Mihkel Vallap
/
mbed_mainboard_source
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Dependencies: USBDevice mbed motor
Fork of
mbed_mainboard_source
by 
Karl Oskar Lember
Diff: definitions.h
- Revision:
- 0:da5127da2ba0
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/definitions.h Thu Oct 13 15:25:01 2016 +0000
@@ -0,0 +1,27 @@
+#ifndef DEFINITIONS_H_
+#define DEFINITIONS_H_ value
+
+#define NUMBER_OF_MOTORS 3
+
+#define MOTOR_PWM(n) MOTOR ## n ## _PWM
+#define MOTOR_DIR1(n) MOTOR ## n ## _DIR1
+#define MOTOR_DIR2(n) MOTOR ## n ## _DIR2
+#define MOTOR_FAULT(n) MOTOR ## n ## _FAULT
+#define MOTOR_ENCA(n) MOTOR ## n ## _ENCA
+#define MOTOR_ENCB(n) MOTOR ## n ## _ENCB
+
+#define MOTOR_ENC_TICK(i) void motor ## i ## EncTick() { \
+ uint8_t enc_dir; \
+ motorEncNow[i] = MotorEncA[i]->read() | (MotorEncB[i]->read() << 1); \
+ enc_dir = (motorEncLast[i] & 1) ^ ((motorEncNow[i] & 2) >> 1); \
+ motorEncLast[i] = motorEncNow[i]; \
+ \
+ if (enc_dir & 1) motorTicks[i]++; \
+ else motorTicks[i]--; \
+ }
+
+#define MOTOR_PID_TICK(i) void motor ## i ## PidTick() { \
+ motors[i].pid2(motorTicks[i]); \
+ motorTicks[i] = 0; \
+ }
+#endif