text: /*! \file hardware_description_constants.h
   *
   * \brief Arduino pin mapping
   *
   *  Created on: 7 Nov 2017
   *      Author: idelpino
   */
  
  #ifndef HEADERS_HARDWARE_DESCRIPTION_CONSTANTS_H_
  #define HEADERS_HARDWARE_DESCRIPTION_CONSTANTS_H_
  
  //! I2C COMUNICATIONS SLAVES
  #define I2C_SLAVEADDRTEENSY 0x33 // Slave addres for Teensy
  #define I2C_SLAVEADDRADC    0x62 // Slave addres for DAC
  
  //! Arduino Pins
  
  //Steering
  #define PIN_INA		    12
  #define PIN_INB             10
  #define PIN_PWM              9
  #define PIN_ERRA             8
  #define PIN_ERRB            11
  #define PIN_LSL             26
  #define PIN_LSR             27
  #define PIN_INT_LS          18
  
  //Speed
  #define PIN_CH1             48
  #define PIN_CH2             49
  
  //Hardware
  #define ON_BOARD_EMERGENCY_SWITCH    29
  #define HORN                         38
  #define LED_R                        44
  #define LED_G                        45
  #define LED_B                        46
  #define ENABLE_MOTORS                41 // low = enabled
  #define BRAKE                        39 // high = braking;
  
  #endif /* HEADERS_HARDWARE_DESCRIPTION_CONSTANTS_H_ */
  