diff options
| author | sicarius <devnull@localhost> | 2007-02-13 20:10:02 +0100 |
|---|---|---|
| committer | sicarius <devnull@localhost> | 2007-02-13 20:10:02 +0100 |
| commit | 5c33efe58da97d1277f8615ef750c0695497c0b9 (patch) | |
| tree | 47cc611e70ed13f2ea7a9b0228794dc74d9b1680 | |
| parent | 54a7ea32d4c79b5ca56b66a5dac28690e928740e (diff) | |
| download | rc2007-soccer-5c33efe58da97d1277f8615ef750c0695497c0b9.tar rc2007-soccer-5c33efe58da97d1277f8615ef750c0695497c0b9.zip | |
Code-Work @ lowlevel
| -rw-r--r-- | Information/Hardware/Portbelegung.ods | bin | 14604 -> 14539 bytes | |||
| -rwxr-xr-x | source/AVR_Studio/Soccer/Soccer.aps | 2 | ||||
| -rwxr-xr-x | source/AVR_Studio/Soccer/Soccer.c | 15 | ||||
| -rwxr-xr-x | source/AVR_Studio/Soccer/default/Makefile | 5 | ||||
| -rwxr-xr-x | source/AVR_Studio/Soccer/default/Soccer.elf | bin | 47659 -> 71725 bytes | |||
| -rwxr-xr-x | source/AVR_Studio/Soccer/default/Soccer.hex | 1453 | ||||
| -rwxr-xr-x | source/AVR_Studio/Soccer/default/dep/Soccer.o.d | 8 | ||||
| -rwxr-xr-x | source/AVR_Studio/Soccer/default/dep/navigation.o.d | 11 | ||||
| -rwxr-xr-x | source/AVR_Studio/Soccer/default/dep/sensor.o.d | 13 | ||||
| -rwxr-xr-x | source/AVR_Studio/Soccer/global.h | 19 | ||||
| -rwxr-xr-x | source/AVR_Studio/Soccer/sensor/ballsensor.c | 28 | ||||
| -rwxr-xr-x | source/AVR_Studio/Soccer/sensor/ballsensor.h | 4 | ||||
| -rwxr-xr-x | source/AVR_Studio/Soccer/sensor/sensor.h | 1 |
13 files changed, 1079 insertions, 480 deletions
diff --git a/Information/Hardware/Portbelegung.ods b/Information/Hardware/Portbelegung.ods Binary files differindex 8c4d736..144705d 100644 --- a/Information/Hardware/Portbelegung.ods +++ b/Information/Hardware/Portbelegung.ods diff --git a/source/AVR_Studio/Soccer/Soccer.aps b/source/AVR_Studio/Soccer/Soccer.aps index f694dd6..09677cb 100755 --- a/source/AVR_Studio/Soccer/Soccer.aps +++ b/source/AVR_Studio/Soccer/Soccer.aps @@ -1 +1 @@ -<AVRStudio><MANAGEMENT><ProjectName>Soccer</ProjectName><Created>07-Feb-2007 15:43:12</Created><LastEdit>11-Feb-2007 16:35:10</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:\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><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></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 -fsigned-char</OPTIONSFORALL><LINKEROPTIONS></LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>0</USES_WINAVR><GCC_LOC>C:\WinAVR\bin\avr-g++.exe</GCC_LOC><MAKE_LOC>C:\WinAVR\utils\bin\make.exe</MAKE_LOC></AVRGCCPLUGIN><ProjectFiles><Files><Name>Y:\Soccer\hal\board.h</Name><Name>Y:\Soccer\hal\keylcd.h</Name><Name>Y:\Soccer\hal\i2c.h</Name><Name>Y:\Soccer\global.h</Name><Name>Y:\Soccer\hal\uart.h</Name><Name>Y:\Soccer\navigation.h</Name><Name>Y:\Soccer\sensor\sensor.h</Name><Name>Y:\Soccer\sensor\ballsensor.h</Name><Name>Y:\Soccer\Soccer.c</Name><Name>Y:\Soccer\hal\board.c</Name><Name>Y:\Soccer\hal\keylcd.c</Name><Name>Y:\Soccer\hal\i2c.c</Name><Name>Y:\Soccer\global.c</Name><Name>Y:\Soccer\hal\uart.c</Name><Name>Y:\Soccer\navigation.c</Name><Name>Y:\Soccer\sensor\sensor.c</Name><Name>Y:\Soccer\sensor\ballsensor.c</Name></Files></ProjectFiles><Files><File00000><FileId>00000</FileId><FileName>Soccer.c</FileName><Status>1</Status></File00000><File00001><FileId>00001</FileId><FileName>hal\board.c</FileName><Status>1</Status></File00001><File00002><FileId>00002</FileId><FileName>hal\keylcd.h</FileName><Status>1</Status></File00002><File00003><FileId>00003</FileId><FileName>hal\keylcd.c</FileName><Status>1</Status></File00003><File00004><FileId>00004</FileId><FileName>hal\i2c.h</FileName><Status>1</Status></File00004><File00005><FileId>00005</FileId><FileName>hal\i2c.c</FileName><Status>1</Status></File00005><File00006><FileId>00006</FileId><FileName>global.h</FileName><Status>1</Status></File00006><File00007><FileId>00007</FileId><FileName>global.c</FileName><Status>1</Status></File00007><File00008><FileId>00008</FileId><FileName>c:\WinAVR\avr\include\avr\iom128.h</FileName><Status>1</Status></File00008><File00009><FileId>00009</FileId><FileName>hal\board.h</FileName><Status>1</Status></File00009><File00010><FileId>00010</FileId><FileName>hal\uart.c</FileName><Status>1</Status></File00010><File00011><FileId>00011</FileId><FileName>navigation.h</FileName><Status>1</Status></File00011><File00012><FileId>00012</FileId><FileName>hal\uart.h</FileName><Status>1</Status></File00012><File00013><FileId>00013</FileId><FileName>navigation.c</FileName><Status>1</Status></File00013><File00014><FileId>00014</FileId><FileName>sensor\sensor.h</FileName><Status>1</Status></File00014><File00015><FileId>00015</FileId><FileName>sensor\sensor.c</FileName><Status>1</Status></File00015><File00016><FileId>00016</FileId><FileName>sensor\ballsensor.h</FileName><Status>1</Status></File00016><File00017><FileId>00017</FileId><FileName>sensor\ballsensor.c</FileName><Status>1</Status></File00017><File00018><FileId>00018</FileId><FileName>c:\WinAVR\avr\include\stdlib.h</FileName><Status>1</Status></File00018><File00019><FileId>00019</FileId><FileName>c:\WinAVR\avr\include\avr\signal.h</FileName><Status>1</Status></File00019></Files><Workspace><File00000><Position>187 109 819 379</Position><LineCol>29 17</LineCol></File00000><File00001><Position>299 72 1025 527</Position><LineCol>190 32</LineCol><State>Maximized</State></File00001><File00002><Position>254 204 1000 446</Position><LineCol>17 14</LineCol></File00002><File00003><Position>166 88 912 330</Position><LineCol>26 0</LineCol></File00003><File00004><Position>281 60 783 347</Position><LineCol>44 0</LineCol></File00004><File00005><Position>287 64 1013 519</Position><LineCol>13 0</LineCol></File00005><File00006><Position>162 58 974 450</Position><LineCol>17 0</LineCol></File00006><File00007><Position>293 68 1019 523</Position><LineCol>8 0</LineCol></File00007><File00008><Position>379 210 1009 515</Position><LineCol>769 0</LineCol></File00008><File00009><Position>316 125 946 430</Position><LineCol>5 0</LineCol></File00009><File00010><Position>297 98 927 403</Position><LineCol>277 9</LineCol></File00010><File00011><Position>319 127 949 432</Position><LineCol>0 0</LineCol></File00011><File00012><Position>341 156 971 461</Position><LineCol>0 0</LineCol></File00012><File00013><Position>363 185 993 490</Position><LineCol>42 43</LineCol></File00013><File00014><Position>385 214 1015 519</Position><LineCol>12 0</LineCol></File00014><File00015><Position>296 70 1022 525</Position><LineCol>2 0</LineCol></File00015><File00016><Position>319 127 949 432</Position><LineCol>12 0</LineCol></File00016><File00017><Position>341 156 971 461</Position><LineCol>9 0</LineCol></File00017><File00018><Position>363 185 993 490</Position><LineCol>115 0</LineCol></File00018><File00019><Position>388 216 1018 521</Position><LineCol>35 0</LineCol></File00019></Workspace><Events><Bookmarks></Bookmarks></Events><Trace><Filters></Filters></Trace></AVRStudio>
+<AVRStudio><MANAGEMENT><ProjectName>Soccer</ProjectName><Created>07-Feb-2007 15:43:12</Created><LastEdit>13-Feb-2007 17:28:05</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><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 -fsigned-char</OPTIONSFORALL><LINKEROPTIONS></LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>0</USES_WINAVR><GCC_LOC>C:\WinAVR\bin\avr-g++.exe</GCC_LOC><MAKE_LOC>C:\WinAVR\utils\bin\make.exe</MAKE_LOC></AVRGCCPLUGIN><ProjectFiles><Files><Name>Y:\AVR_Studio\Soccer\hal\board.h</Name><Name>Y:\AVR_Studio\Soccer\hal\keylcd.h</Name><Name>Y:\AVR_Studio\Soccer\hal\i2c.h</Name><Name>Y:\AVR_Studio\Soccer\global.h</Name><Name>Y:\AVR_Studio\Soccer\hal\uart.h</Name><Name>Y:\AVR_Studio\Soccer\navigation.h</Name><Name>Y:\AVR_Studio\Soccer\sensor\sensor.h</Name><Name>Y:\AVR_Studio\Soccer\sensor\ballsensor.h</Name><Name>Y:\AVR_Studio\Soccer\hal\maussensor.h</Name><Name>Y:\AVR_Studio\Soccer\Soccer.c</Name><Name>Y:\AVR_Studio\Soccer\hal\board.c</Name><Name>Y:\AVR_Studio\Soccer\hal\keylcd.c</Name><Name>Y:\AVR_Studio\Soccer\hal\i2c.c</Name><Name>Y:\AVR_Studio\Soccer\global.c</Name><Name>Y:\AVR_Studio\Soccer\hal\uart.c</Name><Name>Y:\AVR_Studio\Soccer\navigation.c</Name><Name>Y:\AVR_Studio\Soccer\sensor\sensor.c</Name><Name>Y:\AVR_Studio\Soccer\sensor\ballsensor.c</Name><Name>Y:\AVR_Studio\Soccer\hal\maussensor.c</Name></Files></ProjectFiles><Files><File00000><FileId>00000</FileId><FileName>Soccer.c</FileName><Status>1</Status></File00000><File00001><FileId>00001</FileId><FileName>hal\board.c</FileName><Status>1</Status></File00001><File00002><FileId>00002</FileId><FileName>hal\keylcd.h</FileName><Status>1</Status></File00002><File00003><FileId>00003</FileId><FileName>hal\keylcd.c</FileName><Status>1</Status></File00003><File00004><FileId>00004</FileId><FileName>hal\i2c.h</FileName><Status>1</Status></File00004><File00005><FileId>00005</FileId><FileName>hal\i2c.c</FileName><Status>1</Status></File00005><File00006><FileId>00006</FileId><FileName>global.h</FileName><Status>1</Status></File00006><File00007><FileId>00007</FileId><FileName>global.c</FileName><Status>1</Status></File00007><File00008><FileId>00008</FileId><FileName>c:\WinAVR\avr\include\avr\iom128.h</FileName><Status>1</Status></File00008><File00009><FileId>00009</FileId><FileName>hal\board.h</FileName><Status>1</Status></File00009><File00010><FileId>00010</FileId><FileName>hal\uart.c</FileName><Status>1</Status></File00010><File00011><FileId>00011</FileId><FileName>navigation.h</FileName><Status>1</Status></File00011><File00012><FileId>00012</FileId><FileName>hal\uart.h</FileName><Status>1</Status></File00012><File00013><FileId>00013</FileId><FileName>navigation.c</FileName><Status>1</Status></File00013><File00014><FileId>00014</FileId><FileName>sensor\sensor.h</FileName><Status>1</Status></File00014><File00015><FileId>00015</FileId><FileName>sensor\sensor.c</FileName><Status>1</Status></File00015><File00016><FileId>00016</FileId><FileName>sensor\ballsensor.h</FileName><Status>1</Status></File00016><File00017><FileId>00017</FileId><FileName>sensor\ballsensor.c</FileName><Status>1</Status></File00017><File00018><FileId>00018</FileId><FileName>c:\WinAVR\avr\include\stdlib.h</FileName><Status>1</Status></File00018><File00019><FileId>00019</FileId><FileName>c:\WinAVR\avr\include\avr\signal.h</FileName><Status>1</Status></File00019><File00020><FileId>00020</FileId><FileName>hal\maussensor.h</FileName><Status>1</Status></File00020><File00021><FileId>00021</FileId><FileName>hal\maussensor.c</FileName><Status>1</Status></File00021></Files><Workspace><File00000><Position>187 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diff --git a/source/AVR_Studio/Soccer/Soccer.c b/source/AVR_Studio/Soccer/Soccer.c index 90b9bd7..c1a8129 100755 --- a/source/AVR_Studio/Soccer/Soccer.c +++ b/source/AVR_Studio/Soccer/Soccer.c @@ -10,7 +10,7 @@ Sensor sensor; int main() {
//board.ledOn();
- sleep(1);
+ sleep(2);
int speed = 255;
/*for(int i=-255;i<=255;i+=30) {
board.motor(0,i);
@@ -25,6 +25,8 @@ int main() { board.motor(3, speed);
PORTB |= (1 << PB5) | (1 << PB7); // Setze PWM-Ports auf high
PORTE |= (1 << PE3) | (1 << PE4);
+ //sleep(10);
+ while(true) { sleep(1); }
/*sleep(10);
board.motor(0, 0);
board.motor(1, 0);
@@ -33,23 +35,24 @@ int main() { //while(true) { sleep(1); }
//board.beep(450);
//board.ledOn();
- //keylcd.print("test");
- //sleep(1);
+ /*keylcd.print("test");
+ sleep(1);
//board.ledOff();
//sleep(1);
- /*for(int i=0;i<keylcd.error();i++) {
+ for(int i=0;i<keylcd.error();i++) {
board.ledOn();
sleep(1);
board.ledOff();
sleep(1);
}
+
board.ledOn();
uart1_puts("18");
uart1_puts("Hallo Du! Hier ist dein AtMega128\n");
sleep(1);
board.ledOff();
sleep(10);
- //board.ledOff();
+ //board.ledOff();*/
while(true) {
navigation.Aktualisieren(0,0,speed);
@@ -61,7 +64,7 @@ int main() { navigation.Aktualisieren(270,0,speed);
sleep(2);
- }*/
+ }
diff --git a/source/AVR_Studio/Soccer/default/Makefile b/source/AVR_Studio/Soccer/default/Makefile index e12720e..4996ec9 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
+OBJECTS = Soccer.o board.o keylcd.o i2c.o global.o uart.o navigation.o sensor.o ballsensor.o maussensor.o
## Objects explicitly added by the user
LINKONLYOBJECTS =
@@ -70,6 +70,9 @@ sensor.o: ../sensor/sensor.c ballsensor.o: ../sensor/ballsensor.c
$(CC) $(INCLUDES) $(CFLAGS) -c $<
+maussensor.o: ../hal/maussensor.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 Binary files differindex 2e03b5b..698e83a 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 c7808a4..c3ba96a 100755 --- a/source/AVR_Studio/Soccer/default/Soccer.hex +++ b/source/AVR_Studio/Soccer/default/Soccer.hex @@ -2,475 +2,1006 @@ :100010000C9483000C9483000C9483000C94830054
:100020000C9483000C9483000C9483000C94830044
:100030000C9483000C9483000C9483000C94830034
-:100040000C9499010C9483000C9444040C94750452
+:100040000C94A0010C9483000C944B040C947C043D
:100050000C9483000C9483000C9483000C94830014
:100060000C9483000C9483000C9483000C94830004
-:100070000C9483000C9483000C94E2040C941505FA
+:100070000C9483000C9483000C94E9040C941C05EC
:100080000C9483000C9483000C9483000829573F40
:100090009F2D49CBA5310F76C73493F27E37D00D13
:1000A000013AB60B613D2AAAAB3F0000003F800039
:1000B0000000BA00B30011241FBECFEFD0E1DEBFB5
-:1000C000CDBF11E0A0E0B1E0E0EAFDE100E00BBF50
+:1000C000CDBF11E0A0E0B1E0E8ECFEE300E00BBF43
:1000D00002C007900D92A031B107D9F711E0A0E15D
-:1000E000B1E001C01D92AA3AB107E1F710E0C4EBFC
-:1000F000D0E004C02297FE010E94770DC23BD107D9
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diff --git a/source/AVR_Studio/Soccer/default/dep/Soccer.o.d b/source/AVR_Studio/Soccer/default/dep/Soccer.o.d index aaf1496..8bf7346 100755 --- a/source/AVR_Studio/Soccer/default/dep/Soccer.o.d +++ b/source/AVR_Studio/Soccer/default/dep/Soccer.o.d @@ -13,7 +13,9 @@ Soccer.o: ../Soccer.c ../global.h c:/winavr/bin/../avr/include/stdlib.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/../global.h
+ ../sensor/../hal/board.h ../sensor/ballsensor.h \
+ ../sensor/../hal/maussensor.h ../sensor/../hal/../global.h \
+ ../sensor/../global.h
../global.h:
@@ -63,4 +65,8 @@ c:/winavr/bin/../avr/include/math.h: ../sensor/ballsensor.h:
+../sensor/../hal/maussensor.h:
+
+../sensor/../hal/../global.h:
+
../sensor/../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 4b0d8e0..0fbda94 100755 --- a/source/AVR_Studio/Soccer/default/dep/navigation.o.d +++ b/source/AVR_Studio/Soccer/default/dep/navigation.o.d @@ -11,7 +11,8 @@ navigation.o: ../navigation.c ../navigation.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 \
- ../sensor/../global.h ../sensor/../hal/board.h
+ ../sensor/../hal/maussensor.h ../sensor/../hal/../global.h \
+ ../sensor/../hal/../hal/board.h ../sensor/../global.h
../navigation.h:
@@ -47,6 +48,10 @@ c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h: ../sensor/ballsensor.h:
-../sensor/../global.h:
+../sensor/../hal/maussensor.h:
-../sensor/../hal/board.h:
+../sensor/../hal/../global.h:
+
+../sensor/../hal/../hal/board.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 89e848a..209d5f9 100755 --- a/source/AVR_Studio/Soccer/default/dep/sensor.o.d +++ b/source/AVR_Studio/Soccer/default/dep/sensor.o.d @@ -9,8 +9,9 @@ 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/../global.h \
- ../sensor/../hal/board.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/sensor.h:
@@ -40,6 +41,10 @@ c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h: ../sensor/ballsensor.h:
-../sensor/../global.h:
+../sensor/../hal/maussensor.h:
-../sensor/../hal/board.h:
+../sensor/../hal/../global.h:
+
+../sensor/../hal/../hal/board.h:
+
+../sensor/../global.h:
diff --git a/source/AVR_Studio/Soccer/global.h b/source/AVR_Studio/Soccer/global.h index 3f57a8c..4b9339a 100755 --- a/source/AVR_Studio/Soccer/global.h +++ b/source/AVR_Studio/Soccer/global.h @@ -13,12 +13,29 @@ inline void sleep(int sec) }
};
+inline void msleep(int msec)
+{
+ for (int s=0; s<msec; s++) {
+ for (long int i=0; i<1405; i++) {
+ asm volatile("nop");
+ }
+ }
+};
+
void *operator new(size_t sz);
void operator delete(void *p);
+// Typendefinitionen für den CT-Bot-Code
+typedef unsigned char uint8; /*!< vorzeichenlose 8-Bit-Zahl */
+typedef unsigned int word; /*!< vorzeichenlose 16-Bit-Zahl */
+typedef signed char int8; /*!< vorzeichenbehaftete 8-Bit-Zahl */
+typedef short int int16; /*!< vorzeichenbehaftete 16-Bit-Zahl */
+typedef unsigned long uint32; /*!< vorzeichenlose 32-Bit-Zahl */
+typedef signed long int32; /*!< vorzeichenbehaftete 32-Bit-Zahl */
-
+#define uint16 word /*!< Int mit 16 Bit */
+
/* defines for compatibility */
#ifndef cbi
diff --git a/source/AVR_Studio/Soccer/sensor/ballsensor.c b/source/AVR_Studio/Soccer/sensor/ballsensor.c index bf97f99..af9434b 100755 --- a/source/AVR_Studio/Soccer/sensor/ballsensor.c +++ b/source/AVR_Studio/Soccer/sensor/ballsensor.c @@ -1,11 +1,35 @@ #include "ballsensor.h"
-Ballsensor::Ballsensor() {
+Ballsensor::Ballsensor() {
+ // Umrechnungstabelle position i in Winkel
+ winkel[0] = 0;
+ winkel[1] = 30;
+ winkel[2] = 60;
+ winkel[3] = 100;
+ winkel[4] = 180;
+ winkel[5] = 260;
+ winkel[6] = 300;
+ winkel[7] = 330;
}
Ballsensor::~Ballsensor() {
}
int Ballsensor::getBallwinkel() {
- return 0;
+ // Erstelle ein Array für die Sensorwerte
+ int sensor[NUM_BALLSENSOR];
+ int result = 0; // und einer Variable fürs Ergebnis
+ int current = 1024; // Setze aktuellen Wert auf Maximum
+
+ // Analoge Sensoren abfragen und eintragen
+ for(int i=0;i<NUM_BALLSENSOR;i++) sensor[i] = board.GetADC(i);
+
+ // 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
+ }
+
+ // Gebe den Winkel zum index result zurück
+ return winkel[result];
}
diff --git a/source/AVR_Studio/Soccer/sensor/ballsensor.h b/source/AVR_Studio/Soccer/sensor/ballsensor.h index 46daf90..5fa7f08 100755 --- a/source/AVR_Studio/Soccer/sensor/ballsensor.h +++ b/source/AVR_Studio/Soccer/sensor/ballsensor.h @@ -3,11 +3,15 @@ #include "../hal/board.h"
+// Anzahl der Ballsensoren
+#define NUM_BALLSENSOR 8
+
extern Board board;
class Ballsensor
{
private:
+ int winkel[NUM_BALLSENSOR];
public:
Ballsensor();
~Ballsensor();
diff --git a/source/AVR_Studio/Soccer/sensor/sensor.h b/source/AVR_Studio/Soccer/sensor/sensor.h index 25d36c2..afbb3a0 100755 --- a/source/AVR_Studio/Soccer/sensor/sensor.h +++ b/source/AVR_Studio/Soccer/sensor/sensor.h @@ -3,6 +3,7 @@ #include "../hal/board.h"
#include "ballsensor.h"
+#include "../hal/maussensor.h"
#include "../global.h"
extern Board board;
|