32 lines
779 B
C
32 lines
779 B
C
#pragma once
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// STEP_PIN 26
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// DIR_PIN 27
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//############## CONFIG STEPPERS ################
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#define DIR_PIN_A 27
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#define DIR_PIN_B 16
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#define PULSE_PIN_A 26
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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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#define SPEED_SET_TIMEOUT 1000000
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//###############################################
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//================ CONFIG ENCODERS =====================
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#define ENCODER_RIGHT_PIN_A 18 // Lupio sam ove vrednosti
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#define ENCODER_RIGHT_PIN_B 19
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#define ENCODER_LEFT_PIN_A 12
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#define ENCODER_LEFT_PIN_B 13
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#define ENCODER_CPR 3840
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//#define WHEEL_RADIUS (0.0300 * 1.01483541)
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#define WHEEL_RADIUS 0.028
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#define WHEEL_SEPARATION 0.271
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#define TIMER_CYCLE_US 1000
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//======================================================
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