*
*/
+/* was sensorboard in 2009 */
+
#define LED_TOGGLE(port, bit) do { \
if (port & _BV(bit)) \
port &= ~_BV(bit); \
#define ROBOT_HALF_LENGTH_REAR 120
#define ROBOT_WIDTH 320
+#ifdef HOST_VERSION
+#define ROBOT_ANGLE_FRONT 0.
+#else
+#define ROBOT_ANGLE_FRONT 0.75 // 0.27
+#endif
+
/* 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 1024
+#define IMP_ENCODERS 1000
#define WHEEL_DIAMETER_MM 42.9
#define WHEEL_PERIM_MM (WHEEL_DIAMETER_MM * M_PI)
#define IMP_COEF 10.
#define CS_PRIO 100
#define STRAT_PRIO 30
#define I2C_POLL_PRIO 20
+#define BEACON_PRIO 15
#define EEPROM_TIME_PRIO 10
-#define CS_PERIOD 5000L /* in microsecond */
+#define CS_PERIOD ((5000L/SCHEDULER_UNIT)*SCHEDULER_UNIT) /* in microsecond */
#define CS_HZ (1000000. / CS_PERIOD)
#define NB_LOGS 4
struct cobboard {
uint8_t mode;
uint8_t status;
+ uint8_t lspickle;
+ uint8_t rspickle;
int16_t left_cobroller_speed;
int16_t right_cobroller_speed;
uint8_t cob_count;
/* state of ballboard, synchronized through i2c */
struct ballboard {
- uint8_t mode;
+ volatile uint8_t mode;
uint8_t status;
uint8_t ball_count;
+ uint8_t lcob;
+ uint8_t rcob;
+};
+
+/* state of beaconboard, sync'd through uart */
+struct beaconboard {
+ int16_t oppx;
+ int16_t oppy;
+ int16_t oppa;
+ int16_t oppd;
+ uint16_t posx;
+ uint16_t posy;
+ uint16_t posa; /* between 0 and 3600 */
};
extern struct genboard gen;
extern struct mainboard mainboard;
-extern struct cobboard cobboard;
-extern struct ballboard ballboard;
+extern volatile struct cobboard cobboard;
+extern volatile struct ballboard ballboard;
+extern volatile struct beaconboard beaconboard;
/* start the bootloader */
void bootloader(void);