Alison Bartsch
/
FreeFlyerROS
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Dependencies: mbed ros_lib_kinetic
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defines_pins.h
00001 #ifndef DEFINES_PINS_H 00002 #define DEFINES_PINS_H 00003 00004 #define FF_DRIVER_VERSION_1_0 0 00005 #define FF_DRIVER_VERSION_2_0 1 00006 #define FF_DRIVER_VERSION_2_1 2 00007 00008 #define FF_DRIVER_VERSION FF_DRIVER_VERSION_2_1 // Set driver version here 00009 00010 #if (FF_DRIVER_VERSION == FF_DRIVER_VERSION_1_0) 00011 00012 #define PIN_THR1 p12 // Thruster pins 00013 #define PIN_THR2 p11 00014 #define PIN_THR3 p8 00015 #define PIN_THR4 p7 00016 #define PIN_THR5 p6 00017 #define PIN_THR6 p5 00018 #define PIN_THR7 p30 00019 #define PIN_THR8 p29 00020 #define PIN_WMPWM p21 // Wheel motor 00021 #define PIN_WMA p27 00022 #define PIN_WMB p28 00023 #define PIN_WENCA p17 // Wheel encoder 00024 #define PIN_WENCB p18 00025 #define PIN_I2CSDA p28 00026 #define PIN_I2CSCL p27 00027 00028 #elif (FF_DRIVER_VERSION == FF_DRIVER_VERSION_2_0) 00029 00030 #define PIN_THR1 p5 // Thruster pins 00031 #define PIN_THR2 p6 00032 #define PIN_THR3 p7 00033 #define PIN_THR4 p8 00034 #define PIN_THR5 p9 00035 #define PIN_THR6 p10 00036 #define PIN_THR7 p11 00037 #define PIN_THR8 p12 00038 #define PIN_WMPWM p26 // Wheel motor 00039 #define PIN_WMA p30 00040 #define PIN_WMB p29 00041 #define PIN_WENCA p25 // Wheel encoder 00042 #define PIN_WENCB p24 00043 #define PIN_I2CSDA p28 // RGB LED 00044 #define PIN_I2CSCL p27 00045 00046 00047 #elif (FF_DRIVER_VERSION == FF_DRIVER_VERSION_2_1) 00048 00049 #define PIN_THR1 p23 // Thruster pins 00050 #define PIN_THR2 p24 00051 #define PIN_THR3 p25 00052 #define PIN_THR4 p26 00053 #define PIN_THR5 p27 00054 #define PIN_THR6 p28 00055 #define PIN_THR7 p29 00056 #define PIN_THR8 p30 00057 #define PIN_WMPWM p21 // Wheel motor 00058 #define PIN_WMA p12 00059 #define PIN_WMB p11 00060 #define PIN_WENCA p13 // Wheel encoder 00061 #define PIN_WENCB p14 00062 #define PIN_I2CSDA p9 // RGB LED 00063 #define PIN_I2CSCL p10 00064 #define PIN_LEDIOE p22 00065 #define ADDR_RGB 0xaa 00066 #define LED_STR0_R PCA_LED7 00067 #define LED_STR0_G PCA_LED4 00068 #define LED_STR0_B PCA_LED6 00069 #define LED_STR0_A PCA_LED5 00070 #define LED_STR1_R PCA_LED3 00071 #define LED_STR1_G PCA_LED0 00072 #define LED_STR1_B PCA_LED2 00073 #define LED_STR1_A PCA_LED1 00074 00075 #endif 00076 00077 #endif
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