#define LEFT_SPICKLE_ENCODER ((void *)0)
#define RIGHT_SPICKLE_ENCODER ((void *)1)
-#define SHOVEL_ENCODER ((void *)1)
+#define SHOVEL_ENCODER ((void *)2)
#define LEFT_SPICKLE_PWM ((void *)&gen.pwm1_4A)
#define RIGHT_SPICKLE_PWM ((void *)&gen.pwm2_4B)
-#define SHOVEL_PWM ((void *)&gen.pwm2_4B)
+#define SHOVEL_PWM ((void *)&gen.pwm3_1A)
/** ERROR NUMS */
#define E_USER_I2C_PROTO 195
#define LED_PRIO 170
#define TIME_PRIO 160
+#define SPICKLE_PRIO 130
#define ADC_PRIO 120
#define CS_PRIO 100
#define I2C_POLL_PRIO 20
uint8_t our_color;
volatile uint8_t cob_count;
volatile uint8_t status;
+
+ /* synchronized to mainboard */
+ int16_t left_cobroller_speed;
+ int16_t right_cobroller_speed;
};
extern struct genboard gen;