+++ Additional Codework

1 files changed, 0 insertions, 129 deletions

diff --git a/source/Concept/Framework/robot.cpp b/source/Concept/Framework/robot.cpp
deleted file mode 100644
index 5c673cb..0000000
--- a/source/Concept/Framework/robot.cpp
+++ /dev/null
@@ -1,129 +0,0 @@
-#include "robot.h"
-
-//-----------------------------------------------------------------------------

-Robot::Robot()

-{

-	//Hardware

-

-	//Set pin 1-6 output, 0 and 7 input

-	DDRA = (1 << 1) | (1 << 2) | (1 << 3) | (1 << 4) | (1 << 5) | (1 << 6);

-	PORTA = 0;

-

-	//All output

-	DDRB = (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 4) | (1 << 5) | (1 << 6)  | (1 << 7);

-	PORTB = (1 << 1);

-

-	//All output except PC4/PC5 (mousesensor SDA)

-	DDRC = (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 6)  | (1 << 7);

-	PORTC = 0;

-

-	//All output except PD0+1(I2C) + 2+3(RS232)

-	DDRD = (1 << 3) | (1 << 4) | (1 << 5) | (1 << 6)  | (1 << 7);

-	PORTD = (1 << 0) | (1 << 1);//Activate pullup at PD0+1

-

-	//PE5 for input

-	DDRE = (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 4) | (1 << 6)  | (1 << 7);

-	PORTE = 0;

-

-	//All input with pullup

-	DDRF = 0;

-	PORTF = (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 4) | (1 << 5) | (1 << 6)  | (1 << 7);

-

-	//All input

-	DDRG = (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 4); 

-	PORTG = (1 << 0) | (1 << 1);

-

-	// activate channel A+B on PWM1 at 8Bit

-	TCCR1A = (1<< COM1A1) | (1<< COM1B1) | (1<< WGM10);

-	TCCR1B = (1<<ICNC1) | (1<<CS11); // set clock/prescaler 1/8 -> enable counter

-

-	// activate Kanal A+B on PWM3 at 8Bit

-	TCCR3A = (1<< COM3A1) | (1<< COM3B1) | (1<< WGM10);

-	TCCR3B =  (1<<ICNC3) | (1<<CS31); // set clock/prescaler 1/8 -> enable counter

-

-	//Activate interrupt

-	sei();

-

-	//Interface

-	for(uint8 i = 0; i < IO_END; i++)

-	{

-		modules[i] = NULL;

-	}

-}

-

-//-----------------------------------------------------------------------------

-Robot::~Robot()

-{
-	for(uint8 i = 0; i < IO_END; i++)
-	{
-		if(!modules[i]) continue;
-
-		delete modules[i];
-		modules[i] = NULL;
-	}

-}

-

-//-----------------------------------------------------------------------------

-bool Robot::AddModule(IO_Module* newModule)

-{
-	if(modules[newModule->GetId()])
-		return false;

-

-	newModule->SetParent(this);

-

-	modules[newModule->GetId()] = newModule;
-

-	return true;

-}

-

-//-----------------------------------------------------------------------------

-bool Robot::RemoveModule(IO_Module* oldModule)

-{

-	return RemoveModule(oldModule->GetId());

-}

-

-//-----------------------------------------------------------------------------

-void Robot::Update()

-{

-	//insert code here

-}

-

-//-----------------------------------------------------------------------------

-uint16 Robot::GetADCValue(uint8 channel)

-{

-	if(channel > 7) return 0;

-

-	uint32 result = 0;

-	

-	//Activate ADC and set division factor to 8

-	ADCSRA = (1 << ADEN) | (1 << ADPS1) | (1 << ADPS0);

-

-	//Set multiplexer channel

-	ADMUX = channel;

-	//Use internal referencevoltage (2,56 V for atmega32)

-	ADMUX |= (1 << REFS1) | (1 << REFS0);

-	

-	//Initialise ADC and start dummyreadout

-	ADCSRA |= (1 << ADSC);

-	while(ADCSRA & (1 << ADSC));

-	

-	//Get voltage three times and calculate average value

-	for(uint8 i = 0; i < 3; i++)

-	{

-		// Eine Wandlung

-		ADCSRA |= (1 << ADSC);

-		// Auf Ergebnis warten...

-		while(ADCSRA & (1 << ADSC));

-		

-		result += ADCW;

-	}

-	

-	//Disable ADC

-	ADCSRA &= ~(1 << ADEN);

-	

-	result /= 3;

-	

-	return (uint16)(result);

-}

-

-//--- EOF ---