ENCODERS = 4;
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const uint TX_TRIG = 16;
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const uint RX_ECHO = 17;
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const uint LED_DATA = 18;
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const uint NUM_LEDS = 1;
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const uint I2C_INT = 19;
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const uint I2C_SDA = 20;
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const uint I2C_SCL = 21;
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const uint USER_SW = 23;
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const uint ADC_ADDR_0 = 22;
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const uint ADC_ADDR_1 = 24;
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const uint ADC_ADDR_2 = 25;
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const uint ADC0 = 26;
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const uint ADC1 = 27;
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const uint ADC2 = 28;
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const uint SHARED_ADC = 29; // The pin used for the board's sensing features
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const uint CURRENT_SENSE_A_ADDR = 0b000;
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const uint CURRENT_SENSE_B_ADDR = 0b001;
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const uint CURRENT_SENSE_C_ADDR = 0b010;
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const uint CURRENT_SENSE_D_ADDR = 0b011;
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const uint VOLTAGE_SENSE_ADDR = 0b100;
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const uint FAULT_SENSE_ADDR = 0b101;
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const uint SENSOR_1_ADDR = 0b110;
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const uint SENSOR_2_ADDR = 0b111;
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const uint NUM_SENSORS = 2;
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constexpr float SHUNT_RESISTOR = 0.47f;
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constexpr float CURRENT_GAIN = 1;
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constexpr float VOLTAGE_GAIN = 3.9f / 13.9f;
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constexpr float CURRENT_OFFSET = -0.005f;
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}
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} |