X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fmain.h;h=47512856da38f19edb24b9fbd31c421dcd2e5b86;hp=dce48255edf7fdbfecb9148d169a1613d4dd32f3;hb=aa68be2d5d596693bda1109e4ccd6489f613b4f7;hpb=57b3e145f2ff46e1a7e7d522c85f3c56821dbf48

diff --git a/projects/microb2010/cobboard/main.h b/projects/microb2010/cobboard/main.h
index dce4825..4751285 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
@@ -19,6 +19,8 @@
  *
  */
 
+/* was sensorboard in 2009 */
+
 #define LED_TOGGLE(port, bit) do {		\
 		if (port & _BV(bit))		\
 			port &= ~_BV(bit);	\
@@ -30,13 +32,13 @@
 #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)
@@ -50,6 +52,10 @@
 #define RIGHT_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 SHOVEL_PWM             ((void *)&gen.pwm3_1A)
@@ -90,7 +96,7 @@ struct genboard {
 	struct pwm_ng servo2;
 	struct pwm_ng servo3;
 	struct pwm_ng servo4;
-	
+
 	/* ax12 interface */
 	AX12 ax12;
 
@@ -102,6 +108,7 @@ struct genboard {
 
 struct cs_block {
 	uint8_t on;
+	int32_t prev;
         struct cs cs;
         struct pid_filter pid;
 	struct quadramp_filter qr;
@@ -114,6 +121,7 @@ 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 */