configuration.h File Reference

Configuration definitions for Joint 1 to Joint 4. More...

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Macros
#define	ADR   0x11
	I2C adress of joint n is 0x1n.
#define	MAXACCEL   100
	Maximum acceleration in steps/s^2. Can be set for each joint depending on inertia. If set to high stalls might trigger since PID error grows too large.
#define	MAXVEL   10
	Maximum velocity in steps/s. Can be set for each joint. If set to high stalls might trigger since PID error grows too large.

Detailed Description

Configuration definitions for Joint 1 to Joint 4.

Author

sbstorz

Version

0.1

Date

2025-05-27

Copyright

Copyright (c) 2025

This file shall be included AFTER one of J1, J2, J3 or J4 have been defined.

Macro Definition Documentation

ADR

#define ADR   0x11

I2C adress of joint n is 0x1n.

MAXACCEL

#define MAXACCEL   100

Maximum acceleration in steps/s^2. Can be set for each joint depending on inertia. If set to high stalls might trigger since PID error grows too large.

MAXVEL

#define MAXVEL   10

Maximum velocity in steps/s. Can be set for each joint. If set to high stalls might trigger since PID error grows too large.