#define ROLLER_ENCODER ((void *)0)
#define FORKTRANS_ENCODER ((void *)1)
#define FORKROT_ENCODER ((void *)2)
+#define BEACON_ENCODER ((void *)3)
#define ROLLER_PWM ((void *)&gen.pwm1_4A)
#define FORKTRANS_PWM ((void *)&gen.pwm2_4B)
#define FORKROT_PWM ((void *)&gen.pwm3_1A)
-#define XXX_PWM ((void *)&gen.pwm4_1B)
+#define BEACON_PWM ((void *)&gen.pwm4_1B)
-#define BALL_PRESENT_SENSOR 2 /* XXX dummy example */
+#define BEACON_POS_SENSOR 2
/** ERROR NUMS */
#define E_USER_I2C_PROTO 195
#define E_USER_SENSOR 196
#define E_USER_ST_MACH 197
+#define E_USER_BEACON 198
#define LED_PRIO 170
#define TIME_PRIO 160
#define ADC_PRIO 120
#define CS_PRIO 100
+#define BEACON_PRIO 80
#define I2C_POLL_PRIO 20
#define CS_PERIOD 5000L
struct cs_block roller;
struct cs_block forktrans;
struct cs_block forkrot;
+ struct cs_block beacon;
/* robot status */
uint8_t our_color;