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Code-Work :)

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This commit is contained in:
sicarius 2007-02-15 19:03:00 +00:00
parent c6ec20e5e7
commit 7393d1d12c
8 changed files with 1247 additions and 1179 deletions
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26
source/AVR_Studio/Soccer/hal/board.c
View file

@ -31,13 +31,13 @@ Board::Board() {
DDRG = (1 << PG0) | (1 << PG1) | (1 << PG2) | (1 << PG3) | (1 << PG4);
PORTG = (1 << PG0) | (1 << PG1);
// aktiviere Kanal A+C auf PWM1 mit 8Bit
//TCCR1A = (1<< COM1A1) | (1<< COM1C1) | (1<< WGM10);
//TCCR1B = (1<<ICNC1) | (1<<CS12) | (1<<CS10); // set clock/prescaler 1/1024 -> enable counter
// aktiviere Kanal A+B auf PWM1 mit 8Bit
TCCR1A = (1<< COM1A1) | (1<< COM1B1) | (1<< WGM10);
TCCR1B = (1<<ICNC1) | (1<<CS12) | (1<<CS10); // set clock/prescaler 1/1024 -> enable counter
// aktiviere Kanal A+B auf PWM3 mit 8Bit
//TCCR3A = (1<< COM3A1) | (1<< COM3B1) | (1<< WGM10);
//TCCR3B = (1<<ICNC3) | (1<<CS32) | (1<<CS30); // set clock/prescaler 1/1024 -> enable counter
TCCR3A = (1<< COM3A1) | (1<< COM3B1) | (1<< WGM10);
TCCR3B = (1<<ICNC3) | (1<<CS32) | (1<<CS30); // set clock/prescaler 1/1024 -> enable counter
// Schalte Motoren auf 0
motor(0,0);
@ -45,6 +45,10 @@ Board::Board() {
motor(2,0);
motor(3,0);
// Kicker-richtung einstellen
PORTE &= ~(1 << PE6); // Pin2 low
PORTA |= (1 << PA2); // Pin1 high
// Uart-Interface einschalten
uart1_init( 10); // 9600 BAUD bei 16MHz Atmel
@ -198,27 +202,35 @@ void Board::motor(int i, int speed)
MOTOR2_PORT |= MOTOR2_A;//In 1 ein
}
}
else if(i == 3)
else if(i == 3) // Dribbler... hier haben wir kein PWM
{
DRIBBLER_PWM = pwm;
if(speed > 0)
{
DRIBBLER_PORT |= DRIBBLER_A;//In 1 ein
DRIBBLER_PORT &= ~DRIBBLER_B;//In 2 aus
DRIBBLER_PWMPORT |= DRIBBLER_PWM;
}
else if(speed < 0)
{
DRIBBLER_PORT |= DRIBBLER_B;//In 2 ein
DRIBBLER_PORT &= ~DRIBBLER_A;//In 1 aus
DRIBBLER_PWMPORT |= DRIBBLER_PWM;
}
else
{
DRIBBLER_PORT |= DRIBBLER_B;//In 2 ein
DRIBBLER_PORT |= DRIBBLER_A;//In 1 ein
DRIBBLER_PWMPORT &= ~DRIBBLER_PWM;
}
}
}
void Board::kicker() {
KICKER_AN
usleep(KICKER_USLEEP);
KICKER_AUS
}
//PWM routine für den Beeper
ISR (TIMER0_OVF_vect)
{

42
source/AVR_Studio/Soccer/hal/board.h
View file

@ -11,26 +11,33 @@
#define BEEPER_PIN PG2
// Definiere Konstanten für die Motoren/Dribbler
#define MOTOR0_PORT PORTD
#define MOTOR0_PWM OCR3A
#define MOTOR0_A (1 << 5)
#define MOTOR0_B (1 << 4)
// Definiere Konstanten für die Motoren/Dribbler
#define MOTOR0_PORT PORTB
#define MOTOR0_PWM OCR1A
#define MOTOR0_A (1 << 0)
#define MOTOR0_B (1 << 1)
#define MOTOR1_PORT PORTD
#define MOTOR1_PWM OCR3B
#define MOTOR1_A (1 << 6)
#define MOTOR1_B (1 << 7)
#define MOTOR1_PORT PORTB
#define MOTOR1_PWM OCR1B
#define MOTOR1_A (1 << 2)
#define MOTOR1_B (1 << 3)
#define MOTOR2_PORT PORTB
#define MOTOR2_PWM OCR1A
#define MOTOR2_A (1 << 0)
#define MOTOR2_B (1 << 1)
#define MOTOR2_PORT PORTD
#define MOTOR2_PWM OCR3A
#define MOTOR2_A (1 << 5)
#define MOTOR2_B (1 << 4)
#define DRIBBLER_PORT PORTB
#define DRIBBLER_PWM OCR1C
#define DRIBBLER_A (1 << 2)
#define DRIBBLER_B (1 << 3)
#define DRIBBLER_PORT PORTD
#define DRIBBLER_PWMPORT PORTA
#define DRIBBLER_PWM (1 << 5)
#define DRIBBLER_A (1 << 6)
#define DRIBBLER_B (1 << 7)
// Kicker
#define KICKER_AN PORTG |= (1 << PG3);
#define KICKER_AUS PORTG &= ~(1 << PG3);
#define KICKER_USLEEP 10
// Definiere Konstanten für Abstandsensoren
#define ABSTAND_PORT PORTC
@ -54,6 +61,7 @@ public:
void ledOff();
void led(bool status);
void motor(int i, int speed);
void kicker();
};
#endif