69 lines
2.2 KiB
C
69 lines
2.2 KiB
C
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/*
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* c't-Bot
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*
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* This program is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General
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* Public License as published by the Free Software
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* Foundation; either version 2 of the License, or (at your
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* option) any later version.
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* This program is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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* PURPOSE. See the GNU General Public License for more details.
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* You should have received a copy of the GNU General Public
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* License along with this program; if not, write to the Free
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* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
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* MA 02111-1307, USA.
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*
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*/
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/*! @file behaviour_servo.c
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* @brief kontrolliert die Servos
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*
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* @author Benjamin Benz (bbe@heise.de)
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* @date 07.12.06
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*/
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#include "bot-logic/bot-logik.h"
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#ifdef BEHAVIOUR_SERVO_AVAILABLE
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#include "motor.h"
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#include "timer.h"
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/*! Uebergabevariable fuer Servo-Verhalten */
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static uint16 servo_time;
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static uint8 servo_nr;
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static uint8 servo_pos;
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uint8 servo_active = 0; /*!< 0, wenn kein Servo aktiv, sonst Bit der gerade aktiven Servos gesetzt */
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/*!
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* Dieses Verhalten fuehrt ein Servo-Kommando aus und schaltet danach den Servo wieder ab
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*
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* @param *data der Verhaltensdatensatz
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*/
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void bot_servo_behaviour(Behaviour_t *data){
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/* Servo ausschalten, falls Klappe zu oder Countdown abgelaufen */
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if ( (servo_pos == DOOR_CLOSE && sensDoor == 0) || (TIMER_GET_TICKCOUNT_16 - servo_time > MS_TO_TICKS(1000L)) ){
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servo_set(servo_nr, SERVO_OFF); // Servo aus
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servo_active &= ~servo_nr;
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return_from_behaviour(data); // und Verhalten auch aus
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}
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}
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/*!
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* Fahre den Servo an eine Position
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* @param servo Nummer des Servos
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* @param pos Zielposition des Servos
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*/
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void bot_servo(Behaviour_t * caller, uint8 servo, uint8 pos){
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servo_active |= servo;
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servo_set(servo, pos); // Servo-PWM einstellen
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servo_pos = pos; // Zielposition merken
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servo_nr = servo; // Servo-Nr speichern
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servo_time = TIMER_GET_TICKCOUNT_16; // Der Count down verschafft dem Servo etwas Zeit
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switch_to_behaviour(caller,bot_servo_behaviour,OVERRIDE); // Warte-Verahlten an
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}
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#endif
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