Code-Work @ lowlevel

source/AVR_Studio/Soccer/Soccer.c

@@ -10,7 +10,7 @@ Sensor sensor;
 
 int main() {
 	//board.ledOn();
-	sleep(1);
+	sleep(2);
 	int speed = 255;
 	/*for(int i=-255;i<=255;i+=30) {
 		board.motor(0,i);
@@ -25,6 +25,8 @@ int main() {
 	board.motor(3, speed);
 	PORTB |= (1 << PB5) | (1 << PB7); // Setze PWM-Ports auf high
 	PORTE |= (1 << PE3) | (1 << PE4); 
+	//sleep(10);
+	while(true) { sleep(1); }
 	/*sleep(10);
 	board.motor(0, 0);
 	board.motor(1, 0);
@@ -33,23 +35,24 @@ int main() {
 	//while(true) { sleep(1); }
 	//board.beep(450);
 	//board.ledOn();
-	//keylcd.print("test");
+	/*keylcd.print("test");
-	//sleep(1);
+	sleep(1);
 	//board.ledOff();
 	//sleep(1);
-	/*for(int i=0;i<keylcd.error();i++) {
+	for(int i=0;i<keylcd.error();i++) {
 		board.ledOn();
 		sleep(1);
 		board.ledOff();
 		sleep(1);
 	}
+	
 	board.ledOn();
 	uart1_puts("18");
 	uart1_puts("Hallo Du! Hier ist dein AtMega128\n");
 	sleep(1);
 	board.ledOff();
 	sleep(10);
-	//board.ledOff();	
+	//board.ledOff();*/	
 	
 	while(true) {
 	navigation.Aktualisieren(0,0,speed);
@@ -61,7 +64,7 @@ int main() {
 	navigation.Aktualisieren(270,0,speed);
 	sleep(2);
 
-	}*/
+	}
 	
 
 

source/AVR_Studio/Soccer/default/Makefile

@@ -34,7 +34,7 @@ HEX_EEPROM_FLAGS += --change-section-lma .eeprom=0
 
 
 ## Objects that must be built in order to link
-OBJECTS = Soccer.o board.o keylcd.o i2c.o global.o uart.o navigation.o sensor.o ballsensor.o 
+OBJECTS = Soccer.o board.o keylcd.o i2c.o global.o uart.o navigation.o sensor.o ballsensor.o maussensor.o 
 
 ## Objects explicitly added by the user
 LINKONLYOBJECTS = 
@@ -70,6 +70,9 @@ sensor.o: ../sensor/sensor.c
 ballsensor.o: ../sensor/ballsensor.c
 	$(CC) $(INCLUDES) $(CFLAGS) -c  $<
 
+maussensor.o: ../hal/maussensor.c
+	$(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
 ##Link
 $(TARGET): $(OBJECTS)
 	 $(CC) $(LDFLAGS) $(OBJECTS) $(LINKONLYOBJECTS) $(LIBDIRS) $(LIBS) -o $(TARGET)

source/AVR_Studio/Soccer/default/dep/Soccer.o.d

@@ -13,7 +13,9 @@ Soccer.o: ../Soccer.c ../global.h c:/winavr/bin/../avr/include/stdlib.h \
   c:/winavr/bin/../avr/include/util/twi.h \
   c:/winavr/bin/../avr/include/string.h ../navigation.h \
   c:/winavr/bin/../avr/include/math.h ../sensor/sensor.h \
-  ../sensor/../hal/board.h ../sensor/ballsensor.h ../sensor/../global.h
+  ../sensor/../hal/board.h ../sensor/ballsensor.h \
+  ../sensor/../hal/maussensor.h ../sensor/../hal/../global.h \
+  ../sensor/../global.h
 
 ../global.h:
 
@@ -63,4 +65,8 @@ c:/winavr/bin/../avr/include/math.h:
 
 ../sensor/ballsensor.h:
 
+../sensor/../hal/maussensor.h:
+
+../sensor/../hal/../global.h:
+
 ../sensor/../global.h:

source/AVR_Studio/Soccer/default/dep/navigation.o.d

@@ -11,7 +11,8 @@ navigation.o: ../navigation.c ../navigation.h \
   c:/winavr/bin/../avr/include/stdlib.h \
   c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h ../hal/uart.h \
   ../sensor/sensor.h ../sensor/../hal/board.h ../sensor/ballsensor.h \
-  ../sensor/../global.h ../sensor/../hal/board.h
+  ../sensor/../hal/maussensor.h ../sensor/../hal/../global.h \
+  ../sensor/../hal/../hal/board.h ../sensor/../global.h
 
 ../navigation.h:
 
@@ -47,6 +48,10 @@ c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h:
 
 ../sensor/ballsensor.h:
 
-../sensor/../global.h:
+../sensor/../hal/maussensor.h:
 
-../sensor/../hal/board.h:
+../sensor/../hal/../global.h:
+
+../sensor/../hal/../hal/board.h:
+
+../sensor/../global.h:

source/AVR_Studio/Soccer/default/dep/sensor.o.d

@@ -9,8 +9,9 @@ sensor.o: ../sensor/sensor.c ../sensor/sensor.h ../sensor/../hal/board.h \
   c:/winavr/bin/../avr/include/avr/interrupt.h \
   c:/winavr/bin/../avr/include/stdlib.h \
   c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h \
-  ../sensor/../hal/uart.h ../sensor/ballsensor.h ../sensor/../global.h \
+  ../sensor/../hal/uart.h ../sensor/ballsensor.h \
-  ../sensor/../hal/board.h
+  ../sensor/../hal/maussensor.h ../sensor/../hal/../global.h \
+  ../sensor/../hal/../hal/board.h ../sensor/../global.h
 
 ../sensor/sensor.h:
 
@@ -40,6 +41,10 @@ c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h:
 
 ../sensor/ballsensor.h:
 
-../sensor/../global.h:
+../sensor/../hal/maussensor.h:
 
-../sensor/../hal/board.h:
+../sensor/../hal/../global.h:
+
+../sensor/../hal/../hal/board.h:
+
+../sensor/../global.h:

source/AVR_Studio/Soccer/global.h

@@ -13,12 +13,29 @@ inline void sleep(int sec)
   }
 };
 
+inline void msleep(int msec)
+{
+  for (int s=0; s<msec; s++) {
+    for (long int i=0; i<1405; i++) {
+      asm volatile("nop"); 
+    }
+  }
+};
+
 void *operator new(size_t sz);
 void operator delete(void *p);
 
+// Typendefinitionen für den CT-Bot-Code
+typedef unsigned char uint8;                       /*!< vorzeichenlose 8-Bit-Zahl  */
+typedef unsigned int word;                         /*!< vorzeichenlose 16-Bit-Zahl  */
+typedef signed char int8;                          /*!< vorzeichenbehaftete 8-Bit-Zahl */ 
+typedef short int int16;                           /*!< vorzeichenbehaftete 16-Bit-Zahl  */
 
+typedef unsigned long uint32;		/*!< vorzeichenlose 32-Bit-Zahl  */
+typedef signed long int32;			/*!< vorzeichenbehaftete 32-Bit-Zahl  */
 
-
+#define uint16                  word				/*!< Int mit 16 Bit */
+	
 
 /* defines for compatibility */
 #ifndef cbi

source/AVR_Studio/Soccer/sensor/ballsensor.c

@@ -1,11 +1,35 @@
 #include "ballsensor.h"
 
-Ballsensor::Ballsensor() { 
+Ballsensor::Ballsensor() {
+	// Umrechnungstabelle position i in Winkel
+	winkel[0] = 0;
+	winkel[1] = 30;
+	winkel[2] = 60;
+	winkel[3] = 100;
+	winkel[4] = 180;
+	winkel[5] = 260;
+	winkel[6] = 300;
+	winkel[7] = 330;
 }
 
 Ballsensor::~Ballsensor() {
 }
 
 int Ballsensor::getBallwinkel() {
-	return 0;
+	// Erstelle ein Array für die Sensorwerte
+	int sensor[NUM_BALLSENSOR];
+	int result = 0; // und einer Variable fürs Ergebnis
+	int current = 1024; // Setze aktuellen Wert auf Maximum
+
+	// Analoge Sensoren abfragen und eintragen
+	for(int i=0;i<NUM_BALLSENSOR;i++) sensor[i] = board.GetADC(i);
+
+	// Suche den kleinsten Wert
+	for(int i=0;i<NUM_BALLSENSOR;i++) {
+		// Wenn der Sensorwert kleiner ist ist der Ball näher dran
+		if(sensor[i] < current) result = i; // Ergebnis ist erstmal index
+	}
+
+	// Gebe den Winkel zum index result zurück
+	return winkel[result];
 }

source/AVR_Studio/Soccer/sensor/ballsensor.h

@@ -3,11 +3,15 @@
 
 #include "../hal/board.h"
 
+// Anzahl der Ballsensoren
+#define NUM_BALLSENSOR 8
+
 extern Board board;
 
 class Ballsensor
 {
 private:
+	int winkel[NUM_BALLSENSOR];
 public:
 	Ballsensor();
 	~Ballsensor();

source/AVR_Studio/Soccer/sensor/sensor.h

@@ -3,6 +3,7 @@
 
 #include "../hal/board.h"
 #include "ballsensor.h"
+#include "../hal/maussensor.h"
 #include "../global.h"
 
 extern Board board;