robotics/include/motorconfig3.h

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/* Includes */
#include    "esos.h"
#include    "esos_pic24.h"

#define NUM_MOTORS_USED_3 1

#define MOTOR_PRESCALER_3 64  //1, 8, 64, or 256

#define MOTOR_IRQ_LEVEL_3 2  //1-4 for ESOS; 1-7 otherwise

#define MOTOR_PULSE_PERIOD_3 usToU16Ticks(400, MOTOR_PRESCALER_3);  //initialize to 400us (2.5KHz)  



#define MOTOR_3_1_DIR_PORT_1 _LATB8

#define MOTOR_3_1_DIR_PORT_2 _LATB7

#define CONFIG_MOTOR_3_1()   {CONFIG_RB8_AS_DIG_OUTPUT(); \
                              CONFIG_RB7_AS_DIG_OUTPUT(); \
                              CONFIG_OC1_TO_RP(6);}

#define MOTOR_3_2_DIR_PORT_1 _LATB<X>
#define MOTOR_3_2_DIR_PORT_2 _LATB<Y>
#define CONFIG_MOTOR_3_2()       {CONFIG_RB<X>_AS_DIG_OUTPUT(); \
                              CONFIG_RB<Y>_AS_DIG_OUTPUT(); \
                              CONFIG_OC2_TO_RP(<Z>);}

#define MOTOR_3_3_DIR_PORT_1 _LATB<X>
#define MOTOR_3_3_DIR_PORT_2 _LATB<Y>
#define CONFIG_MOTOR_3_3()       {CONFIG_RB<X>_AS_DIG_OUTPUT(); \
                              CONFIG_RB<Y>_AS_DIG_OUTPUT(); \
                              CONFIG_OC3_TO_RP(<Z>);}

#define MOTOR_3_4_DIR_PORT_1 _LATB<X>
#define MOTOR_3_4_DIR_PORT_2 _LATB<Y>
#define CONFIG_MOTOR_3_4()       {CONFIG_RB<X>_AS_DIG_OUTPUT(); \
                              CONFIG_RB<Y>_AS_DIG_OUTPUT(); \
                              CONFIG_OC4_TO_RP(<Z>);}

#define MOTOR_3_5_DIR_PORT_1 _LATB<X>
#define MOTOR_3_5_DIR_PORT_2 _LATB<Y>
#define CONFIG_MOTOR_3_5()       {CONFIG_RB<X>_AS_DIG_OUTPUT(); \
                              CONFIG_RB<Y>_AS_DIG_OUTPUT(); \
                              CONFIG_OC5_TO_RP(<Z>);}

#define MOTOR_3_6_DIR_PORT_1 _LATB<X>
#define MOTOR_3_6_DIR_PORT_2 _LATB<Y>
#define CONFIG_MOTOR_3_6()       {CONFIG_RB<X>_AS_DIG_OUTPUT(); \
                              CONFIG_RB<Y>_AS_DIG_OUTPUT(); \
                              CONFIG_OC6_TO_RP(<Z>);}

#define MOTOR_3_7_DIR_PORT_1 _LATB<X>
#define MOTOR_3_7_DIR_PORT_2 _LATB<Y>
#define CONFIG_MOTOR_3_7()       {CONFIG_RB<X>_AS_DIG_OUTPUT(); \
                              CONFIG_RB<Y>_AS_DIG_OUTPUT(); \
                              CONFIG_OC7_TO_RP(<Z>);}

#define MOTOR_3_8_DIR_PORT_1 _LATB<X>
#define MOTOR_3_8_DIR_PORT_2 _LATB<Y>
#define CONFIG_MOTOR_3_8()       {CONFIG_RB<X>_AS_DIG_OUTPUT(); \
                              CONFIG_RB<Y>_AS_DIG_OUTPUT(); \
                              CONFIG_OC8_TO_RP(<Z>);}

#include        "motor3.h"

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