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Consistently use defines to set parameters

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This commit is contained in:
Oleg Kalachev 2023-05-31 20:16:43 +03:00
parent 39875cafb9
commit 9eaa45c1d9
3 changed files with 12 additions and 13 deletions
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3
flix/imu.ino
View File

@ -5,8 +5,7 @@
#include <MPU9250.h>
#define IMU_CS_PIN 4 // chip-select pin for IMU SPI connection
const bool CALIBRATE_GYRO_ON_START = false;
#define CALIBRATE_GYRO_ON_START false
MPU9250 IMU(SPI, IMU_CS_PIN);

10
flix/log.ino
View File

@ -3,11 +3,11 @@
// In-RAM logging
const int LOG_RATE = 100;
const int LOG_DURATION = 10;
const float LOG_PERIOD = 1 / LOG_RATE;
const int LOG_SIZE = LOG_DURATION * LOG_RATE;
const int LOG_COLUMNS = 14;
#define LOG_RATE 100
#define LOG_DURATION 10
#define LOG_PERIOD 1 / LOG_RATE
#define LOG_SIZE LOG_DURATION * LOG_RATE
#define LOG_COLUMNS 14
float logBuffer[LOG_SIZE][LOG_COLUMNS]; // * 4 (float)
int logPointer = 0;

12
flix/motors.ino
View File

@ -15,10 +15,10 @@
#define PWM_NEUTRAL 1500
static const uint16_t pwmMin[] = {1600, 1600, 1600, 1600};
static const uint16_t pwmMax[] = {2300, 2300, 2300, 2300};
static const uint16_t pwmReverseMin[] = {1390, 1440, 1440, 1440};
static const uint16_t pwmReverseMax[] = {1100, 1100, 1100, 1100};
const uint16_t pwmMin[] = {1600, 1600, 1600, 1600};
const uint16_t pwmMax[] = {2300, 2300, 2300, 2300};
const uint16_t pwmReverseMin[] = {1390, 1440, 1440, 1440};
const uint16_t pwmReverseMax[] = {1100, 1100, 1100, 1100};
void setupMotors() {
Serial.println("Setup Motors");
@ -39,7 +39,7 @@ void setupMotors() {
Serial.println("Motors initialized");
}
static uint16_t getPWM(float val, int n)
uint16_t getPWM(float val, int n)
{
if (val == 0) {
return PWM_NEUTRAL;
@ -50,7 +50,7 @@ static uint16_t getPWM(float val, int n)
}
}
static uint8_t pwmToDutyCycle(uint16_t pwm) {
uint8_t pwmToDutyCycle(uint16_t pwm) {
return map(pwm, 0, 1000000 / PWM_FREQUENCY, 0, (1 << PWM_RESOLUTION) - 1);
}