From 5915569747a5280db3849d7c9fe28e42869926a1 Mon Sep 17 00:00:00 2001 From: juice-tea <104785766+juice-tea@users.noreply.github.com> Date: Fri, 23 Jan 2026 11:42:46 -0800 Subject: [PATCH] -Modified OpenExo_Board_V0_6_Maxon to match PCBA pin configs --- ExoCode/src/Board.h | 35 +++++++++++++++++++---------------- 1 file changed, 19 insertions(+), 16 deletions(-) diff --git a/ExoCode/src/Board.h b/ExoCode/src/Board.h index 4149333..f2bf6e2 100644 --- a/ExoCode/src/Board.h +++ b/ExoCode/src/Board.h @@ -467,10 +467,10 @@ #if defined(ARDUINO_TEENSY41) //Maxon motor Pins const unsigned int maxon_err_right_pin = 37; - const unsigned int maxon_err_left_pin = 37; - const unsigned int maxon_ctrl_left_pin = not_connected_pin; + const unsigned int maxon_err_left_pin = 36; + const unsigned int maxon_ctrl_left_pin = A8; const unsigned int maxon_ctrl_right_pin = A9; - const unsigned int maxon_current_left_pin = not_connected_pin; + const unsigned int maxon_current_left_pin = A0; const unsigned int maxon_current_right_pin = A1; const unsigned int maxon_pwm_neutral_val = 2048; const unsigned int maxon_pwm_u_bound = 3690; @@ -483,31 +483,34 @@ const unsigned int volt_sense = not_connected_pin; //Serial Pins, NC - const unsigned int rx1_pin = not_connected_pin; - const unsigned int tx1_pin = not_connected_pin; + const unsigned int rx1_pin = 35; + const unsigned int tx1_pin = 34; //CAN Pins const unsigned int can_rx_pin = not_connected_pin; const unsigned int can_tx_pin = not_connected_pin; //FSR Pins - const unsigned int fsr_sense_left_heel_pin = not_connected_pin; - const unsigned int fsr_sense_left_toe_pin = not_connected_pin; - const unsigned int fsr_sense_right_heel_pin= 17; - const unsigned int fsr_sense_right_toe_pin = 16; + const unsigned int fsr_sense_left_heel_pin = A14; + const unsigned int fsr_sense_left_toe_pin = A15; + const unsigned int fsr_sense_right_heel_pin= A3; + const unsigned int fsr_sense_right_toe_pin = A2; //Torque Sensor Pins (This will need to be updated/fixed) const unsigned int num_available_joints = 2; //const unsigned int torque_sensor_left[] = {A16, A17}; - const unsigned int torque_sensor_left[] = {A6}; + const unsigned int torque_sensor_left[] = {A16}; //const unsigned int torque_sensor_left1 = A16; //const unsigned int torque_sensor_right[] = {A6, A7}; const unsigned int torque_sensor_right[] = {A6}; //const unsigned int torque_sensor_right1 = A8; //Sync LED Pins - const unsigned int sync_led_pin = not_connected_pin; + const unsigned int sync_led_pin = A17; const unsigned int sync_default_pin = not_connected_pin; + + const unsigned int SmBusSDA = A4; + const unsigned int SmBusSCL = A5; #endif //Arduino compiles all files not just the ones that are used so this is not under teensy to prevent errors @@ -516,9 +519,9 @@ #if defined(ARDUINO_TEENSY41) //Status LED Pins - const unsigned int status_led_r_pin = not_connected_pin; - const unsigned int status_led_g_pin = not_connected_pin; - const unsigned int status_led_b_pin = not_connected_pin; + const unsigned int status_led_r_pin = A7; + const unsigned int status_led_g_pin = A10; + const unsigned int status_led_b_pin = A11; #endif //If you have connected to pins with PWM set to true. @@ -547,8 +550,8 @@ const unsigned int speed_check_pin = not_connected_pin; - const unsigned int left_ankle_angle_pin = not_connected_pin; - const unsigned int right_ankle_angle_pin = A8; + const unsigned int left_ankle_angle_pin = A13; + const unsigned int right_ankle_angle_pin = A12; // I2C // SDA 18