X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fmain.h;h=c248644f85e356ba22dff3c2f7e20fa6c7833ebc;hp=78fccc4685c1cdb2355407d213baf5c8c2bc9e1a;hb=09e0cfb842943982e9fa3c4792c097bf4be25360;hpb=5918edd6f4f713ef3c8b0b0020dd30a4fb8222ae

diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h
index 78fccc4..c248644 100755
--- a/projects/microb2010/mainboard/main.h
+++ b/projects/microb2010/mainboard/main.h
@@ -66,14 +66,19 @@
 #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 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)
 
-#define LEFT_PUMP1_PWM      ((void *)&gen.pwm3_1A)
-#define LEFT_PUMP2_PWM      ((void *)&gen.pwm4_1B)
 
 /** ERROR NUMS */
 #define E_USER_STRAT           194
@@ -110,7 +115,7 @@ struct genboard {
 	struct pwm_ng servo2;
 	struct pwm_ng servo3;
 	struct pwm_ng servo4;
-	
+
 	/* ax12 interface */
 	AX12 ax12;
 
@@ -142,6 +147,8 @@ 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 +161,28 @@ 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);