MinumelArmMCU/defs.hpp

#pragma once

constexpr float COMP_EPSILON = 0.01;

// ----- Servo config -----
/*
#define SERVO_PMIN 125   // Minimum pulse length (0 degrees)
#define SERVO_PMAX 625   // Maximum pulse length (180 degrees)

const int servo_range[] = {270, 270, 270, 180};
const int min_safe_angles[] = {10, 0, 0, 0};
const int max_safe_angles[] = {270, 181, 270, 180};
const int initial_pose[] = {186, 71, 171, 36};
int currentPose[] = {0, 0, 0, 0};
*/