+++ many updates to sources

17 files changed, 579 insertions, 27 deletions

diff --git a/source/Concept/Framework/Concept.vcproj b/source/Concept/Framework/Concept.vcproj
index fd22f8d..1348191 100644
--- a/source/Concept/Framework/Concept.vcproj
+++ b/source/Concept/Framework/Concept.vcproj
@@ -201,6 +201,78 @@
 					</File>

 				</Filter>

 			</Filter>

+			<Filter

+				Name="Led"

+				Filter="">

+				<Filter

+					Name="Source Files"

+					Filter="">

+					<File

+						RelativePath=".\led.cpp">

+					</File>

+				</Filter>

+				<Filter

+					Name="Header Files"

+					Filter="">

+					<File

+						RelativePath=".\led.h">

+					</File>

+				</Filter>

+			</Filter>

+			<Filter

+				Name="Distance_Sensor"

+				Filter="">

+				<Filter

+					Name="Source Files"

+					Filter="">

+					<File

+						RelativePath=".\distance_sensor.cpp">

+					</File>

+				</Filter>

+				<Filter

+					Name="Header Files"

+					Filter="">

+					<File

+						RelativePath=".\distance_sensor.h">

+					</File>

+				</Filter>

+			</Filter>

+			<Filter

+				Name="IR_Sensor"

+				Filter="">

+				<Filter

+					Name="Source Files"

+					Filter="">

+					<File

+						RelativePath=".\ir_sensor.cpp">

+					</File>

+				</Filter>

+				<Filter

+					Name="Header Files"

+					Filter="">

+					<File

+						RelativePath=".\ir_sensor.h">

+					</File>

+				</Filter>

+			</Filter>

+			<Filter

+				Name="Kicker"

+				Filter="">

+				<Filter

+					Name="Source Files"

+					Filter="">

+					<File

+						RelativePath=".\kicker.cpp">

+					</File>

+				</Filter>

+				<Filter

+					Name="Header Files"

+					Filter="">

+					<File

+						RelativePath=".\kicker.h">

+					</File>

+				</Filter>

+			</Filter>

 		</Filter>

 		<Filter

 			Name="Hardware Interface"

diff --git a/source/Concept/Framework/defines.h b/source/Concept/Framework/defines.h
index 9eac05d..15e6c35 100644
--- a/source/Concept/Framework/defines.h
+++ b/source/Concept/Framework/defines.h
@@ -55,12 +55,8 @@
 #define uint64 unsigned int64

 #endif

 

-//Sensor types

-enum SensorTypes

-{

-	SENSOR_TYPE_ANALOG, 

-	SENSOR_TYPE_DIGITAL,

-};

+//Constants

+#define SPEED_PER_PWM 1

 

 //IO Module Names

 enum IOModuleNames

@@ -74,18 +70,42 @@ enum IOModuleNames
 	IO_ENGINE_DRIVE_LEFT = IO_ENGINE_START,

 	IO_ENGINE_DRIVE_RIGHT,

 	IO_ENGINE_DRIVE_BACK,

+	IO_ENGINE_DRIBBLER,

 

 	IO_ENGINE_END,

+

+	//Kicker

+

+	IO_KICKER_START = IO_ENGINE_END,

+

+	IO_KICKER_MAIN = IO_KICKER_START,

+

+	IO_KICKER_END,

 	

 	//Sensors

-	IO_SENSOR_START = IO_ENGINE_END,

+	IO_SENSOR_START = IO_KICKER_END,

 

-	IO_SENSOR_MOUSE = IO_SENSOR_START,

+	IO_SENSOR_IR_0_DEG = IO_SENSOR_START,

+	IO_SENSOR_IR_30_DEG,

+	IO_SENSOR_IR_60_DEG,

+	IO_SENSOR_IR_100_DEG,

+	IO_SENSOR_IR_180_DEG,

+	IO_SENSOR_IR_260_DEG,

+	IO_SENSOR_IR_300_DEG,

+	IO_SENSOR_IR_330_DEG,

 

 	IO_SENSOR_END,

 

+	//Leds

+

+	IO_LED_START = IO_SENSOR_END,

+

+	IO_LED_MAIN = IO_LED_START,

+

+	IO_LED_END,

+

 	//General

-	IO_END = IO_SENSOR_END,

+	IO_END = IO_LED_END,

 };

 

 #endif
diff --git a/source/Concept/Framework/distance_sensor.cpp b/source/Concept/Framework/distance_sensor.cpp
new file mode 100644
index 0000000..a11460c
--- /dev/null
+++ b/source/Concept/Framework/distance_sensor.cpp
@@ -0,0 +1 @@
+#include "distance_sensor.h"
\ No newline at end of file
diff --git a/source/Concept/Framework/distance_sensor.h b/source/Concept/Framework/distance_sensor.h
new file mode 100644
index 0000000..7690ab4
--- /dev/null
+++ b/source/Concept/Framework/distance_sensor.h
@@ -0,0 +1,27 @@
+#ifndef _DISTANCE_SENSOR_H

+#define _DISTANCE_SENSOR_H

+

+//#include "stdafx.h"

+#include "sensor.h"

+

+class Distance_Sensor : public Sensor

+{

+public:

+	Distance_Sensor()

+	{

+		this->parent = NULL;

+		this->moduleId = 0;

+	}

+

+	Distance_Sensor(uint32 sensorId)

+	{

+		this->parent = NULL;

+		this->moduleId = sensorId;

+	}

+

+protected:

+

+public:

+};

+

+#endif
diff --git a/source/Concept/Framework/engine.h b/source/Concept/Framework/engine.h
index 2736a7a..6454a32 100644
--- a/source/Concept/Framework/engine.h
+++ b/source/Concept/Framework/engine.h
@@ -9,20 +9,105 @@ public:
 	Engine()

 	{

 		this->enabled = false;

+		this->curSpeed = 0;

 		this->parent = NULL;

+		this->moduleId = 0;

+		this->hardwarePort = NULL;

+		this->pwmSpeed = NULL;

+		this->pwmPort = NULL;

+		this->pinForward = 0;

+		this->pinReverse = 0;

+		this->pinPwm = 0;

 	}

 

 	Engine(uint32 engineId)

 	{

 		this->enabled = false;

+		this->curSpeed = 0;

 		this->parent = NULL;

 		this->moduleId = engineId;

+		this->pwmSpeed = NULL;

+		this->pwmPort = NULL;

+		this->pinPwm = 0;

+		

+		switch(engineId)

+		{

+			case IO_ENGINE_DRIVE_LEFT:

+				this->hardwarePort = &PORTB;

+				this->pwmSpeed = &OCR1A;

+				this->pinForward = (1 << 0);

+				this->pinReverse = (1 << 1);

+				break;

+			case IO_ENGINE_DRIVE_RIGHT:

+				this->hardwarePort = &PORTB;

+				this->pwmSpeed = &OCR1B;

+				this->pinForward = (1 << 2);

+				this->pinReverse = (1 << 3);

+				break;

+			case IO_ENGINE_DRIVE_BACK:

+				this->hardwarePort = &PORTD;

+				this->pwmSpeed = &OCR3A;

+				this->pinForward = (1 << 5);

+				this->pinReverse = (1 << 4);

+				break;

+			case IO_ENGINE_DRIBBLER:

+				this->hardwarePort = &PORTD;

+				this->pwmPort = &PORTA;

+				this->pinForward = (1 << 6);

+				this->pinReverse = (1 << 7);

+				this->pinPwm = (1 << 5);

+				break;

+			default:

+				this->hardwarePort = NULL;

+				this->pwmSpeed = NULL;

+				this->pinForward = 0;

+				this->pinReverse = 0;

+				break;

+		}

+

+		*this->pwmSpeed = 0;

 	}

 

 protected:

 	bool enabled;

 	float curSpeed;

 

+	//Hardware

+	volatile uint8* hardwarePort;

+	volatile uint16* pwmSpeed;

+	uint8 pinForward;

+	uint8 pinReverse;

+	//Dribbler only

+	volatile uint8* pwmPort;

+	uint8 pinPwm;

+

+	void UpdateDirection()

+	{

+		if(enabled)

+		{

+			if(curSpeed > 0)

+			{

+				*hardwarePort |= pinForward;

+				*hardwarePort &= ~pinReverse;

+			}

+			else if(curSpeed < 0)

+			{

+				*hardwarePort |= pinReverse;

+				*hardwarePort &= ~pinForward;

+			}

+			else

+			{

+				*hardwarePort |= pinForward;

+				*hardwarePort |= pinReverse;

+			}

+		}

+		else

+		{

+			*hardwarePort &= ~pinForward;

+			*hardwarePort &= ~pinReverse;

+		}

+	}

+

 public:

 	float GetSpeed()

 	{

@@ -32,6 +117,21 @@ public:
 	void SetSpeed(float newSpeed)

 	{

 		curSpeed = newSpeed;

+

+		if(pwmSpeed)

+		{

+			*pwmSpeed = uint16(abs(newSpeed / SPEED_PER_PWM));

+		}

+		else if(pwmPort && uint16(abs(newSpeed / SPEED_PER_PWM)))

+		{

+			*pwmPort |= pinPwm;

+		}

+		else if(pwmPort)

+		{

+			*pwmPort &= ~pinPwn;

+		}

+

+		UpdateDirection();

 	}

 

 	bool GetEnabled()

@@ -42,6 +142,8 @@ public:
 	void SetEnabled(bool newStatus)

 	{

 		enabled = newStatus;

+

+		UpdateDirection();

 	}

 };

 

diff --git a/source/Concept/Framework/io_module.h b/source/Concept/Framework/io_module.h
index af5d611..f1fecd3 100644
--- a/source/Concept/Framework/io_module.h
+++ b/source/Concept/Framework/io_module.h
@@ -11,6 +11,7 @@ public:
 	IO_Module()

 	{

 		this->parent = NULL; 

+		this->moduleId = 0;

 	}

 

 	IO_Module(uint32 moduleId)

diff --git a/source/Concept/Framework/ir_sensor.cpp b/source/Concept/Framework/ir_sensor.cpp
new file mode 100644
index 0000000..065143e
--- /dev/null
+++ b/source/Concept/Framework/ir_sensor.cpp
@@ -0,0 +1,9 @@
+#include "ir_sensor.h"

+

+//-----------------------------------------------------------------------------

+uint16 IR_Sensor::GetIRIntensity()

+{
+	if(!parent) return 0;

+

+	return parent->GetADCValue(channel);

+}
\ No newline at end of file
diff --git a/source/Concept/Framework/ir_sensor.h b/source/Concept/Framework/ir_sensor.h
new file mode 100644
index 0000000..f267644
--- /dev/null
+++ b/source/Concept/Framework/ir_sensor.h
@@ -0,0 +1,62 @@
+#ifndef _IR_SENSOR_H

+#define _IR_SENSOR_H

+

+#include "defines.h"

+#include "robot.h"

+#include "sensor.h"

+

+class IR_Sensor : public Sensor

+{

+public:

+	IR_Sensor()

+	{

+		this->parent = NULL;

+		this->moduleId = 0;

+	}

+

+	IR_Sensor(uint32 sensorId)

+	{

+		this->parent = NULL;

+		this->moduleId = sensorId;

+

+		switch(sensorId)

+		{

+			case IO_SENSOR_IR_0_DEG:

+				this->channel = 0;

+				break;

+			case IO_SENSOR_IR_30_DEG:

+				this->channel = 1;

+				break;

+			case IO_SENSOR_IR_60_DEG:

+				this->channel = 2;

+				break;

+			case IO_SENSOR_IR_100_DEG:

+				this->channel = 3;

+				break;

+			case IO_SENSOR_IR_180_DEG:

+				this->channel = 4;

+				break;

+			case IO_SENSOR_IR_260_DEG:

+				this->channel = 5;

+				break;

+			case IO_SENSOR_IR_300_DEG:

+				this->channel = 6;

+				break;

+			case IO_SENSOR_IR_330_DEG:

+				this->channel = 7;

+				break;

+			default:

+				this->channel = 8;

+				break;

+		}

+	}

+

+protected:

+	//Hardware

+	uint8 channel;

+

+public:

+	uint16 GetIRIntensity();

+};

+

+#endif
diff --git a/source/Concept/Framework/kicker.cpp b/source/Concept/Framework/kicker.cpp
new file mode 100644
index 0000000..94bd711
--- /dev/null
+++ b/source/Concept/Framework/kicker.cpp
@@ -0,0 +1 @@
+#include "kicker.h"
\ No newline at end of file
diff --git a/source/Concept/Framework/kicker.h b/source/Concept/Framework/kicker.h
new file mode 100644
index 0000000..fa9718e
--- /dev/null
+++ b/source/Concept/Framework/kicker.h
@@ -0,0 +1,84 @@
+#ifndef _KICKER_H

+#define _KICKER_H

+

+#include "stdafx.h"

+

+class Kicker : public IO_Module

+{

+public:

+	Kicker()

+	{

+		this->enabled = false;

+		this->parent = NULL;

+		this->moduleId = 0;

+		this->portPower = NULL;

+		this->portForward = NULL;

+		this->portReverse = NULL;

+		this->pinPower = 0;

+		this->pinForward = 0;

+		this->pinReverse = 0;

+	}

+

+	Kicker(uint32 kickerId)

+	{

+		this->enabled = false;

+		this->parent = NULL;

+		this->moduleId = kickerId;

+

+		switch(kickerId)

+		{

+			case IO_KICKER_MAIN:

+				this->portPower = &PORTG;

+				this->portForward = &PORTA;

+				this->portReverse = &PORTE;

+				this->pinPower = (1 << 3);

+				this->pinForward = (1 << 2);

+				this->pinReverse = (1 << 6);

+				break;

+			default:

+				this->portPower = NULL;

+				this->portForward = NULL;

+				this->portReverse = NULL;

+				this->pinPower = 0;

+				this->pinForward = 0;

+				this->pinReverse = 0;

+				break;

+		}

+

+		*this->portForward |= this->pinForward;

+		*this->portReverse &= ~this->pinReverse;

+	}

+

+protected:

+	bool enabled;

+

+	//Hardware

+	volatile uint8* portPower;

+	volatile uint8* portForward;

+	volatile uint8* portReverse;

+	uint8 pinPower;

+	uint8 pinForward;

+	uint8 pinReverse;

+

+public:

+	bool GetEnabled()

+	{

+		return enabled;

+	}

+

+	void SetEnabled(bool newStatus)

+	{

+		enabled = newStatus;

+

+		if(enabled)

+		{

+			*portPower |= pinPower;

+		}

+		else

+		{

+			*portPower &= ~pinPower;

+		}

+	}

+};

+

+#endif
diff --git a/source/Concept/Framework/led.cpp b/source/Concept/Framework/led.cpp
new file mode 100644
index 0000000..a81aaf4
--- /dev/null
+++ b/source/Concept/Framework/led.cpp
@@ -0,0 +1 @@
+#include "led.h"
\ No newline at end of file
diff --git a/source/Concept/Framework/led.h b/source/Concept/Framework/led.h
new file mode 100644
index 0000000..f0f3982
--- /dev/null
+++ b/source/Concept/Framework/led.h
@@ -0,0 +1,65 @@
+#ifndef _LED_H

+#define _LED_H

+

+#include "stdafx.h"

+

+class Led : public IO_Module

+{

+public:

+	Led()

+	{

+		this->enabled = false;

+		this->parent = NULL;

+		this->moduleId = 0;

+		this->hardwarePort = NULL;

+		this->pinPower = 0;

+	}

+

+	Led(uint32 ledId)

+	{

+		this->enabled = false;

+		this->parent = NULL;

+		this->moduleId = ledId;

+

+		switch(ledId)

+		{

+			case IO_LED_MAIN:

+				this->hardwarePort = &PORTB;

+				this->pinPower = (1 << 1);

+				break;

+			default:

+				this->hardwarePort = NULL;

+				this->pinPower = 0;

+				break;

+		}

+	}

+

+protected:

+	bool enabled;

+

+	//Hardware

+	volatile uint8* hardwarePort;

+	uint8 pinPower;

+

+public:

+	bool GetEnabled()

+	{

+		return enabled;

+	}

+

+	void SetEnabled(bool newStatus)

+	{

+		enabled = newStatus;

+

+		if(enabled)

+		{

+			*hardwarePort &= ~pinPower;

+		}

+		else

+		{

+			*hardwarePort |= pinPower;

+		}

+	}

+};

+

+#endif
diff --git a/source/Concept/Framework/main.cpp b/source/Concept/Framework/main.cpp
index cf80770..d6e1d92 100644
--- a/source/Concept/Framework/main.cpp
+++ b/source/Concept/Framework/main.cpp
@@ -13,26 +13,51 @@ int main()
 		newEngine = NULL;

 	}

 

+	//Init Kicker

+	for(uint8 i = IO_KICKER_START; i < IO_KICKER_END; i++)

+	{

+		Kicker* newKicker = new Kicker(i);

+		localRobot->AddModule(newKicker);

+		newKicker = NULL;

+	}

+

 	//Init Sensors

 	for(uint8 i = IO_SENSOR_START; i < IO_SENSOR_END; i++)

 	{

-		SensorTypes newSensorType;

-

 		switch(i)

 		{

-			//Cases when sensor is digital:

-			//	newSensorType = SENSOR_TYPE_DIGITAL;

-			//	break;

-

+			//Create correct type of sensor

+			case IO_SENSOR_IR_0_DEG:

+			case IO_SENSOR_IR_30_DEG:

+			case IO_SENSOR_IR_60_DEG:

+			case IO_SENSOR_IR_100_DEG:

+			case IO_SENSOR_IR_180_DEG:

+			case IO_SENSOR_IR_260_DEG:

+			case IO_SENSOR_IR_300_DEG:

+			case IO_SENSOR_IR_330_DEG:

+			{

+				IR_Sensor* newSensor = new IR_Sensor(i);

+				localRobot->AddModule(newSensor);

+				newSensor = NULL;

+				break;

+			}

 			//Other cases

 			default:

-				newSensorType = SENSOR_TYPE_ANALOG;

+			{

+				Sensor* newSensor = new Sensor(i);

+				localRobot->AddModule(newSensor);

+				newSensor = NULL;

 				break;

+			}

 		}

+	}

 

-		Sensor* newSensor = new Sensor(i, newSensorType);

-		localRobot->AddModule(newSensor);

-		newSensor = NULL;

+	//Init Leds

+	for(uint8 i = IO_LED_START; i < IO_LED_END; i++)

+	{

+		Led* newLed = new Led(i);

+		localRobot->AddModule(newLed);

+		newLed = NULL;

 	}

 

 	//Run

diff --git a/source/Concept/Framework/robot.cpp b/source/Concept/Framework/robot.cpp
index f982be6..3d3ae48 100644
--- a/source/Concept/Framework/robot.cpp
+++ b/source/Concept/Framework/robot.cpp
@@ -3,6 +3,48 @@
 //-----------------------------------------------------------------------------

 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 << 2) | (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 <<CS12) | (1 <<CS10); // set clock/prescaler 1/1024 -> enable counter

+

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

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

+	TCCR3B =  (1 <<ICNC3) | (1 <<CS32) | (1 <<CS30); // set clock/prescaler 1/1024 -> enable counter

+

+	//Activate interrupt

+	sei();

+

+	//Interface

 	memset(modules, NULL, sizeof(modules));

 }

 

@@ -43,4 +85,42 @@ 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 64

+	ADCSRA = (1 << ADEN) | (1 << ADPS2) | (1 << ADPS1);

+

+	//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 ---
diff --git a/source/Concept/Framework/robot.h b/source/Concept/Framework/robot.h
index db7fe15..13aa696 100644
--- a/source/Concept/Framework/robot.h
+++ b/source/Concept/Framework/robot.h
@@ -38,6 +38,8 @@ public:
 	bool RemoveModule(IO_Module* oldModule);

 

 	void Update();

+

+	uint16 GetADCValue(uint8 channel);

 };

 

 #endif
diff --git a/source/Concept/Framework/sensor.h b/source/Concept/Framework/sensor.h
index 117f446..62f2165 100644
--- a/source/Concept/Framework/sensor.h
+++ b/source/Concept/Framework/sensor.h
@@ -1,7 +1,8 @@
 #ifndef _SENSOR_H

 #define _SENSOR_H

 

-#include "stdafx.h"

+#include "defines.h"

+#include "io_module.h"

 

 class Sensor : public IO_Module

 {

@@ -9,23 +10,18 @@ public:
 	Sensor()

 	{

 		this->parent = NULL;

+		this->moduleId = 0;

 	}

 

-	Sensor(uint32 sensorId, SensorTypes sensorType)

+	Sensor(uint32 sensorId)

 	{

 		this->parent = NULL;

 		this->moduleId = sensorId;

-		this->sensorType = sensorType;

 	}

 

 protected:

-	SensorTypes sensorType;

 

 public:

-	SensorTypes GetType()

-	{

-		return sensorType;

-	}

 };

 

 #endif
diff --git a/source/Concept/Framework/stdafx.h b/source/Concept/Framework/stdafx.h
index 5a50add..436f117 100644
--- a/source/Concept/Framework/stdafx.h
+++ b/source/Concept/Framework/stdafx.h
@@ -9,4 +9,8 @@
 #include "io_module.h"

 #include "sensor.h"

 #include "engine.h"

+#include "kicker.h"

+#include "led.h"

+#include "distance_sensor.h"

+#include "ir_sensor.h"

 #include "robot.h"