Pimpest
a4691caeed
* Added primary stepper motor driver code to repo * Added odometery encoder code to repo * Added the ability to update encoder wheel ratio via ros service Co-authored-by: Pimpest <82343504+Pimpest@users.noreply.github.com> Co-committed-by: Pimpest <82343504+Pimpest@users.noreply.github.com>
50 lines
1.0 KiB
CMake
50 lines
1.0 KiB
CMake
cmake_minimum_required(VERSION 3.12)
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set(PICO_BOARD pico CACHE STRING "Board type")
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set(TOP ${PICO_TINYUSB_PATH})
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include(pico_sdk_import.cmake)
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set(CMAKE_C_STANDARD 11)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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project(wheelbase C CXX ASM)
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pico_sdk_init()
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add_executable(wheelbase
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src/quadrature.c
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src/main.c
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src/stepper.c
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tusb/tusb_descriptors.c
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)
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pico_set_program_name(wheelbase "wheelbase")
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pico_set_program_version(wheelbase "0.1")
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pico_enable_stdio_uart(wheelbase 0)
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pico_enable_stdio_usb(wheelbase 1)
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pico_generate_pio_header(wheelbase ${CMAKE_CURRENT_LIST_DIR}/pio/quadrature.pio)
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pico_generate_pio_header(wheelbase ${CMAKE_CURRENT_LIST_DIR}/pio/blink.pio)
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target_link_libraries(wheelbase
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pico_stdlib
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pico_stdio
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pico_time
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pico_multicore
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hardware_pio
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hardware_clocks
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hardware_gpio
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hardware_sync
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tinyusb_board
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tinyusb_device)
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target_include_directories(wheelbase PRIVATE
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${CMAKE_CURRENT_LIST_DIR}
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src/
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tusb/
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)
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pico_add_extra_outputs(wheelbase) |