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Modified OpenExo_Board_V0_6_Maxon to match PCBA pin configs #20

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Modified OpenExo_Board_V0_6_Maxon to match PCBA pin configs #20

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35 changes: 19 additions & 16 deletions ExoCode/src/Board.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -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
Expand All @@ -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.
Expand Down Expand Up @@ -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
Expand Down