45 lines
859 B
C
45 lines
859 B
C
#ifndef CONFIG_H
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#define CONFIG_H
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#include "math.h"
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#define BAUDRATE (9600)
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// Pins
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#define PIN_PB0 (8)
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#define PIN_PD6 (6)
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#define PIN_PD7 (7)
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#define PIN_PD3 (3)
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#define PIN_PB1 (9)
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#define PIN_PB2 (10)
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#define PIN_PD4 (4)
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#define PIN_PD2 (2)
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#define PIN_MOSI (11)
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#define PIN_Y_PULSE (PIN_PB0)
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#define PIN_Y_ENABLE (PIN_PD6)
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#define PIN_Y_DIRECTION (PIN_PD7)
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#define PIN_Y_HOME (PIN_PD3)
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#define PIN_X_PULSE (PIN_PB2)
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#define PIN_X_ENABLE (PIN_PB1)
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#define PIN_X_DIRECTION (PIN_MOSI)
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#define PIN_X_HOME (PIN_PD4)
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#define PIN_LASER (PIN_PD2)
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// Stepper ratio [step/rad]
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#define STEP_RATIO_X (6432 / M_PI)
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#define STEP_RATIO_Y (6432 / M_PI)
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// Offset between home and zero [step]
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#define ZERO_OFFSET_X (0)
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#define ZERO_OFFSET_Y (2500)
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// Offset between turret and lidar [cm]
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#define OFFSET_X (0)
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#define OFFSET_Y (21)
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#define OFFSET_Z (166)
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#endif
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