cob detection

[aversive.git] / projects / microb2010 / mainboard / main.h

diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h
index 367718f..c38a234 100755 (executable)
--- a/projects/microb2010/mainboard/main.h
+++ b/projects/microb2010/mainboard/main.h
@@ -19,6 +19,8 @@
  *
  */
 
+/* was mechboard in 2009 */
+
 #define LED_TOGGLE(port, bit) do {             \
                if (port & _BV(bit))            \
                        port &= ~_BV(bit);      \
@@ -119,7 +121,7 @@
 #define I2C_POLL_PRIO       20
 #define EEPROM_TIME_PRIO    10
 
-#define CS_PERIOD 5000L /* in microsecond */ 
+#define CS_PERIOD 5000L /* in microsecond */
 #define CS_HZ (1000000. / CS_PERIOD)
 
 #define NB_LOGS 4
@@ -194,6 +196,8 @@ struct mainboard {
 struct cobboard {
        uint8_t mode;
        uint8_t status;
+       uint8_t lspickle;
+       uint8_t rspickle;
        int16_t left_cobroller_speed;
        int16_t right_cobroller_speed;
        uint8_t cob_count;
@@ -204,6 +208,8 @@ struct ballboard {
        volatile uint8_t mode;
        uint8_t status;
        uint8_t ball_count;
+       uint8_t lcob;
+       uint8_t rcob;
 };
 
 extern struct genboard gen;