X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fmain.h;h=48655eb0024f9263e9caa0741c9ac10cb270682c;hp=78fccc4685c1cdb2355407d213baf5c8c2bc9e1a;hb=fa8546ea39c7442ad3bf5a822a72a2b50a41045d;hpb=5918edd6f4f713ef3c8b0b0020dd30a4fb8222ae

diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h
index 78fccc4..48655eb 100755
--- a/projects/microb2010/mainboard/main.h
+++ b/projects/microb2010/mainboard/main.h
@@ -26,6 +26,29 @@
 			port |= _BV(bit);	\
 	} while(0)
 
+#ifdef HOST_VERSION
+#define LED1_ON()
+#define LED1_OFF()
+#define LED1_TOGGLE()
+
+#define LED2_ON()
+#define LED2_OFF()
+#define LED2_TOGGLE()
+
+#define LED3_ON()
+#define LED3_OFF()
+#define LED3_TOGGLE()
+
+#define LED4_ON()
+#define LED4_OFF()
+#define LED4_TOGGLE()
+
+#define BRAKE_DDR()
+#define BRAKE_ON()
+#define BRAKE_OFF()
+
+#else
+
 #define LED1_ON() 	sbi(PORTJ, 2)
 #define LED1_OFF() 	cbi(PORTJ, 2)
 #define LED1_TOGGLE() 	LED_TOGGLE(PORTJ, 2)
@@ -45,35 +68,42 @@
 #define BRAKE_DDR()     do { DDRJ |= 0xF0; } while(0)
 #define BRAKE_ON()      do { PORTJ |= 0xF0; } while(0)
 #define BRAKE_OFF()     do { PORTJ &= 0x0F; } while(0)
+#endif
 
 /* only 90 seconds, don't forget it :) */
 #define MATCH_TIME 89
 
 /* decrease track to decrease angle */
-#define EXT_TRACK_MM 302.0188
+#define EXT_TRACK_MM 304.61875
 #define VIRTUAL_TRACK_MM EXT_TRACK_MM
 
-#define ROBOT_LENGTH 320
+#define ROBOT_HALF_LENGTH_FRONT 130
+#define ROBOT_HALF_LENGTH_REAR 120
 #define ROBOT_WIDTH 320
 
-/* it is a 2048 imps -> 8192 because we see 1/4 period
- * and diameter: 55mm -> perimeter 173mm 
- * 8192/173 -> 473 */
+/* it is a 1024 imps -> 4096 because we see 1/4 period
+ * and diameter: 55mm -> perimeter 134mm
+ * dist_imp_mm = 4096/134 x 10 -> 304 */
 /* increase it to go further */
-#define IMP_ENCODERS 2048
-#define WHEEL_DIAMETER_MM 55.0
+#define IMP_ENCODERS 1024
+#define WHEEL_DIAMETER_MM 42.9
 #define WHEEL_PERIM_MM (WHEEL_DIAMETER_MM * M_PI)
 #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 RIGHT_ENCODER           ((void *)0)
+#define LEFT_ENCODER            ((void *)1)
+#define LEFT_COBROLLER_ENCODER  ((void *)2)
+#define RIGHT_COBROLLER_ENCODER ((void *)3)
+
+#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 LEFT_PWM            ((void *)&gen.pwm1_4A)
-#define RIGHT_PWM           ((void *)&gen.pwm2_4B)
+#define SUPPORT_BALLS_R_SERVO ((void *)&gen.servo2)
+#define SUPPORT_BALLS_L_SERVO ((void *)&gen.servo3)
 
-#define LEFT_PUMP1_PWM      ((void *)&gen.pwm3_1A)
-#define LEFT_PUMP2_PWM      ((void *)&gen.pwm4_1B)
 
 /** ERROR NUMS */
 #define E_USER_STRAT           194
@@ -89,7 +119,8 @@
 #define I2C_POLL_PRIO       20
 #define EEPROM_TIME_PRIO    10
 
-#define CS_PERIOD 5000L
+#define CS_PERIOD 5000L /* in microsecond */ 
+#define CS_HZ (1000000. / CS_PERIOD)
 
 #define NB_LOGS 4
 
@@ -110,7 +141,7 @@ struct genboard {
 	struct pwm_ng servo2;
 	struct pwm_ng servo3;
 	struct pwm_ng servo4;
-	
+
 	/* ax12 interface */
 	AX12 ax12;
 
@@ -142,6 +173,8 @@ struct mainboard {
 	/* control systems */
         struct cs_block angle;
         struct cs_block distance;
+        struct cs_block left_cobroller;
+        struct cs_block right_cobroller;
 
 	/* x,y positionning */
 	struct robot_system rs;
@@ -154,54 +187,28 @@ struct mainboard {
 	volatile int16_t speed_d;     /* current dist speed */
 	int32_t pwm_l;                /* current left pwm */
 	int32_t pwm_r;                /* current right pwm */
-	uint8_t enable_pickup_wheels; /* these PWM are on sensorboard */
-
 };
 
-/* state of mechboard, synchronized through i2c */
-struct mechboard {
-	uint8_t mode;	
+/* state of cobboard, synchronized through i2c */
+struct cobboard {
+	uint8_t mode;
 	uint8_t status;
-	int8_t lintel_count;
-	uint8_t column_flags;
-	
-	/* pwm */
-	int16_t pump_left1;
-	int16_t pump_right1;
-	int16_t pump_left2;
-	int16_t pump_right2;
-
-	/* currents (for left arm, we can just read it on adc) */
-	int16_t pump_right1_current;
-	int16_t pump_right2_current;
-	
-	/* pwm for lintel servos */
-	uint16_t servo_lintel_left;
-	uint16_t servo_lintel_right;
+	int16_t left_cobroller_speed;
+	int16_t right_cobroller_speed;
+	uint8_t cob_count;
 };
 
-/* state of sensorboard, synchronized through i2c */
-struct sensorboard {
+/* state of ballboard, synchronized through i2c */
+struct ballboard {
+	uint8_t mode;
 	uint8_t status;
-	/* opponent pos */
-	int16_t opponent_x;
-	int16_t opponent_y;
-	int16_t opponent_a;
-	int16_t opponent_d;
-
-	/* scanner */
-#define I2C_SCAN_DONE 1
-	uint8_t scan_status;
-#define I2C_COLUMN_NO_DROPZONE -1
-	int8_t dropzone_h;
-	int16_t dropzone_x;
-	int16_t dropzone_y;
+	uint8_t ball_count;
 };
 
 extern struct genboard gen;
 extern struct mainboard mainboard;
-extern struct mechboard mechboard;
-extern struct sensorboard sensorboard;
+extern struct cobboard cobboard;
+extern struct ballboard ballboard;
 
 /* start the bootloader */
 void bootloader(void);