diff options
Diffstat (limited to 'source/AVR_Studio/Soccer/hal')
| -rwxr-xr-x | source/AVR_Studio/Soccer/hal/board.c | 26 | ||||
| -rwxr-xr-x | source/AVR_Studio/Soccer/hal/board.h | 42 |
2 files changed, 44 insertions, 24 deletions
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
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