Bioscara
DALSA's DIY SCARA Robot Arm.
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lib
joint_firmware
joint
configuration.h
Go to the documentation of this file.
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#ifndef CONFIGURATION_H
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#define CONFIGURATION_H
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#if defined(J1)
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#define ADR 0x11
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#define MAXACCEL 100
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#define MAXVEL 10
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#define STALL_WINDOW_B1 12
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#define STALL_WINDOW_B2 450
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#define STALL_WINDOW_OFFSET 90.0
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#define STALL_SLOPE 0.0
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#elif defined(J2)
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#define ADR 0x12
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#define MAXACCEL 100
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#define MAXVEL 10
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#define STALL_WINDOW_B1 12
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#define STALL_WINDOW_B2 450
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#define STALL_WINDOW_OFFSET 90.0
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#define STALL_SLOPE 0.0
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#elif defined(J3)
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#define ADR 0x13
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#define MAXACCEL 100
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#define MAXVEL 10
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#define STALL_WINDOW_B1 12
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#define STALL_WINDOW_B2 450
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#define STALL_WINDOW_OFFSET 90.0
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#define STALL_SLOPE 0.0
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#elif defined(J4)
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#define ADR 0x14
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#define MAXACCEL 100
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#define MAXVEL 10
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#define STALL_WINDOW_B1 12
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#define STALL_WINDOW_B2 450
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#define STALL_WINDOW_OFFSET 90.0
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#define STALL_SLOPE 0.0
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#else
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/* Below only defined for documentation */
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#define ADR 0x11
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#define MAXACCEL 100
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#define MAXVEL 10
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#error "No Joint has been defined. Define one of 'JX' where X 1,2,3,4"
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#endif
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#endif
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