adipu/guadaloop_lev_control
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change to defines

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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
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20
DualYokeControl (Previous Version).ino
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@@ -3,22 +3,22 @@
// PIN MAPPING
const int distPin = A1;
const int pwmPin = 6;
const int dirPin = 7;
const int dir2Pin = 4;
const int pwm2Pin = 3;
const int dist2Pin = A2;
#define distPin A1
#define pwmPin 6
#define dirPin 7
#define dir2Pin 4
#define pwm2Pin 3
#define dist2Pin A2
const int range2Pin = A4;
const int rangePin = A3;
#define range2Pin A4
#define rangePin A3
// variables
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;
const int CAP = 200;
#define CAP 200
// CONTROLLER CONSTANTS
@@ -63,7 +63,7 @@ const float K2_a = K_a;
const float ki2_a = ki_a;
const float kd2_a = kd_a;
const int sampling_rate = 1000;
#define sampling_rate 1000
const int dt_micros = 1e6/sampling_rate;
#define LEV_ON