2 * Copyright Droids Corporation (2008)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: main.h,v 1.3 2009-03-15 20:08:51 zer0 Exp $
22 #define LED1_ON() sbi(PORTE, 2)
23 #define LED1_OFF() cbi(PORTE, 2)
25 #define LED2_ON() sbi(PORTE, 3)
26 #define LED2_OFF() cbi(PORTE, 3)
28 #define ARM_MOT_PWM (&arm.pwm1B)
29 #define SCANNER_MOT_PWM (&arm.pwm1A)
32 #define ARM_ENC ((void *)0)
33 #define SCANNER_ENC ((void *)1)
35 #define CS_PERIOD 5000L
44 struct pid_filter pid_mot;
45 struct quadramp_filter qr_mot;
52 #define MAX_SAMPLE (1200L)
55 extern struct arm arm;
56 extern struct arm scanner;
58 extern uint8_t sample_tab[MAX_SAMPLE];
60 extern int32_t last_tour_n;
61 extern int32_t last_tour_pos;
64 #define SCANNER_STEP_TOUR (3532L)
66 extern float offset_a;