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https://github.com/MeowLynxSea/MarsCar.git
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41 lines
1.1 KiB
C++
41 lines
1.1 KiB
C++
#ifndef PARAMETER_H
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#define PARAMETER_H
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#include <string>
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#define UART_PORT UART_NUM_2
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#define TXD GPIO_NUM_17
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#define RXD GPIO_NUM_16
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static const int MAX_WHEEL_STEER_SPEED = 100;
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static const int MAX_WHEEL_SPEED = 1000;
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static const int MAX_STEER_PWM = 700;
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static const double CATCHER_SPEED = 0.1;
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static const double WIFI_CATCHER_SPEED = 0.15;
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static const double PAW_SPEED=0.01;
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static const std::string WHEEL_FL="001";
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static const std::string WHEEL_FR="002";
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static const std::string WHEEL_BL="003";
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static const std::string WHEEL_BR="004";
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static const std::string STEER_FL="011";
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static const std::string STEER_FR="012";
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static const std::string STEER_BL="013";
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static const std::string STEER_BR="014";
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static const std::string CATCHER_1="021";
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static const std::string CATCHER_2="022";
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static const std::string CATCHER_3="023";
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static const std::string CATCHER_4="024";
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static const int CATCHER_TIME= 3;
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static const int FRAME_TIME= 100;
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static const double EPSSILON=1e-4;
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static const double H=0;
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static const double ARM_LENGTH_1=15;
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static const double ARM_LENGTH_2=20;
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static const double PI=3.1415926535;
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#endif //PARAMETER_H
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