hoverboard-firmware-hack-se.../Inc/config.h

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#pragma once
#include "stm32f1xx_hal.h"
// ################################################################################
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#define PWM_FREQ 16000 // PWM frequency in Hz
#define DEAD_TIME 32 // PWM deadtime
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#define DC_CUR_LIMIT 15 // Motor DC current limit in amps
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#define BAT_LOW_LVL1 36.0 // gently beeps at this voltage level
#define BAT_LOW_LVL2 33.0 // your battery is almost empty. Charge now!
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#define BAT_LOW_DEAD 31.0 // undervoltage lockout
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// ################################################################################
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#define DEBUG_SERIAL_USART2
//#define DEBUG_SERIAL_USART3
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#define DEBUG_BAUD 115200 // UART baud rate
//#define DEBUG_SERIAL_SERVOTERM
#define DEBUG_SERIAL_ASCII
//#define DEBUG_I2C_LCD
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#define TIMEOUT 5 //number of wrong / missing commands before emergency off
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// ################################################################################
// ###### CONTROL VIA RC REMOTE ######
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//#define CONTROL_PPM // use PPM CONTROL_PPM
//#define PPM_NUM_CHANNELS 6 // number of PPM channels to receive
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// ###### CONTROL VIA TWO POTENTIOMETERS ######
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// #define CONTROL_ADC
// ###### CONTROL VIA NINTENDO NUNCHUCK ######
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#define CONTROL_NUNCHUCK
// ################################################################################
// ###### DRIVING BEHAVIOR ######
#define FILTER 0.1
#define SPEED_COEFFICIENT 0.5
#define STEER_COEFFICIENT 0.5
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//Turno boost at high speeds while button1 is pressed:
//#define ADDITIONAL_CODE \
if (button1 && speed > 700) { /* field weakening at high speeds */ \
weakl = cmd1 - 700; /* weak should never exceed 400 or 450 MAX!! */ \
weakr = cmd1 - 700; } \
else { \
weakl = 0; \
weakr = 0; }
// ###### BOBBYCAR ######
// #define FILTER 0.1
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// #define SPEED_COEFFICIENT -1
// #define STEER_COEFFICIENT 0
// #define ADDITIONAL_CODE \
if (button1 && speedR < 300) { \
speedR = speedR * -0.2f; \
speedL = speedL * -0.2f; } \
else { \
direction = 1; } \
if (button1 && speedR > 700) { /* field weakening at high speeds */ \
weakl = speedR - 600; /* weak should never exceed 400 or 450 MAX!! */ \
weakr = speedR - 600; } \
else { \
weakl = 0; \
weakr = 0; }
// ###### ARMCHAIR ######
// #define FILTER 0.05
// #define SPEED_COEFFICIENT 0.5
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// #define STEER_COEFFICIENT -0.2
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// #define BEEPS_BACKWARD