forked from logzhan/RobotHardware-UESTC
50 lines
750 B
Makefile
50 lines
750 B
Makefile
|
|
#common
|
|
|
|
#model
|
|
-DMODEL_TYPE_2WD_DIFF=1
|
|
-DMODEL_TYPE_4WD_DIFF=2
|
|
-DMODEL_TYPE_3WD_OMNI=101
|
|
-DMODEL_TYPE_4WD_OMNI=102
|
|
-DMODEL_TYPE_4WD_MECANUM=201
|
|
|
|
|
|
-DROBOT_MODEL=MODEL_TYPE_2WD_DIFF
|
|
-DFW_VERSION=\"v2.1.0\"
|
|
|
|
#motor
|
|
-DCOMMON_CONTROLLER=1
|
|
-DAF_SHIELD_CONTROLLER=2
|
|
-DMOTOR_CONTROLLER=COMMON_CONTROLLER
|
|
|
|
-DMOTOR_DRIVER_TB6612=1
|
|
-DMOTOR_DRIVER_DRV8870=2
|
|
|
|
-DMOTOR_DRIVER=MOTOR_DRIVER_TB6612
|
|
|
|
#uart
|
|
-DMASTER_USART=3
|
|
|
|
#debug
|
|
-DDEBUG_ENABLE=0
|
|
-DODOM_DEBUG_OUTPUT=0
|
|
-DPID_DEBUG_OUTPUT=0
|
|
|
|
#joystick
|
|
-DJOYSTICK_ENABLE=0
|
|
-DJOYSTICK_DEBUG_ENABLE=0
|
|
-DJOYSTICK_FOR_HOLONOMIC=0
|
|
|
|
#speed
|
|
-DMAX_LINER_X=50
|
|
-DMAX_LINER_Y=0
|
|
-DMAX_ANGULAR_Z=250
|
|
|
|
#imu
|
|
-DIMU_ENABLE=1
|
|
-DIMU_DEBUG_ENABLE=1
|
|
|
|
# intervel
|
|
-DCALC_ODOM_INTERVAL=10
|
|
-DCHECK_JOYSTICK_INTERVAL=100
|
|
-DCALC_IMU_INTERVAL=1
|