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definitions.h
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definitions.h
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/*
* To change this license header, choose License Headers in Project Properties.
* To change this template file, choose Tools | Templates
* and open the template in the editor.
*/
/*
* File: definitions.h
* Author: josh
*
* Created on August 16, 2019, 10:22 PM
*/
#ifndef DEFINITIONS_H
#define DEFINITIONS_H
#include <libevdev.h>
#define JETSON_STEER_PIN 32 //GPIO07 //pin32
#define JETSON_DRIVE_PIN 33 // GPIO13 //pin33
#define JETSON_IN1_PIN 29 // GPIO01 //pin 29, gpio5
#define JETSON_IN2_PIN 31 //GPIO06 //pin 31, gpio6
#define LIDAR_PORT "/dev/ttyUSB1"
#define MOTOR_PORT "/dev/ttyUSB0"
#define I2C_BUS 0x00
#define I2C_MOTOR_ADX 0x04
//#define I2C_DEVICE "/dev/i2c-0"
#define MAX_LEFT -32768
#define MAX_RIGHT 32768
#define MIN_LEFT 128
#define MIN_RIGHT -128
#define MIN_TURN 128
#define MAX_TURN 32768
//these are all inputs from the controller
#define THROTTLE_KEY ABS_RY
#define MAX_THROTTLE_FORWARD -32768
#define MIN_THROTTLE_FORWARD -128
#define MAX_THROTTLE_BACKWARD 32768
#define MIN_THROTTLE_BACKWARD 128
#define MIN_THROTTLE 128
#define MAX_THROTTLE 32768
#define MIN_SPEED_LIMIT 0
#define MAX_SPEED_LIMIT 60
#define MAX_STEERING_INPUT 255
#define MAX_RIGHT_STEERING_ANGLE 0x00
#define MAX_LEFT_STEERING_ANGLE 0xFF
#define CENTER_STEER (MAX_LEFT_STEERING_ANGLE-MAX_RIGHT_STEERING_ANGLE) / 2 + MAX_RIGHT_STEERING_ANGLE
#define LEFT_TRIGGER ABS_Z
#define RIGHT_TRIGGER ABS_RZ
#define TRIGGER_MIN 0
#define TRIGER_MAX 255
#define INPUT_DEVICE "/dev/input/event2"
#define MOTOR_FORWARD 1
#define MOTOR_BACK 2
#define MOTOR_BRAKE 3
#define MOTOR_RELEASE 4
#define NUMBER_OF_MODES 5
//#define JETSON_STEER_PIN GPIO07 //pin32
//#define JETSON_DRIVE_PIN GPIO13 //pin33
//#define JETSON_IN1_PIN GPIO01 //pin 29, gpio5
//#define JETSON_IN2_PIN GPIO06 //pin 31, gpio6
#ifdef __cplusplus
extern "C" {
#endif
#ifdef __cplusplus
}
#endif
#endif /* DEFINITIONS_H */