Struct Hw
Defined in File hw.h
Struct Documentation
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struct Hw
Hardware configuration.
Public Static Attributes
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static constexpr int kLeftEncoderChannelAGpioPin = {2}
Left encoder channel A pin. Connected to PD2 (digital pin 2).
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static constexpr int kLeftEncoderChannelBGpioPin = {3}
Left encoder channel B pin. Connected to PD3 (digital pin 3).
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static constexpr int kRightEncoderChannelAGpioPin = {16}
Right encoder channel A pin. Connected to PC2 (digital pin 16, analog pin A2).
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static constexpr int kRightEncoderChannelBGpioPin = {17}
Right encoder channel B pin. Connected to PC3 (digital pin 17, analog pin A3).
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static constexpr int kLeftMotorBackwardGpioPin = {6}
Left motor driver backward pin. Connected to PD6 (digital pin 6).
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static constexpr int kLeftMotorForwardGpioPin = {10}
Left motor driver forward pin. Connected to PB2 (digital pin 10).
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static constexpr int kLeftMotorEnableGpioPin = {13}
Left motor driver enable pin. Connected to PB5 (digital pin 13).
Note
The enable input of the L298N motor driver may be directly jumped to 5V if the board has a jumper to do so.
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static constexpr int kRightMotorBackwardGpioPin = {5}
Right motor driver backward pin. Connected to PD5 (digital pin 5).
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static constexpr int kRightMotorForwardGpioPin = {9}
Right motor driver forward pin. Connected to PB1 (digital pin 9).
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static constexpr int kRightMotorEnableGpioPin = {12}
Right motor driver enable pin. Connected to PB4 (digital pin 12).
Note
The enable input of the L298N motor driver may be directly jumped to 5V if the board has a jumper to do so.
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static constexpr int kImuI2cSclPin = {19}
IMU sensor I2C SCL pin. Connected to PC5 (digital pin 19, analog pin A5).
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static constexpr int kImuI2cSdaPin = {18}
IMU sensor I2C SDA pin. Connected to PC4 (digital pin 18, analog pin A4).
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static constexpr int kLeftEncoderChannelAGpioPin = {2}