diff options
author | sicarius <devnull@localhost> | 2007-02-15 20:03:00 +0100 |
---|---|---|
committer | sicarius <devnull@localhost> | 2007-02-15 20:03:00 +0100 |
commit | 7393d1d12c3ee23a85978d619768af645137d1ac (patch) | |
tree | b5892ace1b01dc00c75f284b7dc221b3278fb1b6 /source/AVR_Studio/Soccer | |
parent | c6ec20e5e7aec1b17d09102a67cccc002444dd14 (diff) | |
download | rc2007-soccer-7393d1d12c3ee23a85978d619768af645137d1ac.tar rc2007-soccer-7393d1d12c3ee23a85978d619768af645137d1ac.zip |
Code-Work :)
Diffstat (limited to 'source/AVR_Studio/Soccer')
-rwxr-xr-x | source/AVR_Studio/Soccer/Soccer.c | 56 | ||||
-rwxr-xr-x | source/AVR_Studio/Soccer/default/Soccer.elf | bin | 86146 -> 87393 bytes | |||
-rwxr-xr-x | source/AVR_Studio/Soccer/default/Soccer.hex | 2279 | ||||
-rwxr-xr-x | source/AVR_Studio/Soccer/hal/board.c | 26 | ||||
-rwxr-xr-x | source/AVR_Studio/Soccer/hal/board.h | 42 | ||||
-rwxr-xr-x | source/AVR_Studio/Soccer/navigation.c | 18 | ||||
-rwxr-xr-x | source/AVR_Studio/Soccer/sensor/ballsensor.c | 5 |
7 files changed, 1247 insertions, 1179 deletions
diff --git a/source/AVR_Studio/Soccer/Soccer.c b/source/AVR_Studio/Soccer/Soccer.c index 52bcd06..117b6bc 100755 --- a/source/AVR_Studio/Soccer/Soccer.c +++ b/source/AVR_Studio/Soccer/Soccer.c @@ -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);
}
diff --git a/source/AVR_Studio/Soccer/default/Soccer.elf b/source/AVR_Studio/Soccer/default/Soccer.elf Binary files differindex 75a4f4a..5c63ac2 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 afa7ee0..1bf5d66 100755 --- a/source/AVR_Studio/Soccer/default/Soccer.hex +++ b/source/AVR_Studio/Soccer/default/Soccer.hex @@ -2,1147 +2,1168 @@ :100010000C9483000C9483000C9483000C94830054
:100020000C9483000C9483000C9483000C94830044
:100030000C9483000C9483000C9483000C94830034
-:100040000C94EA010C9483000C9493040C94C40463
+:100040000C94D4010C9483000C94CD040C94FE0405
:100050000C9483000C9483000C9483000C94830014
:100060000C9483000C9483000C9483000C94830004
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diff --git a/source/AVR_Studio/Soccer/hal/board.c b/source/AVR_Studio/Soccer/hal/board.c index b01d79c..458ed03 100755 --- a/source/AVR_Studio/Soccer/hal/board.c +++ b/source/AVR_Studio/Soccer/hal/board.c @@ -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)
{
diff --git a/source/AVR_Studio/Soccer/hal/board.h b/source/AVR_Studio/Soccer/hal/board.h index 445ffa4..a76aeb7 100755 --- a/source/AVR_Studio/Soccer/hal/board.h +++ b/source/AVR_Studio/Soccer/hal/board.h @@ -11,26 +11,33 @@ #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) +// Definiere Konstanten für die Motoren/Dribbler
+#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 PORTB
-#define DRIBBLER_PWM OCR1C -#define DRIBBLER_A (1 << 2) -#define DRIBBLER_B (1 << 3)
+#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
+
// 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
diff --git a/source/AVR_Studio/Soccer/navigation.c b/source/AVR_Studio/Soccer/navigation.c index f2c1d1c..cbdbdc9 100755 --- a/source/AVR_Studio/Soccer/navigation.c +++ b/source/AVR_Studio/Soccer/navigation.c @@ -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;
+ // Stärke der einzelnen Motoren berechnen
+ 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
diff --git a/source/AVR_Studio/Soccer/sensor/ballsensor.c b/source/AVR_Studio/Soccer/sensor/ballsensor.c index 8136581..d26b12c 100755 --- a/source/AVR_Studio/Soccer/sensor/ballsensor.c +++ b/source/AVR_Studio/Soccer/sensor/ballsensor.c @@ -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
|