config_motor_driver.h

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#ifndef motor_driver_config_h
#define motor_driver_config_h
 
#include "Arduino.h"
 
#define SERIAL_PRINT false
 
#define FRONT_LEGS true
#define REAR_LEGS false
 
const double k_p_pos = 30.0;
const double k_i_pos = 15.0;
const double k_p_vel = 50.0;
const double k_i_vel = 25.0;
const double k_p_tor = 100.0;
const double k_i_tor = 50.0;
 
// Set the PID gains for the motors
static int K_P_POS[6] = {k_p_pos, k_p_pos, k_p_pos, k_p_pos, k_p_pos, k_p_pos};
static int K_I_POS[6] = {k_i_pos, k_i_pos, k_i_pos, k_i_pos, k_i_pos, k_i_pos};
static int K_P_VEL[6] = {k_p_vel, k_p_vel, k_p_vel, k_p_vel, k_p_vel, k_p_vel};
static int K_I_VEL[6] = {k_i_vel, k_i_vel, k_i_vel, k_i_vel, k_i_vel, k_i_vel};
static int K_P_TOR[6] = {k_p_tor, k_p_tor, k_p_tor, k_p_tor, k_p_tor, k_p_tor};
static int K_I_TOR[6] = {k_i_tor, k_i_tor, k_i_tor, k_i_tor, k_i_tor, k_i_tor};
 
 
// Calculate offsets based on legs
 
// An offset of -30 degrees is added to each actuator to compensate for the encoder zero position 
 
#if (FRONT_LEGS)
    #define position_offset_motor_1 M_PI/4.0 // 45 degrees
    #define position_offset_motor_2 0.0
    #define position_offset_motor_3 0.0
    #define position_offset_motor_4 -M_PI/4.0 // -45 degrees
    #define position_offset_motor_5 0.0
    #define position_offset_motor_6 0.0
#elif(REAR_LEGS)
    #define position_offset_motor_1 M_PI*3.0/4.0
    #define position_offset_motor_2 0.0
    #define position_offset_motor_3 0.0
    #define position_offset_motor_4 -M_PI*3.0/4.0
    #define position_offset_motor_5 0.0
    #define position_offset_motor_6 0.0
#else
    #define position_offset_motor_1 0.0
    #define position_offset_motor_2 0.0
    #define position_offset_motor_3 0.0
    #define position_offset_motor_4 0.0
    #define position_offset_motor_5 0.0
    #define position_offset_motor_6 0.0
#endif
 
static double POSITION_OFFSET[6] = 
{
    position_offset_motor_1, 
    position_offset_motor_2, 
    position_offset_motor_3,
    position_offset_motor_4,
    position_offset_motor_5,
    position_offset_motor_6 
};
 
static int INITIAL_NUMBER_OF_MOTOR_ROTATIONS[6] = {0, 0, 0, 0, 0, 0};
 
#endif