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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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Information/Hardware/Portbelegung.ods
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56
source/AVR_Studio/Soccer/Soccer.c
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@ -11,23 +11,48 @@ Sensor sensor;
int main() {
//board.ledOn();
sleep(2);
uart1_puts("Hallo hier ist das RNMega128Funk-Board");
int speed = 255;
/*for(int i=-255;i<=255;i+=30) {
board.motor(0, speed);
board.motor(1, speed);
board.motor(2, speed);
sleep(2);
navigation.Aktualisieren(180,0,speed);
while(true) { sleep(1); }
/*board.motor(0,speed);
board.motor(2,speed);
sleep(2);
board.motor(0,speed);
board.motor(2,0);
board.motor(1,speed);
sleep(2);
for(int i=-255;i<=255;i+=10) {
board.motor(0,i);
board.motor(1,i);
board.motor(2,i);
board.motor(3,i);
sleep(1);
}*/
msleep(500);
}
board.motor(0, speed);
board.motor(1, speed);
board.motor(2, speed);
board.motor(3, speed);
PORTB |= (1 << PB5) | (1 << PB6); // Setze PWM-Ports auf high
PORTE |= (1 << PE3); // | (1 << PE4);
PORTA |= (1 << PA4); // | (1 << PA5);
while(true) { sleep(1); }*/
/*
//PORTB |= (1 << PB5) | (1 << PB6); // Setze PWM-Ports auf high
//PORTE |= (1 << PE3); // | (1 << PE4);
//PORTA |= (1 << PA5); // | (1 << PA5);
//sleep(10);
while(true) { sleep(1); }
*/
/*sleep(10);
board.motor(0, 0);
board.motor(1, 0);
@ -56,15 +81,14 @@ int main() {
//board.ledOff();*/
while(true) {
navigation.Aktualisieren(0,0,speed);
sleep(2);
navigation.Aktualisieren(90,0,speed);
sleep(2);
navigation.Aktualisieren(180,0,speed);
sleep(2);
navigation.Aktualisieren(270,0,speed);
sleep(2);
navigation.Aktualisieren(0,0,speed);
sleep(2);
navigation.Aktualisieren(90,0,speed);
sleep(2);
navigation.Aktualisieren(180,0,speed);
sleep(2);
navigation.Aktualisieren(270,0,speed);
sleep(2);
}

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source/AVR_Studio/Soccer/default/Soccer.elf
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2279
source/AVR_Studio/Soccer/default/Soccer.hex
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26
source/AVR_Studio/Soccer/hal/board.c
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@ -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)
{

40
source/AVR_Studio/Soccer/hal/board.h
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@ -12,25 +12,32 @@
#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)
#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 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
#define DRIBBLER_PORT PORTB
#define DRIBBLER_PWM OCR1C
#define DRIBBLER_A (1 << 2)
#define DRIBBLER_B (1 << 3)
// 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

16
source/AVR_Studio/Soccer/navigation.c
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@ -28,21 +28,21 @@ void Navigation::SetzeGeschwindigkeit(int nGeschwindigkeit) {
// Aktualieren ohne Parameter
void Navigation::Aktualisieren() {
// Richtung in x und y-Kompontente zerlegen
float y = cos(richtung); // richtung ist winkel
float x = sin(richtung);
double y = cos(richtung); // richtung ist winkel
double x = sin(richtung);
// Abweichung der Ausrichtung ermitteln(als winkel)
int w = sensor.GetAusrichtung() - ausrichtung;
// Stärke der einzelnen Motoren berechnen
float v0 = x;
float v1 = (-x+sqrt(3)*y)/2;
float v2 = (-x-sqrt(3)*y)/2;
double v0 = (-x-sqrt(3)*y)/2;
double v1 = x;
double v2 = (-x+sqrt(3)*y)/2;
// Ausgerechnete Stärke an die Motoren übergeben
board.motor(0,(int)v0*geschwindigkeit +w);
board.motor(1,(int)v1*geschwindigkeit +w);
board.motor(2,(int)v2*geschwindigkeit +w);
board.motor(0,(int)((double)v0*geschwindigkeit +w));
board.motor(1,(int)((double)v1*geschwindigkeit +w));
board.motor(2,(int)((double)v2*geschwindigkeit +w));
}
// Aktualieren mit allen Parametern

5
source/AVR_Studio/Soccer/sensor/ballsensor.c
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@ -34,7 +34,10 @@ void Ballsensor::Aktualisieren() {
// 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
if(sensor[i] < current) {
result = i; // Ergebnis ist erstmal index
current = sensor[i]; // Setze neuen Vergleichswert
}
}
// Setze den Winkel zum index result