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Diffstat (limited to 'source/ct-Bot/bot-logic/behaviour_servo.c')
| -rw-r--r-- | source/ct-Bot/bot-logic/behaviour_servo.c | 68 |
1 files changed, 68 insertions, 0 deletions
diff --git a/source/ct-Bot/bot-logic/behaviour_servo.c b/source/ct-Bot/bot-logic/behaviour_servo.c new file mode 100644 index 0000000..77583cc --- /dev/null +++ b/source/ct-Bot/bot-logic/behaviour_servo.c @@ -0,0 +1,68 @@ +/* + * c't-Bot + * + * This program is free software; you can redistribute it + * and/or modify it under the terms of the GNU General + * Public License as published by the Free Software + * Foundation; either version 2 of the License, or (at your + * option) any later version. + * This program is distributed in the hope that it will be + * useful, but WITHOUT ANY WARRANTY; without even the implied + * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR + * PURPOSE. See the GNU General Public License for more details. + * You should have received a copy of the GNU General Public + * License along with this program; if not, write to the Free + * Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, + * MA 02111-1307, USA. + * + */ + + +/*! @file behaviour_servo.c + * @brief kontrolliert die Servos + * + * @author Benjamin Benz (bbe@heise.de) + * @date 07.12.06 +*/ + + +#include "bot-logic/bot-logik.h" +#ifdef BEHAVIOUR_SERVO_AVAILABLE + +#include "motor.h" +#include "timer.h" +/*! Uebergabevariable fuer Servo-Verhalten */ +static uint16 servo_time; +static uint8 servo_nr; +static uint8 servo_pos; +uint8 servo_active = 0; /*!< 0, wenn kein Servo aktiv, sonst Bit der gerade aktiven Servos gesetzt */ + +/*! + * Dieses Verhalten fuehrt ein Servo-Kommando aus und schaltet danach den Servo wieder ab + * + * @param *data der Verhaltensdatensatz + */ +void bot_servo_behaviour(Behaviour_t *data){ + /* Servo ausschalten, falls Klappe zu oder Countdown abgelaufen */ + if ( (servo_pos == DOOR_CLOSE && sensDoor == 0) || (TIMER_GET_TICKCOUNT_16 - servo_time > MS_TO_TICKS(1000L)) ){ + servo_set(servo_nr, SERVO_OFF); // Servo aus + servo_active &= ~servo_nr; + return_from_behaviour(data); // und Verhalten auch aus + } +} + +/*! + * Fahre den Servo an eine Position + * @param servo Nummer des Servos + * @param pos Zielposition des Servos + */ +void bot_servo(Behaviour_t * caller, uint8 servo, uint8 pos){ + servo_active |= servo; + servo_set(servo, pos); // Servo-PWM einstellen + servo_pos = pos; // Zielposition merken + servo_nr = servo; // Servo-Nr speichern + servo_time = TIMER_GET_TICKCOUNT_16; // Der Count down verschafft dem Servo etwas Zeit + + switch_to_behaviour(caller,bot_servo_behaviour,OVERRIDE); // Warte-Verahlten an +} +#endif |