Code-Work by Marian

author: sicarius <devnull@localhost> 2007-02-14 18:47:03 +0100
committer: sicarius <devnull@localhost> 2007-02-14 18:47:03 +0100
commit: 29618453d22c694a0dcb9541b2cea3ee32928fbb (patch)
tree: 00f7d1c86c904d3a65bd52438e1fabc3fdf3f5df
parent: ab9cf92c1a0f1d400e7f46a346c47d952ea376cc (diff)
download: rc2007-soccer-29618453d22c694a0dcb9541b2cea3ee32928fbb.tar
rc2007-soccer-29618453d22c694a0dcb9541b2cea3ee32928fbb.zip
24 files changed, 1264 insertions, 1010 deletions
diff --git a/source/AVR_Studio/Soccer/Soccer.aps b/source/AVR_Studio/Soccer/Soccer.aps
index 09677cb..04830f4 100755
--- a/source/AVR_Studio/Soccer/Soccer.aps
+++ b/source/AVR_Studio/Soccer/Soccer.aps
@@ -1 +1 @@
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Simulator</CURRENT_TARGET><CURRENT_PART>ATmega128</CURRENT_PART><BREAKPOINTS></BREAKPOINTS><IO_EXPAND><HIDE>false</HIDE></IO_EXPAND><REGISTERNAMES><Register>R00</Register><Register>R01</Register><Register>R02</Register><Register>R03</Register><Register>R04</Register><Register>R05</Register><Register>R06</Register><Register>R07</Register><Register>R08</Register><Register>R09</Register><Register>R10</Register><Register>R11</Register><Register>R12</Register><Register>R13</Register><Register>R14</Register><Register>R15</Register><Register>R16</Register><Register>R17</Register><Register>R18</Register><Register>R19</Register><Register>R20</Register><Register>R21</Register><Register>R22</Register><Register>R23</Register><Register>R24</Register><Register>R25</Register><Register>R26</Register><Register>R27</Register><Register>R28</Register><Register>R29</Register><Register>R30</Register><Register>R31</Register></REGISTERNAMES><COM>Auto</COM><COMType>0</COMType><WATCHNUM>0</WATCHNUM><WATCHNAMES><Pane0></Pane0><Pane1></Pane1><Pane2></Pane2><Pane3></Pane3></WATCHNAMES><BreakOnTrcaeFull>0</BreakOnTrcaeFull></DEBUG_TARGET><Debugger><Triggers></Triggers></Debugger><AVRGCCPLUGIN><FILES><SOURCEFILE>Soccer.c</SOURCEFILE><SOURCEFILE>hal\board.c</SOURCEFILE><SOURCEFILE>hal\keylcd.c</SOURCEFILE><SOURCEFILE>hal\i2c.c</SOURCEFILE><SOURCEFILE>global.c</SOURCEFILE><SOURCEFILE>hal\uart.c</SOURCEFILE><SOURCEFILE>navigation.c</SOURCEFILE><SOURCEFILE>sensor\sensor.c</SOURCEFILE><SOURCEFILE>sensor\ballsensor.c</SOURCEFILE><SOURCEFILE>hal\maussensor.c</SOURCEFILE><HEADERFILE>hal\board.h</HEADERFILE><HEADERFILE>hal\keylcd.h</HEADERFILE><HEADERFILE>hal\i2c.h</HEADERFILE><HEADERFILE>global.h</HEADERFILE><HEADERFILE>hal\uart.h</HEADERFILE><HEADERFILE>navigation.h</HEADERFILE><HEADERFILE>sensor\sensor.h</HEADERFILE><HEADERFILE>sensor\ballsensor.h</HEADERFILE><HEADERFILE>hal\maussensor.h</HEADERFILE></FILES><CONFIGS><CONFIG><NAME>default</NAME><USESEXTERNALMAKEFILE>NO</USESEXTERNALMAKEFILE><EXTERNALMAKEFILE></EXTERNALMAKEFILE><PART>atmega128</PART><HEX>1</HEX><LIST>0</LIST><MAP>0</MAP><OUTPUTFILENAME>Soccer.elf</OUTPUTFILENAME><OUTPUTDIR>default\</OUTPUTDIR><ISDIRTY>1</ISDIRTY><OPTIONS><OPTION><FILE>Soccer.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>global.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>hal\board.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>hal\i2c.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>hal\keylcd.c</FILE><OPTIONLIST></OPTIONLIST></OPTION></OPTIONS><INCDIRS/><LIBDIRS/><LIBS/><LINKOBJECTS/><OPTIONSFORALL>-Wall -gdwarf-2     -DF_CPU=16000000ULUL  -O3 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+<AVRStudio><MANAGEMENT><ProjectName>Soccer</ProjectName><Created>07-Feb-2007 15:43:12</Created><LastEdit>14-Feb-2007 18:24:30</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>07-Feb-2007 15:43:12</Created><Version>4</Version><Build>4, 12, 0, 462</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>default\Soccer.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>Y:\AVR_Studio\Soccer\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET>AVR Simulator</CURRENT_TARGET><CURRENT_PART>ATmega128</CURRENT_PART><BREAKPOINTS></BREAKPOINTS><IO_EXPAND><HIDE>false</HIDE></IO_EXPAND><REGISTERNAMES><Register>R00</Register><Register>R01</Register><Register>R02</Register><Register>R03</Register><Register>R04</Register><Register>R05</Register><Register>R06</Register><Register>R07</Register><Register>R08</Register><Register>R09</Register><Register>R10</Register><Register>R11</Register><Register>R12</Register><Register>R13</Register><Register>R14</Register><Register>R15</Register><Register>R16</Register><Register>R17</Register><Register>R18</Register><Register>R19</Register><Register>R20</Register><Register>R21</Register><Register>R22</Register><Register>R23</Register><Register>R24</Register><Register>R25</Register><Register>R26</Register><Register>R27</Register><Register>R28</Register><Register>R29</Register><Register>R30</Register><Register>R31</Register></REGISTERNAMES><COM>Auto</COM><COMType>0</COMType><WATCHNUM>0</WATCHNUM><WATCHNAMES><Pane0></Pane0><Pane1></Pane1><Pane2></Pane2><Pane3></Pane3></WATCHNAMES><BreakOnTrcaeFull>0</BreakOnTrcaeFull></DEBUG_TARGET><Debugger><Triggers></Triggers></Debugger><AVRGCCPLUGIN><FILES><SOURCEFILE>Soccer.c</SOURCEFILE><SOURCEFILE>hal\board.c</SOURCEFILE><SOURCEFILE>hal\keylcd.c</SOURCEFILE><SOURCEFILE>hal\i2c.c</SOURCEFILE><SOURCEFILE>global.c</SOURCEFILE><SOURCEFILE>hal\uart.c</SOURCEFILE><SOURCEFILE>navigation.c</SOURCEFILE><SOURCEFILE>sensor\sensor.c</SOURCEFILE><SOURCEFILE>sensor\ballsensor.c</SOURCEFILE><SOURCEFILE>hal\maussensor.c</SOURCEFILE><SOURCEFILE>sensor\position.c</SOURCEFILE><SOURCEFILE>sensor\abstand.c</SOURCEFILE><HEADERFILE>hal\board.h</HEADERFILE><HEADERFILE>hal\keylcd.h</HEADERFILE><HEADERFILE>hal\i2c.h</HEADERFILE><HEADERFILE>global.h</HEADERFILE><HEADERFILE>hal\uart.h</HEADERFILE><HEADERFILE>navigation.h</HEADERFILE><HEADERFILE>sensor\sensor.h</HEADERFILE><HEADERFILE>sensor\ballsensor.h</HEADERFILE><HEADERFILE>hal\maussensor.h</HEADERFILE><HEADERFILE>sensor\position.h</HEADERFILE><HEADERFILE>sensor\abstand.h</HEADERFILE></FILES><CONFIGS><CONFIG><NAME>default</NAME><USESEXTERNALMAKEFILE>NO</USESEXTERNALMAKEFILE><EXTERNALMAKEFILE></EXTERNALMAKEFILE><PART>atmega128</PART><HEX>1</HEX><LIST>0</LIST><MAP>0</MAP><OUTPUTFILENAME>Soccer.elf</OUTPUTFILENAME><OUTPUTDIR>default\</OUTPUTDIR><ISDIRTY>1</ISDIRTY><OPTIONS><OPTION><FILE>Soccer.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>global.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>hal\board.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>hal\i2c.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>hal\keylcd.c</FILE><OPTIONLIST></OPTIONLIST></OPTION></OPTIONS><INCDIRS/><LIBDIRS/><LIBS/><LINKOBJECTS/><OPTIONSFORALL>-Wall 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diff --git a/source/AVR_Studio/Soccer/Soccer.c b/source/AVR_Studio/Soccer/Soccer.c
index c1a8129..52bcd06 100755
--- a/source/AVR_Studio/Soccer/Soccer.c
+++ b/source/AVR_Studio/Soccer/Soccer.c
@@ -23,8 +23,9 @@ int main() {
 	board.motor(1, speed);
 	board.motor(2, speed);
 	board.motor(3, speed);
-	PORTB |= (1 << PB5) | (1 << PB7); // Setze PWM-Ports auf high
-	PORTE |= (1 << PE3) | (1 << PE4); 
+	PORTB |= (1 << PB5) | (1 << PB6); // Setze PWM-Ports auf high
+	PORTE |= (1 << PE3); // | (1 << PE4);
+	PORTA |= (1 << PA4); // | (1 << PA5); 
 	//sleep(10);
 	while(true) { sleep(1); }
 	/*sleep(10);
diff --git a/source/AVR_Studio/Soccer/default/Makefile b/source/AVR_Studio/Soccer/default/Makefile
index 4996ec9..1ea98b9 100755
--- a/source/AVR_Studio/Soccer/default/Makefile
+++ b/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 maussensor.o 
+OBJECTS = Soccer.o board.o keylcd.o i2c.o global.o uart.o navigation.o sensor.o ballsensor.o maussensor.o position.o abstand.o 
 
 ## Objects explicitly added by the user
 LINKONLYOBJECTS = 
@@ -73,6 +73,12 @@ ballsensor.o: ../sensor/ballsensor.c
 maussensor.o: ../hal/maussensor.c
 	$(CC) $(INCLUDES) $(CFLAGS) -c  $<
 
+position.o: ../sensor/position.c
+	$(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+abstand.o: ../sensor/abstand.c
+	$(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
 ##Link
 $(TARGET): $(OBJECTS)
 	 $(CC) $(LDFLAGS) $(OBJECTS) $(LINKONLYOBJECTS) $(LIBDIRS) $(LIBS) -o $(TARGET)
diff --git a/source/AVR_Studio/Soccer/default/Soccer.elf b/source/AVR_Studio/Soccer/default/Soccer.elf
index 698e83a..75a4f4a 100755
--- a/source/AVR_Studio/Soccer/default/Soccer.elf
+++ b/source/AVR_Studio/Soccer/default/Soccer.elf
diff --git a/source/AVR_Studio/Soccer/default/Soccer.hex b/source/AVR_Studio/Soccer/default/Soccer.hex
index c3ba96a..afa7ee0 100755
--- a/source/AVR_Studio/Soccer/default/Soccer.hex
+++ b/source/AVR_Studio/Soccer/default/Soccer.hex
@@ -2,1006 +2,1147 @@
 :100010000C9483000C9483000C9483000C94830054
 :100020000C9483000C9483000C9483000C94830044
 :100030000C9483000C9483000C9483000C94830034
-:100040000C94A0010C9483000C944B040C947C043D
+:100040000C94EA010C9483000C9493040C94C40463
 :100050000C9483000C9483000C9483000C94830014
 :100060000C9483000C9483000C9483000C94830004
-:100070000C9483000C9483000C94E9040C941C05EC
+:100070000C9483000C9483000C9431050C9464055B
 :100080000C9483000C9483000C9483000829573F40
 :100090009F2D49CBA5310F76C73493F27E37D00D13
 :1000A000013AB60B613D2AAAAB3F0000003F800039
 :1000B0000000BA00B30011241FBECFEFD0E1DEBFB5
-:1000C000CDBF11E0A0E0B1E0E8ECFEE300E00BBF43
+:1000C000CDBF11E0A0E0B1E0E2E9F7E400E00BBF52
 :1000D00002C007900D92A031B107D9F711E0A0E15D
-:1000E000B1E001C01D92AA3BB107E1F710E0C4EBFB
-:1000F000D0E004C02297FE010E940B1EC23BD10734
+:1000E000B1E001C01D92A63DB107E1F710E0C4EBFD
+:1000F000D0E004C02297FE010E947022C23BD107CB
 :10010000C9F70C94C1000C9400008130910531F0C6
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 :00000001FF
diff --git a/source/AVR_Studio/Soccer/default/dep/Soccer.o.d b/source/AVR_Studio/Soccer/default/dep/Soccer.o.d
index 8bf7346..4c16d08 100755
--- a/source/AVR_Studio/Soccer/default/dep/Soccer.o.d
+++ b/source/AVR_Studio/Soccer/default/dep/Soccer.o.d
@@ -8,14 +8,14 @@ Soccer.o: ../Soccer.c ../global.h c:/winavr/bin/../avr/include/stdlib.h \
   c:/winavr/bin/../avr/include/avr/portpins.h \
   c:/winavr/bin/../avr/include/avr/version.h \
   c:/winavr/bin/../avr/include/avr/interrupt.h ../hal/uart.h \
-  ../hal/keylcd.h ../hal/i2c.h ../hal/../global.h \
+  ../hal/../global.h ../hal/keylcd.h ../hal/i2c.h \
   c:/winavr/bin/../avr/include/compat/twi.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/../hal/board.h ../sensor/ballsensor.h ../sensor/position.h \
   ../sensor/../hal/maussensor.h ../sensor/../hal/../global.h \
-  ../sensor/../global.h
+  ../sensor/abstand.h ../sensor/../global.h
 
 ../global.h:
 
@@ -43,12 +43,12 @@ c:/winavr/bin/../avr/include/avr/interrupt.h:
 
 ../hal/uart.h:
 
+../hal/../global.h:
+
 ../hal/keylcd.h:
 
 ../hal/i2c.h:
 
-../hal/../global.h:
-
 c:/winavr/bin/../avr/include/compat/twi.h:
 
 c:/winavr/bin/../avr/include/util/twi.h:
@@ -65,8 +65,12 @@ c:/winavr/bin/../avr/include/math.h:
 
 ../sensor/ballsensor.h:
 
+../sensor/position.h:
+
 ../sensor/../hal/maussensor.h:
 
 ../sensor/../hal/../global.h:
 
+../sensor/abstand.h:
+
 ../sensor/../global.h:
diff --git a/source/AVR_Studio/Soccer/default/dep/ballsensor.o.d b/source/AVR_Studio/Soccer/default/dep/ballsensor.o.d
index 5f42752..68fe1c7 100755
--- a/source/AVR_Studio/Soccer/default/dep/ballsensor.o.d
+++ b/source/AVR_Studio/Soccer/default/dep/ballsensor.o.d
@@ -9,7 +9,8 @@ ballsensor.o: ../sensor/ballsensor.c ../sensor/ballsensor.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/../hal/uart.h ../sensor/../hal/../global.h \
+  ../sensor/../hal/../hal/board.h
 
 ../sensor/ballsensor.h:
 
@@ -36,3 +37,7 @@ c:/winavr/bin/../avr/include/stdlib.h:
 c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h:
 
 ../sensor/../hal/uart.h:
+
+../sensor/../hal/../global.h:
+
+../sensor/../hal/../hal/board.h:
diff --git a/source/AVR_Studio/Soccer/default/dep/board.o.d b/source/AVR_Studio/Soccer/default/dep/board.o.d
index 25fb966..255bb8a 100755
--- a/source/AVR_Studio/Soccer/default/dep/board.o.d
+++ b/source/AVR_Studio/Soccer/default/dep/board.o.d
@@ -8,7 +8,8 @@ board.o: ../hal/board.c ../hal/board.h \
   c:/winavr/bin/../avr/include/avr/version.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 ../hal/uart.h
+  c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h ../hal/uart.h \
+  ../hal/../global.h ../hal/../hal/board.h
 
 ../hal/board.h:
 
@@ -33,3 +34,7 @@ c:/winavr/bin/../avr/include/stdlib.h:
 c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h:
 
 ../hal/uart.h:
+
+../hal/../global.h:
+
+../hal/../hal/board.h:
diff --git a/source/AVR_Studio/Soccer/default/dep/global.o.d b/source/AVR_Studio/Soccer/default/dep/global.o.d
index cd99039..ddb9079 100755
--- a/source/AVR_Studio/Soccer/default/dep/global.o.d
+++ b/source/AVR_Studio/Soccer/default/dep/global.o.d
@@ -7,7 +7,8 @@ global.o: ../global.c ../global.h c:/winavr/bin/../avr/include/stdlib.h \
   c:/winavr/bin/../avr/include/avr/iom128.h \
   c:/winavr/bin/../avr/include/avr/portpins.h \
   c:/winavr/bin/../avr/include/avr/version.h \
-  c:/winavr/bin/../avr/include/avr/interrupt.h ../hal/uart.h
+  c:/winavr/bin/../avr/include/avr/interrupt.h ../hal/uart.h \
+  ../hal/../global.h
 
 ../global.h:
 
@@ -34,3 +35,5 @@ c:/winavr/bin/../avr/include/avr/version.h:
 c:/winavr/bin/../avr/include/avr/interrupt.h:
 
 ../hal/uart.h:
+
+../hal/../global.h:
diff --git a/source/AVR_Studio/Soccer/default/dep/i2c.o.d b/source/AVR_Studio/Soccer/default/dep/i2c.o.d
index 3facd0f..ba64a62 100755
--- a/source/AVR_Studio/Soccer/default/dep/i2c.o.d
+++ b/source/AVR_Studio/Soccer/default/dep/i2c.o.d
@@ -9,7 +9,7 @@ i2c.o: ../hal/i2c.c ../hal/i2c.h ../hal/../global.h \
   c:/winavr/bin/../avr/include/avr/portpins.h \
   c:/winavr/bin/../avr/include/avr/version.h \
   c:/winavr/bin/../avr/include/avr/interrupt.h ../hal/../hal/uart.h \
-  c:/winavr/bin/../avr/include/compat/twi.h \
+  ../hal/../hal/../global.h c:/winavr/bin/../avr/include/compat/twi.h \
   c:/winavr/bin/../avr/include/util/twi.h
 
 ../hal/i2c.h:
@@ -40,6 +40,8 @@ c:/winavr/bin/../avr/include/avr/interrupt.h:
 
 ../hal/../hal/uart.h:
 
+../hal/../hal/../global.h:
+
 c:/winavr/bin/../avr/include/compat/twi.h:
 
 c:/winavr/bin/../avr/include/util/twi.h:
diff --git a/source/AVR_Studio/Soccer/default/dep/keylcd.o.d b/source/AVR_Studio/Soccer/default/dep/keylcd.o.d
index c779700..5a3eaeb 100755
--- a/source/AVR_Studio/Soccer/default/dep/keylcd.o.d
+++ b/source/AVR_Studio/Soccer/default/dep/keylcd.o.d
@@ -9,7 +9,7 @@ keylcd.o: ../hal/keylcd.c ../hal/keylcd.h ../hal/i2c.h ../hal/../global.h \
   c:/winavr/bin/../avr/include/avr/portpins.h \
   c:/winavr/bin/../avr/include/avr/version.h \
   c:/winavr/bin/../avr/include/avr/interrupt.h ../hal/../hal/uart.h \
-  c:/winavr/bin/../avr/include/compat/twi.h \
+  ../hal/../hal/../global.h c:/winavr/bin/../avr/include/compat/twi.h \
   c:/winavr/bin/../avr/include/util/twi.h \
   c:/winavr/bin/../avr/include/string.h
 
@@ -43,6 +43,8 @@ c:/winavr/bin/../avr/include/avr/interrupt.h:
 
 ../hal/../hal/uart.h:
 
+../hal/../hal/../global.h:
+
 c:/winavr/bin/../avr/include/compat/twi.h:
 
 c:/winavr/bin/../avr/include/util/twi.h:
diff --git a/source/AVR_Studio/Soccer/default/dep/maussensor.o.d b/source/AVR_Studio/Soccer/default/dep/maussensor.o.d
index b33351d..30ebd65 100755
--- a/source/AVR_Studio/Soccer/default/dep/maussensor.o.d
+++ b/source/AVR_Studio/Soccer/default/dep/maussensor.o.d
@@ -8,7 +8,8 @@ maussensor.o: ../hal/maussensor.c ../hal/maussensor.h ../hal/../global.h \
   c:/winavr/bin/../avr/include/avr/iom128.h \
   c:/winavr/bin/../avr/include/avr/portpins.h \
   c:/winavr/bin/../avr/include/avr/version.h \
-  c:/winavr/bin/../avr/include/avr/interrupt.h ../hal/../hal/uart.h
+  c:/winavr/bin/../avr/include/avr/interrupt.h ../hal/../hal/uart.h \
+  ../hal/../hal/../global.h
 
 ../hal/maussensor.h:
 
@@ -37,3 +38,5 @@ c:/winavr/bin/../avr/include/avr/version.h:
 c:/winavr/bin/../avr/include/avr/interrupt.h:
 
 ../hal/../hal/uart.h:
+
+../hal/../hal/../global.h:
diff --git a/source/AVR_Studio/Soccer/default/dep/navigation.o.d b/source/AVR_Studio/Soccer/default/dep/navigation.o.d
index 0fbda94..0fa3a52 100755
--- a/source/AVR_Studio/Soccer/default/dep/navigation.o.d
+++ b/source/AVR_Studio/Soccer/default/dep/navigation.o.d
@@ -10,9 +10,10 @@ navigation.o: ../navigation.c ../navigation.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 ../hal/uart.h \
-  ../sensor/sensor.h ../sensor/../hal/board.h ../sensor/ballsensor.h \
+  ../hal/../global.h ../hal/../hal/board.h ../sensor/sensor.h \
+  ../sensor/../hal/board.h ../sensor/ballsensor.h ../sensor/position.h \
   ../sensor/../hal/maussensor.h ../sensor/../hal/../global.h \
-  ../sensor/../hal/../hal/board.h ../sensor/../global.h
+  ../sensor/abstand.h ../sensor/../global.h
 
 ../navigation.h:
 
@@ -42,16 +43,22 @@ c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h:
 
 ../hal/uart.h:
 
+../hal/../global.h:
+
+../hal/../hal/board.h:
+
 ../sensor/sensor.h:
 
 ../sensor/../hal/board.h:
 
 ../sensor/ballsensor.h:
 
+../sensor/position.h:
+
 ../sensor/../hal/maussensor.h:
 
 ../sensor/../hal/../global.h:
 
-../sensor/../hal/../hal/board.h:
+../sensor/abstand.h:
 
 ../sensor/../global.h:
diff --git a/source/AVR_Studio/Soccer/default/dep/sensor.o.d b/source/AVR_Studio/Soccer/default/dep/sensor.o.d
index 209d5f9..ce4c5d0 100755
--- a/source/AVR_Studio/Soccer/default/dep/sensor.o.d
+++ b/source/AVR_Studio/Soccer/default/dep/sensor.o.d
@@ -9,9 +9,11 @@ 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/../hal/maussensor.h ../sensor/../hal/../global.h \
-  ../sensor/../hal/../hal/board.h ../sensor/../global.h
+  ../sensor/../hal/uart.h ../sensor/../hal/../global.h \
+  ../sensor/../hal/../hal/board.h ../sensor/ballsensor.h \
+  ../sensor/position.h ../sensor/../hal/maussensor.h \
+  c:/winavr/bin/../avr/include/math.h ../sensor/abstand.h \
+  ../sensor/../global.h
 
 ../sensor/sensor.h:
 
@@ -39,12 +41,18 @@ c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h:
 
 ../sensor/../hal/uart.h:
 
+../sensor/../hal/../global.h:
+
+../sensor/../hal/../hal/board.h:
+
 ../sensor/ballsensor.h:
 
+../sensor/position.h:
+
 ../sensor/../hal/maussensor.h:
 
-../sensor/../hal/../global.h:
+c:/winavr/bin/../avr/include/math.h:
 
-../sensor/../hal/../hal/board.h:
+../sensor/abstand.h:
 
 ../sensor/../global.h:
diff --git a/source/AVR_Studio/Soccer/global.h b/source/AVR_Studio/Soccer/global.h
index 4b9339a..79b86fa 100755
--- a/source/AVR_Studio/Soccer/global.h
+++ b/source/AVR_Studio/Soccer/global.h
@@ -22,6 +22,17 @@ inline void msleep(int msec)
   }
 };
 
+inline void usleep(int usec)
+{
+	usec *= 100;
+  for (int s=0; s<usec; s++) {
+    for (long int i=0; i<1405; i++) {
+      asm volatile("nop"); 
+    }
+  }
+};
+
+
 void *operator new(size_t sz);
 void operator delete(void *p);
 
diff --git a/source/AVR_Studio/Soccer/hal/board.c b/source/AVR_Studio/Soccer/hal/board.c
index 0731886..b01d79c 100755
--- a/source/AVR_Studio/Soccer/hal/board.c
+++ b/source/AVR_Studio/Soccer/hal/board.c
@@ -92,6 +92,29 @@ int Board::GetADC(uint8_t channel) {
 	return result;
 }
 
+// Gibt den Wert vom Abstandsensor zur�ck
+int Board::GetAbstand(int i) {
+	int result = -1;
+	if((i < 0) || (i > 3)) return result; // Ung�ltige Nummern rausfiltern
+
+	// Sende zun�chst einen Impuls aus
+	ABSTAND_DDR |= (1 << i); // Konfiguriere Pin als Ausgang
+	ABSTAND_PORT |= (1 << i); // Und setze ihn auf High
+	usleep(10); // Warte jetzt 10us
+	ABSTAND_PORT &= ~(1 << i); // Und setze den Pin wieder auf Low
+	ABSTAND_DDR &= ~(1 << i); // Konfiguriere Pin als Eingang
+
+	// Jetzt warten wir auf die Antwort vom Sensor
+	while(!(ABSTAND_PIN & i)) {} // w�hrend er low ist nichts machen
+	while(ABSTAND_PIN & i) { // Und w�hrend er high ist
+		result++; //schleifendurchl�ufe z�henlen (unsauber, ich wei�)
+		asm volatile("nop"); // ein ganz bisschen warten
+	}  
+
+	// Die Zahl der Schleifendurchl�ufe geben wir dann zur�ck
+	return result;
+}
+
 void Board::beep(int freq) {
 	beepFreq = freq;
 }
diff --git a/source/AVR_Studio/Soccer/hal/board.h b/source/AVR_Studio/Soccer/hal/board.h
index 03df24f..445ffa4 100755
--- a/source/AVR_Studio/Soccer/hal/board.h
+++ b/source/AVR_Studio/Soccer/hal/board.h
@@ -5,6 +5,7 @@
 #include <avr/interrupt.h>
 #include <stdlib.h>
 #include "uart.h"
+#include "../global.h"
 
 //#define abs(a) ((a < 0)? -a : a)
 
@@ -31,6 +32,11 @@
 #define DRIBBLER_A (1 << 2)
 #define DRIBBLER_B (1 << 3)
 
+// Definiere Konstanten f�r Abstandsensoren
+#define ABSTAND_PORT PORTC
+#define ABSTAND_DDR DDRC
+#define ABSTAND_PIN PINC
+
 #define UART_BAUD_RATE 9600
 
 class Board 
@@ -40,7 +46,9 @@ public:
 	Board();
 	~Board();
 
-	int GetADC(uint8_t channel);	
+	int GetADC(uint8_t channel);
+	int GetAbstand(int i);
+		
 	void beep(int freq);
 	void ledOn();
 	void ledOff();
diff --git a/source/AVR_Studio/Soccer/hal/maussensor.c b/source/AVR_Studio/Soccer/hal/maussensor.c
index 2768b8e..258e083 100755
--- a/source/AVR_Studio/Soccer/hal/maussensor.c
+++ b/source/AVR_Studio/Soccer/hal/maussensor.c
@@ -1,6 +1,15 @@
 #include "maussensor.h"
 
-Maussensor::Maussensor(int index) {
+Maussensor::Maussensor() {
+}
+
+
+Maussensor::~Maussensor() {
+}
+
+
+// Initialisiert den Maussensor
+void Maussensor::init(int index) {
 	// Setze die Pins entsprechend dem �bergebenen Index
 	if(index == MAUSSENSOR0) {
 		sda_pin = MAUS0_SDA;
@@ -15,9 +24,6 @@ Maussensor::Maussensor(int index) {
 	maus_sens_init();
 }
 
-Maussensor::~Maussensor() {
-}
-
 // Gibt die X-Koordinate Zur�ck
 uint8 Maussensor::GetX() {
 	return maus_sens_read(MOUSE_DELTA_X_REG);
diff --git a/source/AVR_Studio/Soccer/hal/maussensor.h b/source/AVR_Studio/Soccer/hal/maussensor.h
index 2abb8bd..5701808 100755
--- a/source/AVR_Studio/Soccer/hal/maussensor.h
+++ b/source/AVR_Studio/Soccer/hal/maussensor.h
@@ -111,9 +111,11 @@ void maus_image_prepare(void);
  */
 
 public:
-	Maussensor(int index);
+	Maussensor();
 	~Maussensor();
 
+	void init(int index);
+
 	uint8 GetX();
 	uint8 GetY();
 	uint8 GetSqual();
diff --git a/source/AVR_Studio/Soccer/navigation.c b/source/AVR_Studio/Soccer/navigation.c
index 6bf5d4d..f2c1d1c 100755
--- a/source/AVR_Studio/Soccer/navigation.c
+++ b/source/AVR_Studio/Soccer/navigation.c
@@ -2,10 +2,11 @@
 
 // Initialisiert die Klasse
 Navigation::Navigation() {
+	// Am Anfang stehen wir an der Stelle
 	richtung = 0;
 	ausrichtung = 0;
 	geschwindigkeit = 0;
-	Aktualisieren();
+	Aktualisieren(); // und �nderungen anwenden
 }
 Navigation::~Navigation() {
 }
@@ -27,11 +28,11 @@ void Navigation::SetzeGeschwindigkeit(int nGeschwindigkeit) {
 // Aktualieren ohne Parameter
 void Navigation::Aktualisieren() {
 	// Richtung in x und y-Kompontente zerlegen
-	int y = (int)cos(richtung); // richtung ist winkel
-	int x = (int)sin(richtung);
+	float y = cos(richtung); // richtung ist winkel
+	float x = sin(richtung);
 	
 	// Abweichung der Ausrichtung ermitteln(als winkel)
-	int w = sensor.getAusrichtung() - ausrichtung;
+	int w = sensor.GetAusrichtung() - ausrichtung;
 
 	// St�rke der einzelnen Motoren berechnen
 	float v0 = x;
diff --git a/source/AVR_Studio/Soccer/sensor/ballsensor.c b/source/AVR_Studio/Soccer/sensor/ballsensor.c
index af9434b..8136581 100755
--- a/source/AVR_Studio/Soccer/sensor/ballsensor.c
+++ b/source/AVR_Studio/Soccer/sensor/ballsensor.c
@@ -10,12 +10,19 @@ Ballsensor::Ballsensor() {
 	winkel[5] = 260;
 	winkel[6] = 300;
 	winkel[7] = 330;
+	
+	// Der Winkel ist erstmal 0
+	ballwinkel = 0;
 }
 
 Ballsensor::~Ballsensor() {
 }
 
-int Ballsensor::getBallwinkel() {
+int Ballsensor::GetBallwinkel() {
+	return ballwinkel;
+}
+
+void Ballsensor::Aktualisieren() {
 	// Erstelle ein Array f�r die Sensorwerte
 	int sensor[NUM_BALLSENSOR];
 	int result = 0; // und einer Variable f�rs Ergebnis
@@ -30,6 +37,6 @@ int Ballsensor::getBallwinkel() {
 		if(sensor[i] < current) result = i; // Ergebnis ist erstmal index
 	}
 
-	// Gebe den Winkel zum index result zur�ck
-	return winkel[result];
+	// Setze den Winkel zum index result
+	ballwinkel = winkel[result];
 }
diff --git a/source/AVR_Studio/Soccer/sensor/ballsensor.h b/source/AVR_Studio/Soccer/sensor/ballsensor.h
index 5fa7f08..5190a87 100755
--- a/source/AVR_Studio/Soccer/sensor/ballsensor.h
+++ b/source/AVR_Studio/Soccer/sensor/ballsensor.h
@@ -12,11 +12,13 @@ class Ballsensor
 {
 private:
 	int winkel[NUM_BALLSENSOR];
+	int ballwinkel;
 public:
 	Ballsensor();
 	~Ballsensor();
 	
-	int getBallwinkel(); // Gibt den aktuellen Winkel vom Ball zur�ck
+	int GetBallwinkel(); // Gibt den aktuellen Winkel vom Ball zur�ck
+	void Aktualisieren(); // Aktualisiert die Variable
 };
 
 #endif
diff --git a/source/AVR_Studio/Soccer/sensor/sensor.c b/source/AVR_Studio/Soccer/sensor/sensor.c
index a1730db..78326ee 100755
--- a/source/AVR_Studio/Soccer/sensor/sensor.c
+++ b/source/AVR_Studio/Soccer/sensor/sensor.c
@@ -6,10 +6,14 @@ Sensor::Sensor() :ballsensor() {
 Sensor::~Sensor() {
 }
 
+// Aktualisiert die ganzen Sachen ;)
 void Sensor::Aktualisieren() {
-
+	position.Aktualisieren(); // Aktualisiere die Position
+	ballsensor.Aktualisieren(); // Aktualisiere den Ballwinkel
+	abstand.Aktualisieren(); // Aktualsiere die abstandsdaten
 }
 
-int Sensor::getAusrichtung() {
-	return 0;
+// Gebe die aktuelle Ausrichtung zur�ck
+int Sensor::GetAusrichtung() {
+	return position.GetAusrichtung();
 }
diff --git a/source/AVR_Studio/Soccer/sensor/sensor.h b/source/AVR_Studio/Soccer/sensor/sensor.h
index afbb3a0..f3f36ad 100755
--- a/source/AVR_Studio/Soccer/sensor/sensor.h
+++ b/source/AVR_Studio/Soccer/sensor/sensor.h
@@ -3,7 +3,8 @@
 
 #include "../hal/board.h"
 #include "ballsensor.h"
-#include "../hal/maussensor.h"
+#include "position.h"
+#include "abstand.h"
 #include "../global.h"
 
 extern Board board;
@@ -12,13 +13,15 @@ class Sensor
 {
 private:
 	Ballsensor ballsensor;
+	Position position;
+	Abstand abstand;
 public:
 	Sensor();
 	~Sensor();
 	
 	void Aktualisieren();
 
-	int getAusrichtung(); // Gibt die aktuelle Ausrichtung des Roboters zur�ck
+	int GetAusrichtung(); // Gibt die aktuelle Ausrichtung des Roboters zur�ck
 };
 
 #endif
author	sicarius <devnull@localhost>	2007-02-14 18:47:03 +0100
committer	sicarius <devnull@localhost>	2007-02-14 18:47:03 +0100
commit	29618453d22c694a0dcb9541b2cea3ee32928fbb (patch)
tree	00f7d1c86c904d3a65bd52438e1fabc3fdf3f5df
parent	ab9cf92c1a0f1d400e7f46a346c47d952ea376cc (diff)
download	rc2007-soccer-29618453d22c694a0dcb9541b2cea3ee32928fbb.tar rc2007-soccer-29618453d22c694a0dcb9541b2cea3ee32928fbb.zip