323 lines
6.5 KiB
C++
323 lines
6.5 KiB
C++
//------------------------------------------------------------------
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// qfixMega128Board.h
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//
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// This file contains the class Mega128Board which represents the
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// physical Mega128Board with all its inputs and outputs.
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//
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// Copyright 2005 by KTB mechatronics GmbH
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// Author: Stefan Enderle, Florian Schrapp
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//------------------------------------------------------------------
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#include "qfix.h"
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#ifndef qfixMega128Board_h
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#define qfixMega128Board_h
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static int speedMotor0 = 50;
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static int speedMotor1 = 50;
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class Mega128Board
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{
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public:
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/** Constructor for the robot board class.
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*/
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Mega128Board();
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/** Puts on LED i
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*/
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void ledOn(int i);
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/** Puts off LED i
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*/
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void ledOff(int i);
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/** Puts off all LEDs
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*/
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void ledsOff();
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/** Puts LED i on if state is true, else off
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*/
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void led(int i, bool state);
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/** Uses the four LEDs on the board to display the value i
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* with 0 <= i <= 255
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*/
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void ledMeter(int i);
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/** Puts the power output i on
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*/
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void powerOn(int i);
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/** Puts the power output i off
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*/
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void powerOff(int i);
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/** Puts the power output i on if state is true, else off
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*/
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void power(int i, bool state);
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/** Checks the state of button i. If it is pressed, true is returned,
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* else false.
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*/
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bool button(int i);
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/** Sets motor i to the given speed. -255 <= speed <= 255
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*/
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void motor(int i, int speed);
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/** Sets both motors to the given speed. -255 <= speed <= 255
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*/
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void motors(int speed0, int speed1);
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/** Puts off both motors.
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*/
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void motorsOff();
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/** returns the value of the analog port i. 0 <= value <= 255
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*/
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int analog(int i);
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/** returns true if the digital port is logical high, else false.
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*/
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bool digital(int i);
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};
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// PWM routine //
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SIGNAL (SIG_OVERFLOW0)
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{
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const int OFFSET=50; // motor does not work with very low ratio
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static int counter=255+OFFSET;
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if (speedMotor1==0) cbi(PORTB, 6); // enable1 = 0
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else if (abs(speedMotor1)+OFFSET >= counter) sbi(PORTB, 6); // enable1 = 1
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else cbi(PORTB, 6); // enable1 = 0
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if (speedMotor0==0) cbi(PORTB, 7); // enable2 = 0
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else if (abs(speedMotor0)+OFFSET >= counter) sbi(PORTB, 7); // enable2 = 1
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else cbi(PORTB, 7); // enable2 = 0
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if (counter==0) counter=255+OFFSET;
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else counter--;
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}
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void initTimer()
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{
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TCCR0=1; // timer 0 for interrupt
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TIMSK=1;
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sei(); // enable interrupts
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}
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Mega128Board::Mega128Board()
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{
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// Port A: motors input
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DDRA = 4+8+16+64; // all motors output
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PORTA = 0; // clear all bits = motors off
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// Port B: motors enable
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DDRB = 64+128; // upper bits output
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PORTB = 0; // clear bit 6 and 7 = motors off
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// Port C: power output //
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DDRC = 255; // default direction port C: all bits output
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PORTC = 0; // clear all bits: power on
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// Port D: I2C //
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DDRD = 0; // all bits input
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PORTD = 1+2; // set bits 0,1 -> I2C pullUps
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// Port E: leds + buttons //
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DDRE = 4+8+16+32; // pin 2-5 leds output; pin 6+7 input for buttons 0+1
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PORTE |= 4+8+16+32; // set leds off
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PORTE |= 64+128; // set pullups for buttons 0+1
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// Port F: analog in + digital in //
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DDRF = 0; // all bits input
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// Port G: buttons //
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DDRG = 0; // pin 3+4 input for buttons 2+3
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PORTG |= 8+16; // set pullups for buttons 3+4
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initTimer();
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}
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void Mega128Board::ledOn(int i)
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{
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if ((i<0) || (i>3)) return;
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cbi(PORTE, i+2); // clear bit -> LED on
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}
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void Mega128Board::ledOff(int i)
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{
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if ((i<0) || (i>3)) return;
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sbi(PORTE, i+2); // set bit -> LED off
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}
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void Mega128Board::ledsOff()
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{
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ledOff(0);
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ledOff(1);
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ledOff(2);
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ledOff(3);
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}
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void Mega128Board::led(int i, bool state)
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{
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if (state) ledOn(i); else ledOff(i);
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}
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void Mega128Board::ledMeter(int i)
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{
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led(0, (i>50));
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led(1, (i>100));
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led(2, (i>150));
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led(3, (i>200));
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}
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void Mega128Board::powerOn(int i)
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{
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if ((i<0) || (i>7)) return;
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cbi(PORTC, i);
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}
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void Mega128Board::powerOff(int i)
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{
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if ((i<0) || (i>7)) return;
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sbi(PORTC, i);
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}
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void Mega128Board::power(int i, bool state)
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{
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if (state) powerOn(i); else powerOff(i);
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}
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bool Mega128Board::button(int i)
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{
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if ((i<0) || (i>3)) return false;
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else if (i==0 || i ==1){
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return ((PINE & (64<<i)) == 0); //wenn pina=0 button gedr<64>ckt => 0&1=false, also 0==0 => true
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}
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else if (i==2 || i==3){
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return ((PING & (2<<i)) == 0);
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}
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else return false;
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}
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void Mega128Board::motor(int i, int speed)
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{
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if ((i<0) || (i>1)) return;
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if (i==1) {
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speedMotor1 = speed;
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if (speed==0) {
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cbi(PORTA, 2); // input1 = 0
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cbi(PORTA, 3); // input2 = 0
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//cbi(PORTB, 6); // enable1 = 0
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}
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else if (speed>0) {
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sbi(PORTA, 2); // input1 = 1
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cbi(PORTA, 3); // input2 = 0
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//sbi(PORTB, 6); // enable1 = 1
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}
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else {
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cbi(PORTA, 2); // input1 = 0
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sbi(PORTA, 3); // input2 = 1
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}
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}
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if (i==0) {
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speedMotor0 = speed;
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if (speed==0) {
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cbi(PORTA, 4); // input3 = 0
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cbi(PORTA, 5); // input4 = 0
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//cbi(PORTB, 7); // enable2 = 0
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}
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else if (speed>0){
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sbi(PORTA, 4); // input3 = 1
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cbi(PORTA, 5); // input4 = 0
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//sbi(PORTB, 7); // enable2 = 1
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}
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else {
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cbi(PORTA, 4); // input3 = 0
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sbi(PORTA, 5); // input4 = 1
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}
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}
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}
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void Mega128Board::motors(int motor0, int motor1)
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{
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motor(0,motor0);
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motor(1,motor1);
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}
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void Mega128Board::motorsOff()
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{
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motor(0,0);
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motor(1,0);
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}
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// return 0-255 //
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int Mega128Board::analog(int i)
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{
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if ((i<0) || (i>7)) return -1;
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ADCSRA=128; // set A/D enable bit (ADEN)
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ADMUX=i; // select analog input and start A/D
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sbi(ADMUX, ADLAR); // left adjust -> we use only ADCH
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sbi(ADCSRA, ADSC); // start conversion
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while (ADCSRA & 64); // wait until ADSC is low again
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int value = ADCH; // read 8 bit value fom ADCH
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return value;
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}
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bool Mega128Board::digital(int i)
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{
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if ((i<0) || (i>7)) return false; // bad solution...
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ADCSRA=0; // clear A/D enable bit (ADEN)
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PORTF |= (1<<i); // set pullups for digital inputs
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return (PINF & (1<<i)) ;
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}
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#endif
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