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

Committer:
Mihkelval
Date:
2016-11-14
Revision:
3:be341df4265f
Parent:
0:da5127da2ba0

File content as of revision 3:be341df4265f:

#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