adipu/guadaloop_lev_control
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

change to defines

Browse Source
This commit is contained in:
Aditya Pulipaka
2025-11-16 10:50:26 -06:00
parent 1702a2c734
commit 336caf99c1
1 changed files with 10 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
DualYokeControl (Previous Version).ino
View File

@@ -3,22 +3,22 @@
// PIN MAPPING // PIN MAPPING
const int distPin = A1; #define distPin A1
const int pwmPin = 6; #define pwmPin 6
const int dirPin = 7; #define dirPin 7
const int dir2Pin = 4; #define dir2Pin 4
const int pwm2Pin = 3; #define pwm2Pin 3
const int dist2Pin = A2; #define dist2Pin A2
const int range2Pin = A4; #define range2Pin A4
const int rangePin = A3; #define rangePin A3
// variables // variables
int dist_raw, tcurr, tprior, telapsed, pwm, pwm2, oor, oor2, dist2_raw; int dist_raw, tcurr, tprior, telapsed, pwm, pwm2, oor, oor2, dist2_raw;
float dist,ecurr, eprior, derror, ecum, ff,dist2,ecurr2, eprior2, derror2, ecum2, ff2; float dist,ecurr, eprior, derror, ecum, ff,dist2,ecurr2, eprior2, derror2, ecum2, ff2;
const int CAP = 200; #define CAP 200
// CONTROLLER CONSTANTS // CONTROLLER CONSTANTS
@@ -63,7 +63,7 @@ const float K2_a = K_a;
const float ki2_a = ki_a; const float ki2_a = ki_a;
const float kd2_a = kd_a; const float kd2_a = kd_a;
const int sampling_rate = 1000; #define sampling_rate 1000
const int dt_micros = 1e6/sampling_rate; const int dt_micros = 1e6/sampling_rate;
#define LEV_ON #define LEV_ON