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/****************************************************************************************
* Here's where you define the overall electronics setup for your machine.
****************************************************************************************/
//
// CHOOSE WHICH EXTRUDER YOU'RE USING:
//
//#define EXTRUDER_CONTROLLER_VERSION_2_0
//#define EXTRUDER_CONTROLLER_VERSION_2_1
#define EXTRUDER_CONTROLLER_VERSION_2_2
#define TEMPERATURE_SAMPLES 5
#define SERIAL_SPEED 38400
//the address for commands to listen to
#define RS485_ADDRESS 0
#define PACKET_TIMEOUT 100
/****************************************************************************************
* Here's where you define the way your motors are driven.
****************************************************************************************/
//PWM
#define MOTOR_STYLE 0
//ENCODER
//#define MOTOR_STYLE 1
//STEPPER
//define MOTOR_STYLE 2
//do you want to reverse the motor?
#define DELAY_FOR_STOP 5
#define MOTOR_REVERSE_DURATION 300
#define MOTOR_FORWARD_DURATION 300
/****************************************************************************************
* Here's where you define the speed PID behavior for an encoder
****************************************************************************************/
//#define INVERT_QUADRATURE
#define MIN_SPEED 50 //minimum PWM speed to use
#define MAX_SPEED 255 //maximum PWM speed to use
#define SPEED_ERROR_MARGIN 10 //our error margin (to prevent constant seeking)
#define SPEED_INITIAL_PGAIN 1 //our proportional gain.
#define SPEED_INITIAL_IGAIN 100 //our integral gain.
#define SPEED_INITIAL_DGAIN 10 //our derivative gain.
/****************************************************************************************
* Here's where you define the configuration for the stepper.
****************************************************************************************/
#define MOTOR_STEPS 200 //number of steps per revolution
#define MOTOR_STEP_MULTIPLIER 2 //step multiplier (full = 1, half=2, etc.)
/****************************************************************************************
* Sanguino Pin Assignment
****************************************************************************************/
//these are the pins for the v2.0 Extruder Controller
#if defined(EXTRUDER_CONTROLLER_VERSION_2_0) || defined(EXTRUDER_CONTROLLER_VERSION_2_1) || defined(EXTRUDER_CONTROLLER_VERSION_2_2)
#define ENCODER_A_PIN 2
#define ENCODER_B_PIN 3
#define RX_ENABLE_PIN 4
#define TX_ENABLE_PIN 16
#define MOTOR_1_SPEED_PIN 5
#define MOTOR_1_DIR_PIN 7
#define MOTOR_2_SPEED_PIN 6
#define MOTOR_2_DIR_PIN 8
#define SERVO1_PIN 9
#define SERVO2_PIN 10
#define HEATER_PIN 11
#define FAN_PIN 12
#define VALVE_PIN 15
#define THERMISTOR_PIN 3
#define DEBUG_PIN 13
#endif
//quadrature encoder behavior
#ifdef INVERT_QUADRATURE
#define QUADRATURE_INCREMENT speed_error--;
#define QUADRATURE_DECREMENT speed_error++;
#else
#define QUADRATURE_INCREMENT speed_error++;
#define QUADRATURE_DECREMENT speed_error--;
#endif
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