#pragma once

// STEP_PIN 26
// DIR_PIN 27


//############## CONFIG STEPPERS ################
#define DIR_PIN_A   27
#define DIR_PIN_B   16
#define PULSE_PIN_A 26
#define PULSE_PIN_B 17

#define SM_A 0
#define SM_B 1

#define PULSE_PER_REV (1 / 3200.0)
#define SPEED_SET_TIMEOUT 1000000
//###############################################

//================ CONFIG ENCODERS =====================
#define ENCODER_RIGHT_PIN_A 18 // Lupio sam ove vrednosti
#define ENCODER_RIGHT_PIN_B 19
#define ENCODER_LEFT_PIN_A  12
#define ENCODER_LEFT_PIN_B  13
#define ENCODER_CPR         3840

//#define WHEEL_RADIUS     (0.0300 * 1.01483541)
#define WHEEL_RADIUS     0.028
#define WHEEL_SEPARATION 0.271
#define TIMER_CYCLE_US   1000
//======================================================