Code for TÜ mbed mainboard

Dependencies:   USBDevice mbed motor

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pins.h

00001 #ifndef PINS_H_
00002 #define PINS_H_
00003 #include "mbed.h"
00004 #include "definitions.h"
00005 
00006 
00007 PwmOut MOTOR0_PWM(P2_3);
00008 DigitalOut MOTOR0_DIR1(P0_21);
00009 DigitalOut MOTOR0_DIR2(P0_20);
00010 DigitalIn MOTOR0_FAULT(P0_22);
00011 InterruptIn MOTOR0_ENCA(P0_19);
00012 InterruptIn MOTOR0_ENCB(P0_18);
00013 
00014 //Testing pins
00015 //PwmOut MOTOR0_PWM(p26);
00016 //DigitalOut MOTOR0_DIR1(p20);
00017 //DigitalOut MOTOR0_DIR2(p19);
00018 //DigitalIn MOTOR0_FAULT(p18);
00019 //InterruptIn MOTOR0_ENCA(p17);
00020 //InterruptIn MOTOR0_ENCB(p16);
00021 
00022 PwmOut MOTOR1_PWM(P2_2);
00023 DigitalOut MOTOR1_DIR1(P0_15);
00024 DigitalOut MOTOR1_DIR2(P0_16);
00025 DigitalIn MOTOR1_FAULT(P0_17);
00026 InterruptIn MOTOR1_ENCA(P2_7);
00027 InterruptIn MOTOR1_ENCB(P2_6);
00028 // Testing pins
00029 //InterruptIn MOTOR1_ENCA(p21);
00030 //InterruptIn MOTOR1_ENCB(p22);
00031 
00032 PwmOut MOTOR2_PWM(P2_1);
00033 DigitalOut MOTOR2_DIR1(P0_24);
00034 DigitalOut MOTOR2_DIR2(P0_25);
00035 DigitalIn MOTOR2_FAULT(P0_23);
00036 InterruptIn MOTOR2_ENCA(P0_26);
00037 InterruptIn MOTOR2_ENCB(P0_9);
00038 
00039 PwmOut MOTOR3_PWM(P2_0);
00040 DigitalOut MOTOR3_DIR1(P0_7);
00041 DigitalOut MOTOR3_DIR2(P0_6);
00042 DigitalIn MOTOR3_FAULT(P0_8);
00043 InterruptIn MOTOR3_ENCA(P0_5);
00044 InterruptIn MOTOR3_ENCB(P0_4);
00045 
00046 PwmOut* MotorPwm[] = {
00047     &MOTOR0_PWM,
00048     &MOTOR1_PWM,
00049     &MOTOR2_PWM,
00050     #if NUMBER_OF_MOTORS == 4
00051     &MOTOR3_PWM
00052     #endif
00053 };
00054 
00055 DigitalOut* MotorDir1[] = {
00056     &MOTOR0_DIR1,
00057     &MOTOR1_DIR1,
00058     &MOTOR2_DIR1,
00059     #if NUMBER_OF_MOTORS == 4
00060     &MOTOR3_DIR1
00061     #endif
00062 };
00063 
00064 DigitalOut* MotorDir2[] = {
00065     &MOTOR0_DIR2,
00066     &MOTOR1_DIR2,
00067     &MOTOR2_DIR2,
00068     #if NUMBER_OF_MOTORS == 4
00069     &MOTOR3_DIR2
00070     #endif
00071 };
00072 
00073 DigitalIn* MotorFault[] = {
00074     &MOTOR0_FAULT,
00075     &MOTOR1_FAULT,
00076     &MOTOR2_FAULT,
00077     #if NUMBER_OF_MOTORS == 4
00078     &MOTOR3_FAULT
00079     #endif
00080 };
00081 
00082 InterruptIn* MotorEncA[] = {
00083     &MOTOR0_ENCA,
00084     &MOTOR1_ENCA,
00085     &MOTOR2_ENCA,
00086     #if NUMBER_OF_MOTORS == 4
00087     &MOTOR3_ENCA
00088     #endif
00089 };
00090 
00091 InterruptIn* MotorEncB[] = {
00092     &MOTOR0_ENCB,
00093     &MOTOR1_ENCB,
00094     &MOTOR2_ENCB,
00095     #if NUMBER_OF_MOTORS == 4
00096     &MOTOR3_ENCB
00097     #endif
00098 };
00099 
00100 
00101 #endif