feat: modular configuration

src/config.h

@@ -1,10 +1,10 @@
 #pragma once
 #include <Arduino.h>
+#include <struct.h>
 
-#define SPEED 40 // Base speed
-#define KP 0.05 // Proportional gain
-#define KI 0.0 // Integral gain
-#define KD 0.002 // Derivative gain
+// Speed, Kp, Ki, Kd
+const Config configSlow = { 40, 0.05, 0.0, 0.002 };
+const Config configMain = { 80, 0.05, 0.0, 0.002 };
 
 const uint8_t SENSORS[] = {
   19, 18, 17, 16, 15, 14, 11, 10, 9 };

src/main.ino

@@ -6,7 +6,6 @@ void setup() {
   Serial.begin(115200);
   uSetup();
   qtrSetup();
-  pidSetup();
 
   if(SW()) {
     Serial.println(F("EMERGENCY MODE RESETTING EEPROM"));
@@ -38,5 +37,6 @@ void loop() {
     // TODO: replace with line tracking code
     // fd(20);
     // delay(20000);
-    track(30000);
+    track(configSlow, 500);
+    track(configMain, 30000);
     fd(0); } }

src/motor.h

@@ -4,23 +4,25 @@
 #include <us82_motor.h>
 float input, output, setpoint, leftmotor, rightmotor;
 
-QuickPID pid = QuickPID(&input, &output, &setpoint, KP, KI, KD, QuickPID::Action::reverse);
+QuickPID pid = QuickPID(&input, &output, &setpoint, 0, 0, 0, QuickPID::Action::reverse);
 
-void pidSetup() {
+void pidSetup(Config config) {
   pid.SetMode(QuickPID::Control::automatic);
-  const int maxOutput = 100 + SPEED;
+  pid.SetTunings(config.kp, config.ki, config.kd);
+  const int maxOutput = 100 + config.speed;
   pid.SetOutputLimits(-maxOutput, maxOutput);
   pid.SetSampleTimeUs(10000); }
 
-void track(unsigned long time) {
+void track(Config config, unsigned long time) {
+  pidSetup(config);
   const unsigned long startTime = millis();
 
   while (millis() - startTime < (unsigned long)time) {
     input = (qtr.readLineBlack(sensors) - ((SENSOR_COUNT - 1) * 500.0)) / (SENSOR_COUNT - 1);
     pid.Compute();
 
-    leftmotor = SPEED + output;
-    rightmotor = SPEED - output;
+    leftmotor = config.speed + output;
+    rightmotor = config.speed - output;
 
     // Serial.print("Input: "); Serial.print(input); Serial.print("\tOutput: "); Serial.print(output);
     // Serial.print("\tLeft Motor: "); Serial.print(leftmotor); Serial.print("\tRight Motor: "); Serial.println(rightmotor);

src/struct.h

@@ -0,0 +1,7 @@
+#pragma once
+
+struct Config {
+  int speed;
+  float kp;
+  float ki;
+  float kd; };