This software is targeted to the uMOB/uRRC hardware 1.1
Reference the schematic in the Users Guide (1.1 or 1.1a) 
for details on how the CPU is connected.

The software base supports the OSMC and LMD18200 H-Bridge 
signal specification.  WARNING: DO NOT MIX THE TWO! 

There are a variety of make options.  The default is to target
the OSMC.  You can override the default by adding "BUILD=LMD18200" 
to the following commands e.g. "make BUILD=LMD18200":

make        - builds .hex and .obj (debugger) files for the OSMC
make burn   - builds .hex and burns via STK500 command line
make clean  - deletes everything but source and rebuilds

make all    - builds both OSMC and LMD18200 files from scratch

For simplicity both hex files are included in this 
distribution.  To program the uRRC/uMOB hardware for 
OSMC usage, load the file "OSMC.hex", to program for 
using with an LMD18200, load the file "LMD18200.hex"

Signal wiring for the LMD18200:

CPU      Left OSMC    Right OSMC    LMD18200
PIN      Connector    Connector     Signal
---      ---------    ----------    --------
 8        4            --            BRAKE
 7        6            --            PWM
 6        8            --            DIR

 13       --           4             BRAKE
 3        --           6             PWM
 2        --           8             DIR


Feedback appreciated!  In particular, if you have a different
H-Bridge you wish to drive, let me know the signal particulars and
a new version of this code base will be generated as time permits.

Larry Barello
larry@barello.net

March 11, 2002
