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-rw-r--r--Srf10.h6
-rw-r--r--Tcs230.cpp28
-rw-r--r--Tcs230.h31
-rw-r--r--avr.cpp20
-rw-r--r--avr.h3
-rw-r--r--global.h19
-rw-r--r--hardware.cpp11
-rw-r--r--main.cpp133
8 files changed, 227 insertions, 24 deletions
diff --git a/Srf10.h b/Srf10.h
index efb8cfb..c7417b8 100644
--- a/Srf10.h
+++ b/Srf10.h
@@ -1,5 +1,5 @@
-#ifndef SRF10_H_
-#define SRF10_H_
+#ifndef _ROBOCUP_SRF10_H_
+#define _ROBOCUP_SRF10_H_
#include <stdint.h>
@@ -41,4 +41,4 @@ public:
long getDistance() {return distance;}
};
-#endif /*SRF10_H_*/
+#endif
diff --git a/Tcs230.cpp b/Tcs230.cpp
new file mode 100644
index 0000000..796bcb3
--- /dev/null
+++ b/Tcs230.cpp
@@ -0,0 +1,28 @@
+#include "Tcs230.h"
+#include "avr.h"
+
+
+Tcs230::Tcs230()
+{
+ enabled = false;
+ color = Red;
+ scaling = Off;
+}
+
+void Tcs230::setEnabled(bool enabled) {
+ this->enabled = enabled;
+
+ PORTC = (PORTC&~0x40)|(enabled?0x40:0);
+}
+
+void Tcs230::setColor(Tcs230Colors color) {
+ this->color = color;
+
+ PORTC = (PORTC&~0x0C)|((color<<2)&0x0C);
+}
+
+void Tcs230::setScaling(Tcs230Scalings scaling) {
+ this->scaling = scaling;
+
+ PORTC = (PORTC&~0x30)|((scaling<<4)&0x30);
+}
diff --git a/Tcs230.h b/Tcs230.h
new file mode 100644
index 0000000..7f25869
--- /dev/null
+++ b/Tcs230.h
@@ -0,0 +1,31 @@
+#ifndef _ROBOCUP_TCS230_H_
+#define _ROBOCUP_TCS230_H_
+
+enum Tcs230Colors {
+ Red = 0, Blue = 1, Clear = 2, Green = 3
+};
+
+enum Tcs230Scalings {
+ Off = 0, TwoPercent = 1, TwentyPercent = 2, Full = 3
+};
+
+class Tcs230
+{
+private:
+ bool enabled;
+ Tcs230Colors color;
+ Tcs230Scalings scaling;
+public:
+ Tcs230();
+
+ bool getEnabled() {return enabled;}
+ void setEnabled(bool enabled);
+
+ Tcs230Colors getColor() {return color;}
+ void setColor(Tcs230Colors color);
+
+ Tcs230Scalings getScaling() {return scaling;}
+ void setScaling(Tcs230Scalings scaling);
+};
+
+#endif
diff --git a/avr.cpp b/avr.cpp
index fca50fb..cd528ba 100644
--- a/avr.cpp
+++ b/avr.cpp
@@ -1,5 +1,6 @@
#include "avr.h"
#include "adc.h"
+#include "global.h"
#include "util.h"
#include <stdint.h>
@@ -21,3 +22,22 @@ void waitForButton(int i) {
while(getButton() != CLAMP(0, i, 5));
while(getButton() != 0);
}
+
+void beep(unsigned long freq) {
+ const int prescalers[7] = {1, 8, 32, 64, 128, 256, 1024};
+
+ for(int i = 0; i < 7; i++) {
+ if(F_CPU/freq/2/prescalers[i] <= 256) {
+ TCCR2 = (TCCR2&~0x07)|(i+1);
+ OCR2 = F_CPU/freq/2/prescalers[i] - 1;
+
+ return;
+ }
+ }
+
+ beepOff();
+}
+
+void beepOff() {
+ TCCR2 &= ~0x07;
+}
diff --git a/avr.h b/avr.h
index c75d4cf..851f1ff 100644
--- a/avr.h
+++ b/avr.h
@@ -7,4 +7,7 @@
int getButton();
void waitForButton(int i);
+void beep(unsigned long freq);
+void beepOff();
+
#endif
diff --git a/global.h b/global.h
new file mode 100644
index 0000000..6aa13e4
--- /dev/null
+++ b/global.h
@@ -0,0 +1,19 @@
+#ifndef _ROBOCUP_GLOBAL_H_
+#define _ROBOCUP_GLOBAL_H_
+
+#define F_CPU 16000000UL
+
+#define DEFAULT_SPEED 0.7
+#define CURVE_SPIN 0.3
+#define TURN_SPIN 0.5
+#define STRAFE_DIRECTION 30.0
+
+#define CAL_MIN_DIFF 0.3
+#define CAL_MAX_WHITE_DIFF 0.1
+
+
+enum Status {
+ Ok, White, Debris
+};
+
+#endif
diff --git a/hardware.cpp b/hardware.cpp
index aa3159a..51ae18e 100644
--- a/hardware.cpp
+++ b/hardware.cpp
@@ -19,13 +19,18 @@ void initHardware() {
DDRD = 0xFF;
PORTD = 0x00;
- TCCR0 = 0x62;
- TCCR1A = 0xA1;
- TCCR1B = 0x82;
+ TCCR0 = 0x62;
OCR0 = 0;
+
+ TCCR1A = 0xA1;
OCR1A = 0;
+
+ TCCR1B = 0x82;
OCR1B = 0;
+ TCCR2 = 0x18;
+ OCR2 = 0;
+
initADC();
initI2C();
}
diff --git a/main.cpp b/main.cpp
index 9fddb57..0da17a9 100644
--- a/main.cpp
+++ b/main.cpp
@@ -1,32 +1,129 @@
-#include "hardware.h"
#include "avr.h"
+#include "global.h"
+#include "hardware.h"
+#include "util.h"
+#include "LineSensor.h"
+#include "LineSensorArray.h"
#include "Motor.h"
#include "Navigation.h"
+#include "Srf10.h"
+
+
+
+
+
+
-Motor *motorLeft = new Motor(&PORTD, &OCR1BL, 0x01, 0x02);
-Motor *motorBack = new Motor(&PORTD, &OCR1AL, 0x04, 0x08);
-Motor *motorRight = new Motor(&PORTB, &OCR0, 0x01, 0x02);
-Navigation *navigation = new Navigation(motorLeft, 60.0, motorBack, 180.0, motorRight, 300.0);
static void delay() {
- for(unsigned long i = 0; i < 25000; i++)
- asm("nop");
+ for(unsigned long i = 0; i < 25000; i++)
+ asm("nop");
}
int main() {
- initHardware();
-
- navigation->setSpeed(1.0);
-
- for(int i = 0; ; i = (i+1)%360) {
- navigation->setDirection(i);
-
- delay();
- }
-
- return 0;
+ Status status = Ok;
+
+ initHardware();
+
+ Motor *motorLeft = new Motor(&PORTD, &OCR1BL, 0x01, 0x02);
+ Motor *motorBack = new Motor(&PORTD, &OCR1AL, 0x04, 0x08);
+ Motor *motorRight = new Motor(&PORTB, &OCR0, 0x01, 0x02);
+
+ Navigation *navigation = new Navigation(motorLeft, 60.0, motorBack, 180.0, motorRight, 300.0);
+
+ LineSensor *lineSensors[5];
+
+ for(int i = 0; i < 5; i++)
+ lineSensors[i] = new LineSensor(i);
+
+ LineSensorArray *lineSensorArray = new LineSensorArray(lineSensors);
+
+ lineSensorArray->setMinimumDifference(CAL_MIN_DIFF);
+ lineSensorArray->setMaximumWhiteDifference(CAL_MAX_WHITE_DIFF);
+
+ //Srf10 *srf10Right = new Srf10(0xE0);
+ Srf10 *srf10Left = new Srf10(0xE2);
+
+ //srf10Right->setUnit(Centimeters);
+ srf10Left->setUnit(Centimeters);
+
+ //Srf10 *srf10Last = srf10Left;
+
+
+ do {
+ lineSensorArray->update();
+ } while(!lineSensorArray->calibrate());
+
+ navigation->setSpeed(DEFAULT_SPEED);
+
+ while(true) {
+ lineSensorArray->update();
+
+ //srf10Last = (srf10Last==srf10Left)?srf10Right:srf10Left;
+ //srf10Last->updateDistance();
+
+ switch(status) {
+ case Ok:
+ if(lineSensorArray->getLine() == 0.0 && lineSensorArray->getSharpness() == 1.0)
+ lineSensorArray->calibrate();
+
+ // TODO: victims!!
+
+ // TODO: debris!!
+
+ if(lineSensorArray->getSharpness() < 0.0)
+ break;
+ else if(lineSensorArray->getSharpness() == 0.0) {
+ // TODO: white?
+ }
+ else {
+ if(lineSensorArray->getLine() == 0.0) {
+ navigation->setSpeed(DEFAULT_SPEED);
+ navigation->setDirection(0.0);
+ navigation->setSpin(0.0);
+ }
+ else if(ABS(lineSensorArray->getLine()) < 1.0) {
+ navigation->setSpeed(DEFAULT_SPEED);
+ navigation->setDirection(0.0);
+
+ if(lineSensorArray->getLine() < 0.0)
+ navigation->setSpin(CURVE_SPIN);
+ else
+ navigation->setSpin(-CURVE_SPIN);
+ }
+ else if(ABS(lineSensorArray->getLine()) < 1.5) {
+ navigation->setSpeed(DEFAULT_SPEED);
+
+ if(lineSensorArray->getLine() < 0.0) {
+ navigation->setDirection(STRAFE_DIRECTION);
+ navigation->setSpin(CURVE_SPIN);
+ }
+ else {
+ navigation->setDirection(-STRAFE_DIRECTION);
+ navigation->setSpin(-CURVE_SPIN);
+ }
+ }
+ else {
+ navigation->setSpeed(0.0);
+
+ if(lineSensorArray->getLine() < 0.0)
+ navigation->setSpin(TURN_SPIN);
+ else
+ navigation->setSpin(-TURN_SPIN);
+ }
+ }
+
+ break;
+ case White:
+ break;
+ case Debris:
+ break;
+ }
+ }
+
+ return 0;
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-21 20:20:07 +0100