#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 LEFT_ENCODER ((void *)1)
+#define RIGHT_ENCODER ((void *)0)
+#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 LEFT_PUMP1_PWM ((void *)&gen.pwm3_1A)
-#define LEFT_PUMP2_PWM ((void *)&gen.pwm4_1B)
+#define LEFT_COBROLLER_PWM ((void *)&gen.pwm3_1A)
+#define RIGHT_COBROLLER_PWM ((void *)&gen.pwm4_1B)
/** ERROR NUMS */
#define E_USER_STRAT 194
/* control systems */
struct cs_block angle;
struct cs_block distance;
+ struct cs_block left_cobroller;
+ struct cs_block right_cobroller;
/* x,y positionning */
struct robot_system rs;
volatile int16_t speed_d; /* current dist speed */
int32_t pwm_l; /* current left pwm */
int32_t pwm_r; /* current right pwm */
- uint8_t enable_pickup_wheels; /* these PWM are on sensorboard */
-
};
-/* state of mechboard, synchronized through i2c */
-struct mechboard {
+/* state of cobboard, synchronized through i2c */
+struct cobboard {
uint8_t mode;
uint8_t status;
- int8_t lintel_count;
- uint8_t column_flags;
-
- /* pwm */
- int16_t pump_left1;
- int16_t pump_right1;
- int16_t pump_left2;
- int16_t pump_right2;
-
- /* currents (for left arm, we can just read it on adc) */
- int16_t pump_right1_current;
- int16_t pump_right2_current;
-
- /* pwm for lintel servos */
- uint16_t servo_lintel_left;
- uint16_t servo_lintel_right;
};
-/* state of sensorboard, synchronized through i2c */
-struct sensorboard {
+/* state of ballboard, synchronized through i2c */
+struct ballboard {
uint8_t status;
- /* opponent pos */
- int16_t opponent_x;
- int16_t opponent_y;
- int16_t opponent_a;
- int16_t opponent_d;
-
- /* scanner */
-#define I2C_SCAN_DONE 1
- uint8_t scan_status;
-#define I2C_COLUMN_NO_DROPZONE -1
- int8_t dropzone_h;
- int16_t dropzone_x;
- int16_t dropzone_y;
};
extern struct genboard gen;
extern struct mainboard mainboard;
-extern struct mechboard mechboard;
-extern struct sensorboard sensorboard;
+extern struct cobboard cobboard;
+extern struct ballboard ballboard;
/* start the bootloader */
void bootloader(void);