*
*/
+/* was mechboard in 2009 */
+
#define LED_TOGGLE(port, bit) do { \
if (port & _BV(bit)) \
port &= ~_BV(bit); \
#define LED1_OFF() cbi(PORTJ, 2)
#define LED1_TOGGLE() LED_TOGGLE(PORTJ, 2)
-#define LED2_ON() sbi(PORTL, 7)
-#define LED2_OFF() cbi(PORTL, 7)
-#define LED2_TOGGLE() LED_TOGGLE(PORTL, 7)
+#define LED2_ON() sbi(PORTJ, 3)
+#define LED2_OFF() cbi(PORTJ, 3)
+#define LED2_TOGGLE() LED_TOGGLE(PORTJ, 3)
-#define LED3_ON() sbi(PORTJ, 3)
-#define LED3_OFF() cbi(PORTJ, 3)
-#define LED3_TOGGLE() LED_TOGGLE(PORTJ, 3)
+#define LED3_ON() sbi(PORTL, 7)
+#define LED3_OFF() cbi(PORTL, 7)
+#define LED3_TOGGLE() LED_TOGGLE(PORTL, 7)
#define LED4_ON() sbi(PORTL, 6)
#define LED4_OFF() cbi(PORTL, 6)
#define BRAKE_ON() do { PORTJ |= 0xF0; } while(0)
#define BRAKE_OFF() do { PORTJ &= 0x0F; } while(0)
-#define LEFT_SPICKLE_ENCODER ((void *)0)
-#define RIGHT_SPICKLE_ENCODER ((void *)1)
+#define RIGHT_SPICKLE_ENCODER ((void *)0)
+#define LEFT_SPICKLE_ENCODER ((void *)1)
#define SHOVEL_ENCODER ((void *)2)
#define SERVO_DOOR_PWM ((void *)&gen.servo2)
#define SERVO_CARRY_L_PWM ((void *)&gen.servo1)
#define SERVO_CARRY_R_PWM ((void *)&gen.servo3)
-#define LEFT_SPICKLE_PWM ((void *)&gen.pwm1_4A)
-#define RIGHT_SPICKLE_PWM ((void *)&gen.pwm2_4B)
+#define RIGHT_SPICKLE_PWM ((void *)&gen.pwm1_4A)
+#define LEFT_SPICKLE_PWM ((void *)&gen.pwm2_4B)
#define SHOVEL_PWM ((void *)&gen.pwm3_1A)
/** ERROR NUMS */
#define DO_CS 2
#define DO_BD 4
#define DO_POWER 8
+#define DO_ERRBLOCKING 16
uint8_t flags; /* misc flags */
/* control systems */