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add ballboard commands on mainboard
[aversive.git]
/
projects
/
microb2010
/
mainboard
/
main.h
diff --git
a/projects/microb2010/mainboard/main.h
b/projects/microb2010/mainboard/main.h
index
7f21058
..
c248644
100755
(executable)
--- a/
projects/microb2010/mainboard/main.h
+++ b/
projects/microb2010/mainboard/main.h
@@
-66,16
+66,20
@@
#define IMP_COEF 10.
#define DIST_IMP_MM (((IMP_ENCODERS*4) / WHEEL_PERIM_MM) * IMP_COEF)
#define IMP_COEF 10.
#define DIST_IMP_MM (((IMP_ENCODERS*4) / WHEEL_PERIM_MM) * IMP_COEF)
-#define LEFT_ENCODER ((void *)1)
#define RIGHT_ENCODER ((void *)0)
#define RIGHT_ENCODER ((void *)0)
+#define LEFT_ENCODER ((void *)1)
#define LEFT_COBROLLER_ENCODER ((void *)2)
#define RIGHT_COBROLLER_ENCODER ((void *)3)
#define LEFT_COBROLLER_ENCODER ((void *)2)
#define RIGHT_COBROLLER_ENCODER ((void *)3)
-#define
LEFT_PWM
((void *)&gen.pwm1_4A)
-#define
RIGHT_PWM
((void *)&gen.pwm2_4B)
+#define
RIGHT_PWM
((void *)&gen.pwm1_4A)
+#define
LEFT_PWM
((void *)&gen.pwm2_4B)
#define LEFT_COBROLLER_PWM ((void *)&gen.pwm3_1A)
#define RIGHT_COBROLLER_PWM ((void *)&gen.pwm4_1B)
#define LEFT_COBROLLER_PWM ((void *)&gen.pwm3_1A)
#define RIGHT_COBROLLER_PWM ((void *)&gen.pwm4_1B)
+#define SUPPORT_BALLS_R_SERVO ((void *)&gen.servo2)
+#define SUPPORT_BALLS_L_SERVO ((void *)&gen.servo3)
+
+
/** ERROR NUMS */
#define E_USER_STRAT 194
#define E_USER_I2C_PROTO 195
/** ERROR NUMS */
#define E_USER_STRAT 194
#define E_USER_I2C_PROTO 195
@@
-111,7
+115,7
@@
struct genboard {
struct pwm_ng servo2;
struct pwm_ng servo3;
struct pwm_ng servo4;
struct pwm_ng servo2;
struct pwm_ng servo3;
struct pwm_ng servo4;
-
+
/* ax12 interface */
AX12 ax12;
/* ax12 interface */
AX12 ax12;
@@
-161,13
+165,18
@@
struct mainboard {
/* state of cobboard, synchronized through i2c */
struct cobboard {
/* state of cobboard, synchronized through i2c */
struct cobboard {
- uint8_t mode;
+ uint8_t mode;
uint8_t status;
uint8_t status;
+ int16_t left_cobroller_speed;
+ int16_t right_cobroller_speed;
+ uint8_t cob_count;
};
/* state of ballboard, synchronized through i2c */
struct ballboard {
};
/* state of ballboard, synchronized through i2c */
struct ballboard {
+ uint8_t mode;
uint8_t status;
uint8_t status;
+ uint8_t ball_count;
};
extern struct genboard gen;
};
extern struct genboard gen;