Mihkel Vallap / Mbed 2 deprecated mbed_mainboard_source

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Dependencies:   USBDevice mbed motor

Fork of mbed_mainboard_source by Karl Oskar Lember

definitions.h@0:da5127da2ba0, 2016-10-13 (annotated)

Committer:
kolibakter
Date:
Thu Oct 13 15:25:01 2016 +0000
Revision:
0:da5127da2ba0
Added copy from https://github.com/jaantti/Mainboard-mbed-source. Made some changes to serial comminucation.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kolibakter 0:da5127da2ba0 1 #ifndef DEFINITIONS_H_
kolibakter 0:da5127da2ba0 2 #define DEFINITIONS_H_ value
kolibakter 0:da5127da2ba0 3
kolibakter 0:da5127da2ba0 4 #define NUMBER_OF_MOTORS 3
kolibakter 0:da5127da2ba0 5
kolibakter 0:da5127da2ba0 6 #define MOTOR_PWM(n) MOTOR ## n ## _PWM
kolibakter 0:da5127da2ba0 7 #define MOTOR_DIR1(n) MOTOR ## n ## _DIR1
kolibakter 0:da5127da2ba0 8 #define MOTOR_DIR2(n) MOTOR ## n ## _DIR2
kolibakter 0:da5127da2ba0 9 #define MOTOR_FAULT(n) MOTOR ## n ## _FAULT
kolibakter 0:da5127da2ba0 10 #define MOTOR_ENCA(n) MOTOR ## n ## _ENCA
kolibakter 0:da5127da2ba0 11 #define MOTOR_ENCB(n) MOTOR ## n ## _ENCB
kolibakter 0:da5127da2ba0 12
kolibakter 0:da5127da2ba0 13 #define MOTOR_ENC_TICK(i) void motor ## i ## EncTick() { \
kolibakter 0:da5127da2ba0 14 uint8_t enc_dir; \
kolibakter 0:da5127da2ba0 15 motorEncNow[i] = MotorEncA[i]->read() | (MotorEncB[i]->read() << 1); \
kolibakter 0:da5127da2ba0 16 enc_dir = (motorEncLast[i] & 1) ^ ((motorEncNow[i] & 2) >> 1); \
kolibakter 0:da5127da2ba0 17 motorEncLast[i] = motorEncNow[i]; \
kolibakter 0:da5127da2ba0 18 \
kolibakter 0:da5127da2ba0 19 if (enc_dir & 1) motorTicks[i]++; \
kolibakter 0:da5127da2ba0 20 else motorTicks[i]--; \
kolibakter 0:da5127da2ba0 21 }
kolibakter 0:da5127da2ba0 22
kolibakter 0:da5127da2ba0 23 #define MOTOR_PID_TICK(i) void motor ## i ## PidTick() { \
kolibakter 0:da5127da2ba0 24 motors[i].pid2(motorTicks[i]); \
kolibakter 0:da5127da2ba0 25 motorTicks[i] = 0; \
kolibakter 0:da5127da2ba0 26 }
kolibakter 0:da5127da2ba0 27 #endif