HardwareConfiguration.h

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#ifndef HARDWARECONFIGURATION_H
#define HARDWARECONFIGURATION_H

//Setup for Drive /////////////////
const double SPEEDFACTOR = 1.3;                                
const unsigned int RIGHT_MOTOR = 1;                            
const unsigned int LEFT_MOTOR = 2;                             
const unsigned int SPEED = 70 * SPEEDFACTOR;                   
const unsigned int REDUCED_SPEED = SPEED * 0.8 * SPEEDFACTOR;  
const unsigned int TURNING_SPEED = 70 * SPEEDFACTOR;           
// const unsigned int PUSH_SPEED = 80 * SPEEDFACTOR;     ///<

const unsigned int PIN_SENSOR_0 = 13;  
const unsigned int PIN_SENSOR_1 = 12;  
const unsigned int PIN_SENSOR_2 = 11;  
const unsigned int PIN_SENSOR_3 = 10;  
const unsigned int PIN_SENSOR_4 = 9;   

//Setup for Drive - PID /////////////////////
#if SPEEDFACTOR < 2
const double PID_KP = 10;     
const double PID_KI = 2;      
const double PID_KD = 0.005;  
// const double PID_KP = 5;      ///< P-value of the PID-controller
// const double PID_KI = 2;      ///< I-value of the PID-controller
// const double PID_KD = 0.001;  ///< D-value of the PID-controller
#else  //use an more agressiv PID
const double K_P = 30;    
const double K_I = 20;    
const double K_D = 0.05;  
#endif

//Setup for sonar ///////////////////
#define SONAR_SERVO_PIN 5        
#define SONAR_TRIGGER_PIN 15     
#define SONAR_ECHO_PIN 14        
#define SONAR_MAX_DISTANCE 9999  
#define MIN_ERROR -5             
#define MAX_ERROR 5              
#define MIN_TURN_ANGLE 180       
#define MAX_TURN_ANGLE 0         

//Setup for Hoist //////////////////
#define HOIST_SERVO_PIN 6       
#define HOIST_SERVO_DELAY 30    
#define HOIST_POSITION_MIN 160  
#define HOIST_POISITION_MAX 65  

//Setup for Vision /////////////////
#define VISION_SERVO_PIN 5          
#define VISION_DELAY_FACTOR 6       
#define VISION_TOLERANCE_LEFT 165   
#define VISION_TOLERANCE_RIGHT 155  
#define VISION_START_ANGLE 90       

#endif