diff options
Diffstat (limited to 'source/AVR_Studio/Soccer/hal/board.h')
| -rwxr-xr-x | source/AVR_Studio/Soccer/hal/board.h | 42 |
1 files changed, 25 insertions, 17 deletions
diff --git a/source/AVR_Studio/Soccer/hal/board.h b/source/AVR_Studio/Soccer/hal/board.h index 445ffa4..a76aeb7 100755 --- a/source/AVR_Studio/Soccer/hal/board.h +++ b/source/AVR_Studio/Soccer/hal/board.h @@ -11,26 +11,33 @@ #define BEEPER_PIN PG2
-// Definiere Konstanten für die Motoren/Dribbler -#define MOTOR0_PORT PORTD
-#define MOTOR0_PWM OCR3A -#define MOTOR0_A (1 << 5) -#define MOTOR0_B (1 << 4) +// Definiere Konstanten für die Motoren/Dribbler
+#define MOTOR0_PORT PORTB
+#define MOTOR0_PWM OCR1A +#define MOTOR0_A (1 << 0) +#define MOTOR0_B (1 << 1) -#define MOTOR1_PORT PORTD
-#define MOTOR1_PWM OCR3B -#define MOTOR1_A (1 << 6) -#define MOTOR1_B (1 << 7) +#define MOTOR1_PORT PORTB
+#define MOTOR1_PWM OCR1B +#define MOTOR1_A (1 << 2) +#define MOTOR1_B (1 << 3)
-#define MOTOR2_PORT PORTB
-#define MOTOR2_PWM OCR1A -#define MOTOR2_A (1 << 0) -#define MOTOR2_B (1 << 1) +#define MOTOR2_PORT PORTD
+#define MOTOR2_PWM OCR3A +#define MOTOR2_A (1 << 5) +#define MOTOR2_B (1 << 4) -#define DRIBBLER_PORT PORTB
-#define DRIBBLER_PWM OCR1C -#define DRIBBLER_A (1 << 2) -#define DRIBBLER_B (1 << 3)
+#define DRIBBLER_PORT PORTD
+#define DRIBBLER_PWMPORT PORTA
+#define DRIBBLER_PWM (1 << 5) +#define DRIBBLER_A (1 << 6) +#define DRIBBLER_B (1 << 7) + +// Kicker
+#define KICKER_AN PORTG |= (1 << PG3);
+#define KICKER_AUS PORTG &= ~(1 << PG3);
+#define KICKER_USLEEP 10
+
// Definiere Konstanten für Abstandsensoren
#define ABSTAND_PORT PORTC
@@ -54,6 +61,7 @@ public: void ledOff();
void led(bool status);
void motor(int i, int speed);
+ void kicker();
};
#endif
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