Swap encoder GPIO.

[acamilo]

A and B are swapped on both encoders encoder 1 and 2 need to be swapped.

This is the config that works:

define MOTOR_RIGHT_ENCB 26

define MOTOR_RIGHT_ENCA 27

define MOTOR_LEFT_ENCB 32

define MOTOR_LEFT_ENCA 14

It needs to be this

define MOTOR_LEFT_ENCA 26

define MOTOR_LEFT_ENCB 27

define MOTOR_RIGHT_ENCA 32

define MOTOR_RIGHT_ENCB 14

[acamilo]

in 0.9.3/RBE1001.h the left encoder pinout matches BOTH the shim and the zen but the right side has a and B swapped. This is to ensure motors spin in same direction.

4 and 13 go to ROMI Driver BOARD LEFT and 12 and 25 go to ROMI DRIVER BOARD RIGHT so, to EXACTLY MATCH the SHIM. 4/13 and 25/12 need to be SWAPPED at U2 and U3. and the AB swap in the header file is a feature and should not be made on the PCB.

[madhephaestus]

The PCB should exactly match behavior of the 0.9.4 code running on the v3 shim. The same code running on a v3 shim must be interchangeable with the behavior of this module. The v3 shim was tested in terms of functionality and approved given the 0.9.4 software.

[acamilo]

0.9.4 h file	shim
MOTOR_LEFT_PWM 13	13
MOTOR_LEFT_DIR 4	4
MOTOR_RIGHT_PWM 12	12
MOTOR_RIGHT_DIR 25	25
MOTOR_LEFT_ENCA 27	27
MOTOR_LEFT_ENCB 26	26
MOTOR_RIGHT_ENCA 32	14 !
MOTOR_RIGHT_ENCB 14	32 !

Please confirm the swap on the right encoder is intentional.

[madhephaestus]

the v2 and v3 are backwards, the v2 is top of the repo in 0.10.0, please do not look at 0.10.0 thats exists to deal with the errors this term. version 0.9.4 is correct.

[acamilo]

Ok, I have checked 0.9.4 against the v3 shim. and the v3 shim matches the edits in the v2 zen PCB.

I think we're all set with the motors and encoders.