PolarRobotics.h

PolarRobotics.h#

Description#

  • PolarRobotics.h is the corresponding header file to main.cpp, and is also included in most other files.

    • It contains global declarations useful for many parts of the codebase, namely motor pin definitions.

Defined Pins#

See also

Our ESP32 pin reference sheet provides more detailed (and probably more up-to-date) information.

Drive Motor Pins#

  • There are four defined motor pins.

    • For most robots, only the first two are needed, and they are the left and right motors, respectively (see “Cfg. 2W”).

    • For four-wheel-drive robots, namely the mecanum center, all four pins are needed (see “Cfg. 4W”).

Motor #

Pin #

#define name

Cfg. 2W

Cfg. 4W

1

32

M1_PIN

Left

Left Front

2

33

M2_PIN

Right

Right Front

3

26

M3_PIN

N/A

Left Rear

4

27

M4_PIN

N/A

Right Rear

“Special Bot” Pins#

  • These pins are reserved for robots that require additional actuators beyond the standard drive wheels.

    • These “special bots” include positions such as the kicker, center, and quarterback.

Pin #

#define name

18

SPECBOT_PIN1

19

SPECBOT_PIN2

21

SPECBOT_PIN3

22

SPECBOT_PIN4

Encoder Pins#

  • These pins are reserved for motor encoders. Most of these are input only.

    • Some of these have alternate names as they appear on the PCB of the ESP32.

    • Four pins is enough to support two encoders (1, 2) each with two channels (A, B).

Pin #

Alt. Name

#define name

35

ENC1_CHA

34

ENC1_CHB

36

VP

ENC2_CHA

39

VN

ENC2_CHB

Other Pins#

  • A variety of other pins are defined for various usages.

    • Note that the UART pins are currently only used for the Quarterback V3.

Pin #

#define name

Description

4

LED_PIN

LED Lights

13

TACKLE_PIN

Tackle Sensor

23

PAIRING_PIN

Pairing (if pin-pairing is enabled)

16

UART_RX2

Receiver pin for serial comm. w/ other ESP

17

UART_TX2

Transmitter pin for serial comm. w/ other ESP

Included Headers#