eb_jaws: Use expansion port number defines + do not use FSM for servo control.

diff --git a/src/eb_jaws_11/main.c b/src/eb_jaws_11/main.c
index 4a990edf48e469c214b12c9c74458b20cba9717e..4d007910ee76f2e1b1145cae6de1342acc8f822d 100644 (file)
--- a/src/eb_jaws_11/main.c
+++ b/src/eb_jaws_11/main.c
@@ -34,6 +34,7 @@
 #include "def.h"
 #include <adc.h>
 #include <servo.h>
+#include <expansion.h>
 
 #define        CAN_SPEED       1000000         //< CAN bus speed
 #define CAN_ISR                0
@@ -45,14 +46,14 @@
 
 #define TIMER_IRQ_PRIORITY     5
 
-#define BUMPER_LEFT    18              
-#define BUMPER_RIGHT   9
+#define BUMPER_LEFT     EXPPORT_5
+#define BUMPER_RIGHT   EXPPORT_4
 
-#define BUMPER_LEFT_ACROSS     19
-#define BUMPER_RIGHT_ACROSS    17
+#define BUMPER_LEFT_ACROSS     EXPPORT_6
+#define BUMPER_RIGHT_ACROSS    EXPPORT_8
 
-#define BUMPER_REAR_LEFT       15
-#define BUMPER_REAR_RIGHT      2
+#define BUMPER_REAR_LEFT       EXPPORT_7
+#define BUMPER_REAR_RIGHT      EXPPORT_1
 
 struct fsm fsm_jaw_right;
 struct fsm fsm_jaw_left;
@@ -189,7 +190,7 @@ void CAN_rx(can_msg_t *msg) {
 void init_periphery(void){
   
        can_init_baudrate(CAN_SPEED, CAN_ISR, CAN_rx);//initialization of CAN bus       
-       init_motors();
+       //init_motors();
        
        /* init timer0 */
        init_timer0(1, CPU_APB_HZ/100000);
@@ -434,25 +435,25 @@ int main(void)
 
                        //dbg_print_time();
 
-                       fsm_jaw_left.act_pos = adc_val[0];
-                       run_fsm(&fsm_jaw_left);
+                       //fsm_jaw_left.act_pos = adc_val[0];
+                       //run_fsm(&fsm_jaw_left);
                        
-                       fsm_jaw_right.act_pos = adc_val[1];
-                       run_fsm(&fsm_jaw_right);
+                       //fsm_jaw_right.act_pos = adc_val[1];
+                       //run_fsm(&fsm_jaw_right);
                  
                }
 
-               if (timer_msec >= status_time_left + 100 || //repeat sending message every 100 ms
-                   fsm_jaw_left.trigger_can_send) {   //or when something important happen
-                       fsm_jaw_left.trigger_can_send = false;
+               if (timer_msec >= status_time_left + 100 /*|| //repeat sending message every 100 ms
+                   fsm_jaw_left.trigger_can_send*/) {   //or when something important happen
+                       //fsm_jaw_left.trigger_can_send = false;
                        status_time_left = timer_msec; //save new time, when message was sent
                        can_send_status(&fsm_jaw_left);
 
                }
                 
-                if (timer_msec >= status_time_right + 100 || //repeat sending message every 100 ms
-                    fsm_jaw_right.trigger_can_send) {   //or when something important happen
-                        fsm_jaw_right.trigger_can_send = false;
+                if (timer_msec >= status_time_right + 100 /*|| //repeat sending message every 100 ms
+                    fsm_jaw_right.trigger_can_send*/) {   //or when something important happen
+                        //fsm_jaw_right.trigger_can_send = false;
                         status_time_right = timer_msec; //save new time, when message was sent
                         can_send_status(&fsm_jaw_right);