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Show/hide line numbers can_define.h Source File

can_define.h

00001 #pragma once
00002 
00003 //#define CAN_TD PA_12
00004 //#define CAN_RD PA_11
00005 
00006 #define CAN_TD p29
00007 #define CAN_RD p30
00008 #define LED_PIN LED4
00009 
00010 
00011 #define CAN_ID 0x0 // master CAN ID
00012 #define CAN_BAUD_RATE 1000000
00013 //#define N_MOTORS 3
00014 /// Value Limits ///
00015 #define P_MIN -95.5f // Radians
00016 #define P_MAX 95.5f
00017 #define V_MIN -45.0f // Rad/s
00018 #define V_MAX 45.0f
00019 #define KP_MIN 0.0f // N-m/rad
00020 #define KP_MAX 500.0f
00021 #define KD_MIN 0.0f // N-m/rad/s
00022 #define KD_MAX 5.0f
00023 #define I_MIN -18.0f
00024 #define I_MAX 18.0f
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