Clara Keng
/
FreeFlyerROS_clarakhl
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Dependencies: mbed ros_lib_kinetic
Diff: defines_pins.h
- Revision:
- 1:40bdbe1a93b7
- Child:
- 4:cae255669971
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/defines_pins.h Fri Jun 22 02:09:50 2018 +0000 @@ -0,0 +1,77 @@ +#ifndef DEFINES_PINS_H +#define DEFINES_PINS_H + +#define FF_DRIVER_VERSION_1_0 0 +#define FF_DRIVER_VERSION_2_0 1 +#define FF_DRIVER_VERSION_2_1 2 + +#define FF_DRIVER_VERSION FF_DRIVER_VERSION_2_1 // Set driver version here + +#if (FF_DRIVER_VERSION == FF_DRIVER_VERSION_1_0) + +#define PIN_THR1 p12 // Thruster pins +#define PIN_THR2 p11 +#define PIN_THR3 p8 +#define PIN_THR4 p7 +#define PIN_THR5 p6 +#define PIN_THR6 p5 +#define PIN_THR7 p30 +#define PIN_THR8 p29 +#define PIN_WMPWM p21 // Wheel motor +#define PIN_WMA p27 +#define PIN_WMB p28 +#define PIN_WENCA p17 // Wheel encoder +#define PIN_WENCB p18 +#define PIN_I2CSDA p28 +#define PIN_I2CSCL p27 + +#elif (FF_DRIVER_VERSION == FF_DRIVER_VERSION_2_0) + +#define PIN_THR1 p5 // Thruster pins +#define PIN_THR2 p6 +#define PIN_THR3 p7 +#define PIN_THR4 p8 +#define PIN_THR5 p9 +#define PIN_THR6 p10 +#define PIN_THR7 p11 +#define PIN_THR8 p12 +#define PIN_WMPWM p26 // Wheel motor +#define PIN_WMA p30 +#define PIN_WMB p29 +#define PIN_WENCA p25 // Wheel encoder +#define PIN_WENCB p24 +#define PIN_I2CSDA p28 // RGB LED +#define PIN_I2CSCL p27 + + +#elif (FF_DRIVER_VERSION == FF_DRIVER_VERSION_2_1) + +#define PIN_THR1 p23 // Thruster pins +#define PIN_THR2 p24 +#define PIN_THR3 p25 +#define PIN_THR4 p26 +#define PIN_THR5 p27 +#define PIN_THR6 p28 +#define PIN_THR7 p29 +#define PIN_THR8 p30 +#define PIN_WMPWM p21 // Wheel motor +#define PIN_WMA p11 +#define PIN_WMB p12 +#define PIN_WENCA p14 // Wheel encoder +#define PIN_WENCB p13 +#define PIN_I2CSDA p9 // RGB LED +#define PIN_I2CSCL p10 +#define PIN_LEDIOE p22 +#define ADDR_RGB 0xaa +#define LED_STR0_R PCA_LED7 +#define LED_STR0_G PCA_LED4 +#define LED_STR0_B PCA_LED6 +#define LED_STR0_A PCA_LED5 +#define LED_STR1_R PCA_LED3 +#define LED_STR1_G PCA_LED0 +#define LED_STR1_B PCA_LED2 +#define LED_STR1_A PCA_LED1 + +#endif + +#endif \ No newline at end of file