X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fmain.h;h=0c12fdc13e965501a72e6297d3d849f795df4dd0;hp=33fb8338ba688b3f53a82dd013ad1405be5e66f3;hb=b022f257a5ee568737e1a684a83d0154397fffcb;hpb=8d6a47e9e21a9a31f4bc12d32fb3d11091a4b305

diff --git a/projects/microb2010/cobboard/main.h b/projects/microb2010/cobboard/main.h
index 33fb833..0c12fdc 100755
--- a/projects/microb2010/cobboard/main.h
+++ b/projects/microb2010/cobboard/main.h
@@ -1,6 +1,6 @@
-/*  
+/*
  *  Copyright Droids Corporation (2009)
- * 
+ *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or
@@ -30,13 +30,13 @@
 #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)
@@ -48,11 +48,15 @@
 
 #define LEFT_SPICKLE_ENCODER   ((void *)0)
 #define RIGHT_SPICKLE_ENCODER  ((void *)1)
-#define SHOVEL_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 SHOVEL_PWM             ((void *)&gen.pwm2_4B)
+#define SHOVEL_PWM             ((void *)&gen.pwm3_1A)
 
 /** ERROR NUMS */
 #define E_USER_I2C_PROTO       195
@@ -64,6 +68,7 @@
 
 #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
@@ -89,7 +94,7 @@ struct genboard {
 	struct pwm_ng servo2;
 	struct pwm_ng servo3;
 	struct pwm_ng servo4;
-	
+
 	/* ax12 interface */
 	AX12 ax12;
 
@@ -101,6 +106,7 @@ struct genboard {
 
 struct cs_block {
 	uint8_t on;
+	int32_t prev;
         struct cs cs;
         struct pid_filter pid;
 	struct quadramp_filter qr;
@@ -113,6 +119,7 @@ struct cobboard {
 #define DO_CS        2
 #define DO_BD        4
 #define DO_POWER     8
+#define DO_ERRBLOCKING 16
 	uint8_t flags;                /* misc flags */
 
 	/* control systems */
@@ -124,6 +131,10 @@ struct cobboard {
 	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;