add define arg
#include <math.h>
+#define HARDWARE_VER "1.0.0"
+#define SOFTWARE_VER "1.0.0"
+#define FIRMWARE_VER "1.1.3"
+
+#define CONTROL_MOTOR_SPEED_FREQUENCY 30 //hz
+#define IMU_PUBLISH_FREQUENCY 200 //hz
+#define CMD_VEL_PUBLISH_FREQUENCY 30 //hz
+#define DRIVE_INFORMATION_PUBLISH_FREQUENCY 30 //hz
+#define VERSION_INFORMATION_PUBLISH_FREQUENCY 1 //hz
+#define DEBUG_LOG_FREQUENCY 2 //hz
+
#define WHEEL_NUM 2
#define LEFT 0
#define TEST_DISTANCE 0.300 // meter
#define TEST_RADIAN 3.14 // 180 degree
-#define DEBUG 1
+// #define DEBUG
#define DEBUG_SERIAL SerialBT2
// Callback function prototypes
@@ -159,7 +170,7 @@ tf::TransformBroadcaster tf_broadcaster;
/*******************************************************************************
* SoftwareTimer of Turtlebot3
*******************************************************************************/
-static uint32_t tTime[5];
+static uint32_t tTime[10];
/*******************************************************************************
* Declaration for motor
