robot.h

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#ifndef ROBOT_H_
#define ROBOT_H_
 
#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
#define bitRead(value, bit) (((value) >> (bit)) & 0x01)
#define MIN(a, b) (((a) < (b)) ? (a) : (b))
#define MAX(a, b) (((a) > (b)) ? (a) : (b))
 
#define PI 3.1415926535897932384626433832795
#define TWO_PI 6.283185307179586476925286766559
#define DEG_TO_RAD 0.0174532925199
#define RAD_TO_DEG 57.295779513
 
#define SAMPLE_RATE_HZ 40
#define DT 0.025
 
#define GEARBOX 50.00
#define ENCODER_RES 12.00
#define WHEEL_DIAMETER_M 0.029
#define WHEEL_RADIUS_M 0.0145
#define TRACK_WIDTH_M 0.085
#define TRACK_WIDTH_HALF_M 0.0425
#define LINE_SENSOR_SPACING_M 0.008
#define LINE_SENSOR_POSITION_M 0.077
 
#define MOTOR_CHANNEL_L 1
#define MOTOR_CHANNEL_R 2
#define MOTOR_POLARITY_L -1
#define MOTOR_POLARITY_R 1
#define ENCODER_CHANNEL_L 1
#define ENCODER_CHANNEL_R 2
#define ENCODER_POLARITY_L 1
#define ENCODER_POLARITY_R -1
#define S0 1, 25
#define S1 1, 17
#define S2 3, 20
#define LINE_LED 3, 2
 
#endif