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authorNicolas Schodet2011-04-19 21:26:15 +0200
committerNicolas Schodet2011-04-19 21:26:15 +0200
commit4cd9c4458eaa49c269171145f4bc2a184948eae1 (patch)
tree780cdc9493bfcfd2907a61cce62ff8a6f64a0c45 /digital/mimot/src/dirty/pwm.h
parente2594ccdadae65d7e7473e51fb8bfbbd49c04a24 (diff)
digital/mimot: switch to differential drive
Diffstat (limited to 'digital/mimot/src/dirty/pwm.h')
-rw-r--r--digital/mimot/src/dirty/pwm.h18
1 files changed, 9 insertions, 9 deletions
diff --git a/digital/mimot/src/dirty/pwm.h b/digital/mimot/src/dirty/pwm.h
index a751ee9e..e48f66b9 100644
--- a/digital/mimot/src/dirty/pwm.h
+++ b/digital/mimot/src/dirty/pwm.h
@@ -39,34 +39,34 @@ struct pwm_t
int16_t min;
};
-extern struct pwm_t pwm_aux[AC_ASSERV_AUX_NB];
+extern struct pwm_t pwm_left, pwm_right;
extern uint8_t pwm_reverse;
/** Define current PWM value for each output. */
#define PWM_VALUE(x) PWM_VALUE_ (x)
#define PWM_VALUE_(x) PWM_VALUE_ ## x
-#define PWM_VALUE_pwm_aux0 pwm_aux[0].cur
-#define PWM_VALUE_pwm_aux1 pwm_aux[1].cur
+#define PWM_VALUE_pwm_left pwm_left.cur
+#define PWM_VALUE_pwm_right pwm_right.cur
/** Define maximum PWM value for each output. */
#define PWM_MAX_FOR(x) PWM_MAX_FOR_ (x)
#define PWM_MAX_FOR_(x) PWM_MAX_FOR_ ## x
-#define PWM_MAX_FOR_pwm_aux0 PWM_MAX
-#define PWM_MAX_FOR_pwm_aux1 PWM_MAX
+#define PWM_MAX_FOR_pwm_left PWM_MAX
+#define PWM_MAX_FOR_pwm_right PWM_MAX
/** Define minimum PWM value for each output, if the value is less than the
* minimum, use 0. */
#define PWM_MIN_FOR(x) PWM_MIN_FOR_ (x)
#define PWM_MIN_FOR_(x) PWM_MIN_FOR_ ## x
-#define PWM_MIN_FOR_pwm_aux0 0x10
-#define PWM_MIN_FOR_pwm_aux1 0x10
+#define PWM_MIN_FOR_pwm_left 0x10
+#define PWM_MIN_FOR_pwm_right 0x10
/** Define which bit controls the PWM inversion. */
#define PWM_REVERSE_BIT(x) PWM_REVERSE_BIT_ (x)
#define PWM_REVERSE_BIT_(x) PWM_REVERSE_BIT_ ## x
-#define PWM_REVERSE_BIT_pwm_aux0 _BV (0)
-#define PWM_REVERSE_BIT_pwm_aux1 _BV (1)
+#define PWM_REVERSE_BIT_pwm_left _BV (0)
+#define PWM_REVERSE_BIT_pwm_right _BV (1)
/** State init macro. */
#define PWM_INIT_FOR(x) \