X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fmain.h;h=80469eab6c773cab3ed4afc447d487435df45989;hp=0d07a9c599cc271103714d9c2cbbf40f90472802;hb=f1fab48d45873bc23dccbae5db393afd2942570c;hpb=0c4732c1e255ea56aa766b772dfdb6be49620830

diff --git a/projects/microb2010/cobboard/main.h b/projects/microb2010/cobboard/main.h
index 0d07a9c..80469ea 100755
--- a/projects/microb2010/cobboard/main.h
+++ b/projects/microb2010/cobboard/main.h
@@ -19,6 +19,8 @@
  *
  */
 
+/* was mechboard 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)
@@ -46,16 +48,16 @@
 #define BRAKE_ON()      do { PORTJ |= 0xF0; } while(0)
 #define BRAKE_OFF()     do { PORTJ &= 0x0F; } while(0)
 
-#define LEFT_SPICKLE_ENCODER   ((void *)0)
-#define RIGHT_SPICKLE_ENCODER  ((void *)1)
+#define RIGHT_SPICKLE_ENCODER  ((void *)0)
+#define LEFT_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 RIGHT_SPICKLE_PWM      ((void *)&gen.pwm1_4A)
+#define LEFT_SPICKLE_PWM       ((void *)&gen.pwm2_4B)
 #define SHOVEL_PWM             ((void *)&gen.pwm3_1A)
 
 /** ERROR NUMS */
@@ -119,6 +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 */