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-rwxr-xr-xsource/AVR_Studio/Soccer/Soccer.aps2
-rwxr-xr-xsource/AVR_Studio/Soccer/Soccer.c37
-rwxr-xr-xsource/AVR_Studio/Soccer/default/Soccer.elfbin87393 -> 87759 bytes
-rwxr-xr-xsource/AVR_Studio/Soccer/default/Soccer.hex2301
-rwxr-xr-xsource/AVR_Studio/Soccer/default/dep/Soccer.o.d19
-rwxr-xr-xsource/AVR_Studio/Soccer/default/dep/board.o.d6
-rwxr-xr-xsource/AVR_Studio/Soccer/default/dep/keylcd.o.d52
-rwxr-xr-xsource/AVR_Studio/Soccer/hal/board.c47
-rwxr-xr-xsource/AVR_Studio/Soccer/hal/board.h14
-rwxr-xr-xsource/AVR_Studio/Soccer/hal/keylcd.c15
-rwxr-xr-xsource/AVR_Studio/Soccer/hal/keylcd.h8
-rwxr-xr-xsource/AVR_Studio/Soccer/navigation.c10
12 files changed, 1222 insertions, 1289 deletions
diff --git a/source/AVR_Studio/Soccer/Soccer.aps b/source/AVR_Studio/Soccer/Soccer.aps
index 04830f4..459bdc6 100755
--- a/source/AVR_Studio/Soccer/Soccer.aps
+++ b/source/AVR_Studio/Soccer/Soccer.aps
@@ -1 +1 @@
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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><SOURCEFILE>sensor\position.c</SOURCEFILE><SOURCEFILE>sensor\abstand.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><HEADERFILE>sensor\position.h</HEADERFILE><HEADERFILE>sensor\abstand.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\sensor\position.h</Name><Name>Y:\AVR_Studio\Soccer\sensor\abstand.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><Name>Y:\AVR_Studio\Soccer\sensor\position.c</Name><Name>Y:\AVR_Studio\Soccer\sensor\abstand.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><File00022><FileId>00022</FileId><FileName>sensor\position.h</FileName><Status>1</Status></File00022><File00023><FileId>00023</FileId><FileName>sensor\position.c</FileName><Status>1</Status></File00023><File00024><FileId>00024</FileId><FileName>sensor\abstand.h</FileName><Status>1</Status></File00024><File00025><FileId>00025</FileId><FileName>sensor\abstand.c</FileName><Status>1</Status></File00025></Files><Workspace><File00000><Position>299 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+<AVRStudio><MANAGEMENT><ProjectName>Soccer</ProjectName><Created>07-Feb-2007 15:43:12</Created><LastEdit>17-Feb-2007 01:32:56</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><Item>51</Item><Item>402</Item><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><SOURCEFILE>sensor\position.c</SOURCEFILE><SOURCEFILE>sensor\abstand.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><HEADERFILE>sensor\position.h</HEADERFILE><HEADERFILE>sensor\abstand.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\sensor\position.h</Name><Name>Y:\AVR_Studio\Soccer\sensor\abstand.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><Name>Y:\AVR_Studio\Soccer\sensor\position.c</Name><Name>Y:\AVR_Studio\Soccer\sensor\abstand.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><File00022><FileId>00022</FileId><FileName>sensor\position.h</FileName><Status>1</Status></File00022><File00023><FileId>00023</FileId><FileName>sensor\position.c</FileName><Status>1</Status></File00023><File00024><FileId>00024</FileId><FileName>sensor\abstand.h</FileName><Status>1</Status></File00024><File00025><FileId>00025</FileId><FileName>sensor\abstand.c</FileName><Status>1</Status></File00025><File00026><FileId>00026</FileId><FileName>c:\WinAVR\avr\include\avr\io.h</FileName><Status>1</Status></File00026><File00027><FileId>00027</FileId><FileName>c:\WinAVR\avr\include\math.h</FileName><Status>1</Status></File00027><File00028><FileId>00028</FileId><FileName>c:\WinAVR\avr\include\inttypes.h</FileName><Status>1</Status></File00028><File00029><FileId>00029</FileId><FileName>c:\WinAVR\avr\include\avr\sfr_defs.h</FileName><Status>1</Status></File00029><File00030><FileId>00030</FileId><FileName>c:\WinAVR\avr\include\avr\version.h</FileName><Status>1</Status></File00030><File00031><FileId>00031</FileId><FileName>c:\WinAVR\avr\include\stdint.h</FileName><Status>1</Status></File00031><File00032><FileId>00032</FileId><FileName>c:\WinAVR\lib\gcc\avr\4.1.1\include\stddef.h</FileName><Status>1</Status></File00032></Files><Workspace><File00000><Position>299 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diff --git a/source/AVR_Studio/Soccer/Soccer.c b/source/AVR_Studio/Soccer/Soccer.c
index 117b6bc..00f1dcf 100755
--- a/source/AVR_Studio/Soccer/Soccer.c
+++ b/source/AVR_Studio/Soccer/Soccer.c
@@ -10,19 +10,29 @@ Sensor sensor;
int main() {
//board.ledOn();
- sleep(2);
+ sleep(1);
uart1_puts("Hallo hier ist das RNMega128Funk-Board");
+ while(true)
+ {
+ uart1_puts("3");
+ sleep(1);
+ }
+
+ int speed = 100;
- int speed = 255;
- board.motor(0, speed);
- board.motor(1, speed);
- board.motor(2, speed);
-
- sleep(2);
- navigation.Aktualisieren(180,0,speed);
- while(true) { sleep(1); }
+ /*for(int i=0;i<360;i+=5) {
+ navigation.Aktualisieren(0,i,0);
+ msleep(1000);
+ }*/
+
+ /*sleep(2);
+ board.motor(0,0);
+ board.motor(1,0);
+ board.motor(2,0);
+ board.motor(3,0);
+ while(true) { sleep(1); }*/
/*board.motor(0,speed);
board.motor(2,speed);
sleep(2);
@@ -83,11 +93,16 @@ int main() {
while(true) {
navigation.Aktualisieren(0,0,speed);
sleep(2);
- navigation.Aktualisieren(90,0,speed);
+ navigation.Aktualisieren(135,0,speed);
sleep(2);
navigation.Aktualisieren(180,0,speed);
sleep(2);
- navigation.Aktualisieren(270,0,speed);
+ navigation.Aktualisieren(225,0,speed);
+ sleep(2);
+ board.motor(0,0);
+ board.motor(1,0);
+ board.motor(2,0);
+ board.motor(3,0);
sleep(2);
}
diff --git a/source/AVR_Studio/Soccer/default/Soccer.elf b/source/AVR_Studio/Soccer/default/Soccer.elf
index 5c63ac2..d0dc77f 100755
--- a/source/AVR_Studio/Soccer/default/Soccer.elf
+++ b/source/AVR_Studio/Soccer/default/Soccer.elf
Binary files differ
diff --git a/source/AVR_Studio/Soccer/default/Soccer.hex b/source/AVR_Studio/Soccer/default/Soccer.hex
index 1bf5d66..1944751 100755
--- a/source/AVR_Studio/Soccer/default/Soccer.hex
+++ b/source/AVR_Studio/Soccer/default/Soccer.hex
@@ -2,1168 +2,1159 @@
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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 4c16d08..51a77bf 100755
--- a/source/AVR_Studio/Soccer/default/dep/Soccer.o.d
+++ b/source/AVR_Studio/Soccer/default/dep/Soccer.o.d
@@ -7,12 +7,9 @@ Soccer.o: ../Soccer.c ../global.h c:/winavr/bin/../avr/include/stdlib.h \
c:/winavr/bin/../avr/include/avr/iom128.h \
c:/winavr/bin/../avr/include/avr/portpins.h \
c:/winavr/bin/../avr/include/avr/version.h \
- c:/winavr/bin/../avr/include/avr/interrupt.h ../hal/uart.h \
- ../hal/../global.h ../hal/keylcd.h ../hal/i2c.h \
- c:/winavr/bin/../avr/include/compat/twi.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 \
+ c:/winavr/bin/../avr/include/avr/interrupt.h ../hal/../global.h \
+ ../hal/keylcd.h c:/winavr/bin/../avr/include/string.h ../hal/uart.h \
+ ../navigation.h c:/winavr/bin/../avr/include/math.h ../sensor/sensor.h \
../sensor/../hal/board.h ../sensor/ballsensor.h ../sensor/position.h \
../sensor/../hal/maussensor.h ../sensor/../hal/../global.h \
../sensor/abstand.h ../sensor/../global.h
@@ -41,20 +38,14 @@ c:/winavr/bin/../avr/include/avr/version.h:
c:/winavr/bin/../avr/include/avr/interrupt.h:
-../hal/uart.h:
-
../hal/../global.h:
../hal/keylcd.h:
-../hal/i2c.h:
-
-c:/winavr/bin/../avr/include/compat/twi.h:
-
-c:/winavr/bin/../avr/include/util/twi.h:
-
c:/winavr/bin/../avr/include/string.h:
+../hal/uart.h:
+
../navigation.h:
c:/winavr/bin/../avr/include/math.h:
diff --git a/source/AVR_Studio/Soccer/default/dep/board.o.d b/source/AVR_Studio/Soccer/default/dep/board.o.d
index 255bb8a..1553156 100755
--- a/source/AVR_Studio/Soccer/default/dep/board.o.d
+++ b/source/AVR_Studio/Soccer/default/dep/board.o.d
@@ -8,8 +8,8 @@ board.o: ../hal/board.c ../hal/board.h \
c:/winavr/bin/../avr/include/avr/version.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 ../hal/uart.h \
- ../hal/../global.h ../hal/../hal/board.h
+ c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h ../hal/../global.h \
+ ../hal/../hal/board.h
../hal/board.h:
@@ -33,8 +33,6 @@ c:/winavr/bin/../avr/include/stdlib.h:
c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h:
-../hal/uart.h:
-
../hal/../global.h:
../hal/../hal/board.h:
diff --git a/source/AVR_Studio/Soccer/default/dep/keylcd.o.d b/source/AVR_Studio/Soccer/default/dep/keylcd.o.d
index 5a3eaeb..e69de29 100755
--- a/source/AVR_Studio/Soccer/default/dep/keylcd.o.d
+++ b/source/AVR_Studio/Soccer/default/dep/keylcd.o.d
@@ -1,52 +0,0 @@
-keylcd.o: ../hal/keylcd.c ../hal/keylcd.h ../hal/i2c.h ../hal/../global.h \
- c:/winavr/bin/../avr/include/stdlib.h \
- c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h \
- ../hal/../hal/board.h c:/winavr/bin/../avr/include/avr/io.h \
- c:/winavr/bin/../avr/include/avr/sfr_defs.h \
- c:/winavr/bin/../avr/include/inttypes.h \
- c:/winavr/bin/../avr/include/stdint.h \
- c:/winavr/bin/../avr/include/avr/iom128.h \
- c:/winavr/bin/../avr/include/avr/portpins.h \
- c:/winavr/bin/../avr/include/avr/version.h \
- c:/winavr/bin/../avr/include/avr/interrupt.h ../hal/../hal/uart.h \
- ../hal/../hal/../global.h c:/winavr/bin/../avr/include/compat/twi.h \
- c:/winavr/bin/../avr/include/util/twi.h \
- c:/winavr/bin/../avr/include/string.h
-
-../hal/keylcd.h:
-
-../hal/i2c.h:
-
-../hal/../global.h:
-
-c:/winavr/bin/../avr/include/stdlib.h:
-
-c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h:
-
-../hal/../hal/board.h:
-
-c:/winavr/bin/../avr/include/avr/io.h:
-
-c:/winavr/bin/../avr/include/avr/sfr_defs.h:
-
-c:/winavr/bin/../avr/include/inttypes.h:
-
-c:/winavr/bin/../avr/include/stdint.h:
-
-c:/winavr/bin/../avr/include/avr/iom128.h:
-
-c:/winavr/bin/../avr/include/avr/portpins.h:
-
-c:/winavr/bin/../avr/include/avr/version.h:
-
-c:/winavr/bin/../avr/include/avr/interrupt.h:
-
-../hal/../hal/uart.h:
-
-../hal/../hal/../global.h:
-
-c:/winavr/bin/../avr/include/compat/twi.h:
-
-c:/winavr/bin/../avr/include/util/twi.h:
-
-c:/winavr/bin/../avr/include/string.h:
diff --git a/source/AVR_Studio/Soccer/hal/board.c b/source/AVR_Studio/Soccer/hal/board.c
index 458ed03..9d895e8 100755
--- a/source/AVR_Studio/Soccer/hal/board.c
+++ b/source/AVR_Studio/Soccer/hal/board.c
@@ -16,7 +16,7 @@ Board::Board() {
PORTC = 0; // Alle Low, kein Pollup
// Alle Ausgänge bis auf PD0+1(I2C) + 2+3(RS232)
- DDRD = (1 << PD2) | (1 << PD3) | (1 << PD4) | (1 << PD5) | (1 << PD6) | (1 << PD7);
+ DDRD = (1 << PD3) | (1 << PD4) | (1 << PD5) | (1 << PD6) | (1 << PD7);
PORTD = (1 << PD0) | (1 << PD1); // Pollup-Widerstand an PD0+1 aktivieren
// PE5 ist eingang
@@ -33,11 +33,11 @@ Board::Board() {
// 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
+ TCCR1B = (1<<ICNC1) | (1<<CS11); // | (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
+ TCCR3B = (1<<ICNC3) | (1<<CS31); // | (1<<CS32) | (1<<CS30); // set clock/prescaler 1/1024 -> enable counter
// Schalte Motoren auf 0
motor(0,0);
@@ -49,8 +49,11 @@ Board::Board() {
PORTE &= ~(1 << PE6); // Pin2 low
PORTA |= (1 << PA2); // Pin1 high
- // Uart-Interface einschalten
- uart1_init( 10); // 9600 BAUD bei 16MHz Atmel
+ // Dribbler-richtung einstellen
+ DRIBBLER_PORT |= DRIBBLER_A; // Pin1 high
+ DRIBBLER_PORT &= ~DRIBBLER_B; // Pin2 low
+
+
// aktiviere interrupt
sei();
@@ -202,27 +205,6 @@ void Board::motor(int i, int speed)
MOTOR2_PORT |= MOTOR2_A;//In 1 ein
}
}
- else if(i == 3) // Dribbler... hier haben wir kein 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() {
@@ -231,6 +213,19 @@ void Board::kicker() {
KICKER_AUS
}
+void Board::dribblerOn() {
+ DRIBBLER_AN
+}
+
+void Board::dribblerOff() {
+ DRIBBLER_AUS
+}
+
+void Board::dribbler(bool status) {
+ if(status) dribblerOn();
+ else dribblerOff();
+}
+
//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 a76aeb7..e608836 100755
--- a/source/AVR_Studio/Soccer/hal/board.h
+++ b/source/AVR_Studio/Soccer/hal/board.h
@@ -4,7 +4,7 @@
#include <avr/io.h>
#include <avr/interrupt.h>
#include <stdlib.h>
-#include "uart.h"
+//#include "uart.h"
#include "../global.h"
//#define abs(a) ((a < 0)? -a : a)
@@ -26,10 +26,12 @@
#define MOTOR2_PWM OCR3A
#define MOTOR2_A (1 << 5)
#define MOTOR2_B (1 << 4)
-
+
+
+// Dribbler
#define DRIBBLER_PORT PORTD
-#define DRIBBLER_PWMPORT PORTA
-#define DRIBBLER_PWM (1 << 5)
+#define DRIBBLER_AN PORTA |= (1 << 5);
+#define DRIBBLER_AUS PORTA &= ~(1 << 5);
#define DRIBBLER_A (1 << 6)
#define DRIBBLER_B (1 << 7)
@@ -62,6 +64,10 @@ public:
void led(bool status);
void motor(int i, int speed);
void kicker();
+
+ void dribbler(bool status);
+ void dribblerOn();
+ void dribblerOff();
};
#endif
diff --git a/source/AVR_Studio/Soccer/hal/keylcd.c b/source/AVR_Studio/Soccer/hal/keylcd.c
index fb2efa6..4b98f75 100755
--- a/source/AVR_Studio/Soccer/hal/keylcd.c
+++ b/source/AVR_Studio/Soccer/hal/keylcd.c
@@ -1,7 +1,8 @@
#include "keylcd.h"
-KeyLCD::KeyLCD() : i2c() {
-
+KeyLCD::KeyLCD() {
+ // Uart-Interface einschalten
+ uart1_init( 103); // 9600 BAUD bei 16MHz Atmel
}
KeyLCD::~KeyLCD() {
@@ -10,12 +11,7 @@ KeyLCD::~KeyLCD() {
// Gibt Daten auf dem keyLCD aus
void KeyLCD::print(char *data) {
- int len=strlen(data);
- uint8_t buf[len+1];
-
- for (int i=0; i<len; i++) buf[i] = uint8_t(data[i]);
-
- i2c.send(I2C_KEYLCD, buf, len);
+ uart1_puts(data);
}
// Löscht das keyLCD
@@ -23,6 +19,3 @@ void KeyLCD::clear() {
}
-uint8_t KeyLCD::error() {
- return i2c.error();
-}
diff --git a/source/AVR_Studio/Soccer/hal/keylcd.h b/source/AVR_Studio/Soccer/hal/keylcd.h
index 590c0cb..9403aa6 100755
--- a/source/AVR_Studio/Soccer/hal/keylcd.h
+++ b/source/AVR_Studio/Soccer/hal/keylcd.h
@@ -1,22 +1,18 @@
#ifndef _KEYLCD_H_
#define _KEYLCD_H_
-#include "i2c.h"
+//#include "i2c.h"
#include "string.h"
-
-#define I2C_KEYLCD 2
-#define LCD_CMD_PRINTSTR 0
+#include "uart.h"
class KeyLCD
{
private:
- I2C i2c;
public:
KeyLCD();
~KeyLCD();
void print(char* data);
- uint8_t error();
void clear();
};
diff --git a/source/AVR_Studio/Soccer/navigation.c b/source/AVR_Studio/Soccer/navigation.c
index cbdbdc9..2698390 100755
--- a/source/AVR_Studio/Soccer/navigation.c
+++ b/source/AVR_Studio/Soccer/navigation.c
@@ -26,18 +26,18 @@ void Navigation::SetzeGeschwindigkeit(int nGeschwindigkeit) {
// Aktualieren ohne Parameter
-void Navigation::Aktualisieren() {
+void Navigation::Aktualisieren() {
// Richtung in x und y-Kompontente zerlegen
- double y = cos(richtung); // richtung ist winkel
- double x = sin(richtung);
+ double y = cos((double)richtung*0.01745); // richtung ist winkel
+ double x = sin((double)richtung*0.01745);
// Abweichung der Ausrichtung ermitteln(als winkel)
int w = sensor.GetAusrichtung() - ausrichtung;
// Stärke der einzelnen Motoren berechnen
- double v0 = (-x-sqrt(3)*y)/2;
+ double v0 = (-x+sqrt(3)*y)/2;
double v1 = x;
- double v2 = (-x+sqrt(3)*y)/2;
+ double v2 = (-x-sqrt(3)*y)/2;
// Ausgerechnete Stärke an die Motoren übergeben
board.motor(0,(int)((double)v0*geschwindigkeit +w));