text: /*
   * General configuration for HoverBot.ino
   * Tested on an Arduino Mega
   */
  
  // HARDWARE
  #define PWM_CHANNEL_1 2
  #define PWM_CHANNEL_2 3
  #define PWM_CHANNEL_3 18
  #define LEDPIN 13
  
  #define MOTORDIR_0 -1
  #define MOTORDIR_1 1
  
  // CONTROLLER
  #define KP_BALANCE 0.4
  #define KD_BALANCE -0.065
  #define KP_POSITION 0.015
  #define KP_STEERING 0.01
  #define KD_ORIENTATION 0.01
  #define TILT_LIMIT 40
  
  // RADIO CONTROL
  #define ENGAGE_THRESHOLD 1500
  #define PWM_CENTER 1500
  
  // SCHEDULING
  #define BLINK_INTERVAL 200
  #define CONTROLLER_INTERVAL 10
  #define ACTIVATION_INTERVAL 50
  
  // SERIAL
  #define BAUDRATE_ODRIVE 115200
  #define BAUDRATE_PC 115200
  