18 lines
524 B
C
18 lines
524 B
C
#pragma once
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#include <Arduino.h>
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/**
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* Kinematic parameters default to the spec sheet from Pololu. You'll need to fine
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* tune them.
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*/
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const float ROBOT_RADIUS = 14.7 / 2;
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const float LEFT_TICKS_PER_CM = 1440.0 / (3.1416 * 4.0);
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const float RIGHT_TICKS_PER_CM = 1440.0 / (3.1416 * 4.0);
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/**
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* You can change the control loop period, but you should use multiples of 4 ms to
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* avoid rounding errors.
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*/
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const uint16_t CONTROL_LOOP_PERIOD_MS = 20;
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const float CONTROL_LOOP_PERIOD_S = CONTROL_LOOP_PERIOD_MS / 1000.;
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