35 lines
963 B
C++
35 lines
963 B
C++
/*
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* Robot.hpp
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*
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* Created on: Mar 17, 2023
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* Author: Gabriel
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*/
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#ifndef SRC_COMPONENTS_ROBOT_HPP_
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#define SRC_COMPONENTS_ROBOT_HPP_
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#include "main.h"
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#include "BTS7960B.hpp"
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#include "Encoder.hpp"
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class Robot {
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public:
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Robot();
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virtual ~Robot();
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void uartCallback();
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void controlCallback();
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void init();
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private:
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const float reductionRatio = 30;
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const float wheelRadius = 73.025; //mm
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const float ticksPerSecond = 100;
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uint8_t rxBuffer[1500] = "0.000000,0.000000";
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uint8_t txBuffer[1500];
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Encoder encoder0 = Encoder(&(TIM1->CNT), &(TIM1->ARR), 52);
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Encoder encoder1 = Encoder(&(TIM3->CNT), &(TIM3->ARR), 52);
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BTS7960B motor0 = BTS7960B(&(TIM2->CCR1), &(TIM2->CCR2), &(TIM2->ARR), &(TIM2->ARR), GPIOB, GPIO_PIN_4, GPIOB, GPIO_PIN_5);
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BTS7960B motor1 = BTS7960B(&(TIM2->CCR3), &(TIM2->CCR4), &(TIM2->ARR), &(TIM2->ARR), GPIOB, GPIO_PIN_0, GPIOB, GPIO_PIN_1);
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};
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#endif /* SRC_COMPONENTS_ROBOT_HPP_ */
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