25 lines
666 B
C
25 lines
666 B
C
#pragma once
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//############## CONFIG STEPPERS ################
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#define DIR_PIN_A 26
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#define DIR_PIN_B 16
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#define PULSE_PIN_A 27
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#define PULSE_PIN_B 17
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#define SM_A 0
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#define SM_B 1
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#define PULSE_PER_REV (1 / 3200.0)
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//###############################################
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//================ CONFIG ENCODERS =====================
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#define ENCODER_RIGHT_PIN_A 12 // Lupio sam ove vrednosti
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#define ENCODER_RIGHT_PIN_B 13
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#define ENCODER_LEFT_PIN_A 6
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#define ENCODER_LEFT_PIN_B 7
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#define ENCODER_CPR 3840
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#define WHEEL_RADIUS 0.0279
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#define WHEEL_SEPARATION 0.310735
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#define TIMER_CYCLE_US 1000
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//======================================================
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