Kaarel Adamson / MCH-united

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Dependencies:   USBDevice mbed motor

Zlatan-mbed/definitions.h@2:17457e177f52, 2017-01-04 (annotated)

Committer:
adamsonk
Date:
Wed Jan 04 10:32:52 2017 +0000
Revision:
2:17457e177f52
Parent:
1:110cb8bdfb71 
Mainboardi kood viki jaoks

Who changed what in which revision?

UserRevisionLine numberNew contents of line
adamsonk 0:4d372883a5b4 1 #ifndef DEFINITIONS_H_
adamsonk 0:4d372883a5b4 2 #define DEFINITIONS_H_ value
adamsonk 0:4d372883a5b4 3
adamsonk 0:4d372883a5b4 4 #define NUMBER_OF_MOTORS 3
adamsonk 0:4d372883a5b4 5
adamsonk 0:4d372883a5b4 6 #define MOTOR_PWM(n) MOTOR ## n ## _PWM
adamsonk 0:4d372883a5b4 7 #define MOTOR_DIR1(n) MOTOR ## n ## _DIR1
adamsonk 0:4d372883a5b4 8 #define MOTOR_DIR2(n) MOTOR ## n ## _DIR2
adamsonk 0:4d372883a5b4 9 #define MOTOR_FAULT(n) MOTOR ## n ## _FAULT
adamsonk 0:4d372883a5b4 10 #define MOTOR_ENCA(n) MOTOR ## n ## _ENCA
adamsonk 0:4d372883a5b4 11 #define MOTOR_ENCB(n) MOTOR ## n ## _ENCB
adamsonk 0:4d372883a5b4 12
adamsonk 0:4d372883a5b4 13 #define MOTOR_ENC_TICK(i) void motor ## i ## EncTick() { \
adamsonk 0:4d372883a5b4 14 uint8_t enc_dir; \
adamsonk 0:4d372883a5b4 15 motorEncNow[i] = MotorEncA[i]->read() | (MotorEncB[i]->read() << 1); \
adamsonk 0:4d372883a5b4 16 enc_dir = (motorEncLast[i] & 1) ^ ((motorEncNow[i] & 2) >> 1); \
adamsonk 0:4d372883a5b4 17 motorEncLast[i] = motorEncNow[i]; \
adamsonk 0:4d372883a5b4 18 \
adamsonk 0:4d372883a5b4 19 if (enc_dir & 1) motorTicks[i]++; \
adamsonk 0:4d372883a5b4 20 else motorTicks[i]--; \
adamsonk 0:4d372883a5b4 21 }
adamsonk 0:4d372883a5b4 22
adamsonk 0:4d372883a5b4 23 #define MOTOR_PID_TICK(i) void motor ## i ## PidTick() { \
adamsonk 0:4d372883a5b4 24 motors[i].pid2(motorTicks[i]); \
adamsonk 0:4d372883a5b4 25 motorTicks[i] = 0; \
adamsonk 0:4d372883a5b4 26 }
adamsonk 0:4d372883a5b4 27 #endif