X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fmain.h;h=2fdd212c2551b74e165f534c51d8503518be411d;hp=7f210588b0418ebb4db2891ce689d688fdc09101;hb=4fb57a4dab8bd564445e824696a2dab470af8628;hpb=57b3e145f2ff46e1a7e7d522c85f3c56821dbf48

diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h
index 7f21058..2fdd212 100755
--- a/projects/microb2010/mainboard/main.h
+++ b/projects/microb2010/mainboard/main.h
@@ -66,16 +66,20 @@
 #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 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 RIGHT_PWM           ((void *)&gen.pwm1_4A)
+#define LEFT_PWM            ((void *)&gen.pwm2_4B)
 #define LEFT_COBROLLER_PWM  ((void *)&gen.pwm3_1A)
 #define RIGHT_COBROLLER_PWM ((void *)&gen.pwm4_1B)
 
+#define SUPPORT_BALLS_R_SERVO ((void *)&gen.servo2)
+#define SUPPORT_BALLS_L_SERVO ((void *)&gen.servo3)
+
+
 /** ERROR NUMS */
 #define E_USER_STRAT           194
 #define E_USER_I2C_PROTO       195
@@ -163,6 +167,9 @@ struct mainboard {
 struct cobboard {
 	uint8_t mode;	
 	uint8_t status;
+	int16_t left_cobroller_speed;
+	int16_t right_cobroller_speed;
+	uint8_t cob_count;
 };
 
 /* state of ballboard, synchronized through i2c */