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Diffstat (limited to 'source/qFix/qfixBobbyBoard.h')
| -rw-r--r-- | source/qFix/qfixBobbyBoard.h | 344 |
1 files changed, 344 insertions, 0 deletions
diff --git a/source/qFix/qfixBobbyBoard.h b/source/qFix/qfixBobbyBoard.h new file mode 100644 index 0000000..c2f04a4 --- /dev/null +++ b/source/qFix/qfixBobbyBoard.h @@ -0,0 +1,344 @@ +//------------------------------------------------------------------
+// qfixBobbyBoard.h
+//
+// This file contains the class BobbyBoard which represents the
+// physical BobbyBoard with all its inputs and outputs.
+//
+// Copyright 2004-2006 by KTB mechatronics GmbH
+// Author: Stefan Enderle
+//------------------------------------------------------------------
+
+
+#include "qfix.h"
+
+
+#ifndef qfixBobbyBoard_h
+#define qfixBobbyBoard_h
+
+
+static int speedMotor0 = 0;
+static int speedMotor1 = 0;
+
+
+/**
+* \class BobbyBoard
+* \brief Represents the controller board "BobbyBoard".
+* \author Stefan Enderle
+*
+* The class BobbyBoard represents the
+* physical BobbyBoard with all its inputs and outputs.
+* With this class it is possible to drive the motors,
+* put on LEDs, check the buttons and get data from the
+* analog and digital inputs.
+*/
+class BobbyBoard
+{
+
+public:
+ /** Constructor for the BobbyBoard class. All LEDs and motors are put off,
+ * the power outputs are put on.
+ */
+ BobbyBoard();
+
+ /** Puts on LED i. i must be 0..3
+ * \see ledOff
+ */
+ void ledOn(int i);
+
+ /** Puts off LED i. i must be 0..3
+ * \see ledOn
+ */
+ void ledOff(int i);
+
+ /** Puts off all LEDs.
+ */
+ void ledsOff();
+
+ /** Puts LED i on if state is true, else off. i must be 0..3
+ * \see ledOn, ledOff
+ */
+ void led(int i, bool state);
+
+ /** Puts the power output i on. i must be 0..3
+ * \see powerOff
+ */
+ void powerOn(int i);
+
+ /** Puts the power output i off. i must be 0..3
+ * \see powerOn
+ */
+ void powerOff(int i);
+
+ /** Puts the power output i on if state is true, else off. i must be 0..3
+ * \see powerOn, powerOff
+ */
+ void power(int i, bool state);
+
+ /** Checks the state of button i. If it is pressed, true is returned,
+ * else false. i must be 0..3
+ * \see waitForButton
+ */
+ bool button(int i);
+
+ /** Uses the four LEDs on the board to display the value i
+ * with 0 <= i <= 255
+ */
+ void ledMeter(int i);
+
+ /** Sets motor i to the given speed. -255 <= speed <= 255
+ * \see motors
+ */
+ void motor(int i, int speed);
+
+ /** Sets both motors to the given speed. -255 <= speed <= 255
+ * \see motor
+ */
+ void motors(int speed0, int speed1);
+
+ /** Puts off both motors.
+ * \see motor, motors
+ */
+ void motorsOff();
+
+ /** returns the value of the analog port i. i must be 0..3
+ * \see digital
+ */
+ int analog(int i);
+
+ /** returns true if the digital port is logical high, else false. i must be 0..3
+ * \see analog
+ */
+ bool digital(int i);
+
+ /** Waits until button i is pressed and released again. i must be 0..3
+ * \see button
+ */
+ void waitForButton(int i);
+
+ /** Waits for i seconds.
+ */
+ void sleep(int i);
+
+ /** Waits for i milliseconds.
+ */
+ void msleep(int i);
+};
+
+
+
+
+
+
+
+// PWM routine //
+SIGNAL (SIG_OVERFLOW0)
+{
+ const int OFFSET=50; // motor does not work with very low ratio
+ static int counter=255+OFFSET;
+
+ if (speedMotor0==0) cbi(PORTC, 2); // enable1 = 0
+ else if (abs(speedMotor0)+OFFSET >= counter) sbi(PORTC, 2); // enable1 = 1
+ else cbi(PORTC, 2); // enable1 = 0
+
+ if (speedMotor1==0) cbi(PORTC, 3); // enable1 = 0
+ else if (abs(speedMotor1)+OFFSET >= counter) sbi(PORTC, 3); // enable2 = 1
+ else cbi(PORTC, 3); // enable2 = 0
+
+ if (counter==0) counter=255+OFFSET;
+ else counter--;
+}
+
+
+
+void initTimer()
+{
+ TCCR0=1; // timer 0 for interrupt
+ TIMSK=1;
+ sei(); // enable interrupts
+}
+
+
+
+BobbyBoard::BobbyBoard()
+{
+ // PORT A: Analog In + buttons //
+ DDRA=0; // all bits input
+ PORTA=16+32+64+128; // set pullups for buttons
+ ADCSRA=128; // set A/D enable bit (ADEN)
+
+ // PORT B: LEDs + digital Input //
+ DDRB = 16+32+64+128; // upper bits output: LEDs
+ PORTB |= 16+32+64+128; // set bits 5 to 8 -> LEDs off
+ PORTB |= 1+2+4+8; // set pullups for digital inputs
+
+ // PORT C: I2C and motors //
+ DDRC = 255-1-2; // direction port C, all bits output except I2C
+ PORTC = 1+2; // clear bits 2-7 -> motors off; set bits 0,1 -> I2C pullUps
+
+ // PORT D: Power Output //
+ DDRD = 255; // direction port D, all bits output
+ PORTD = 0; // clear all bits -> power on
+
+ initTimer();
+}
+
+
+void BobbyBoard::ledOn(int i)
+{
+ if ((i<0) || (i>3)) return;
+ cbi(PORTB, i+4); // clear bit -> LED on
+}
+
+
+void BobbyBoard::ledOff(int i)
+{
+ if ((i<0) || (i>3)) return;
+ sbi(PORTB, i+4); // set bit -> LED off
+}
+
+void BobbyBoard::ledsOff()
+{
+ PORTB|=128+64+32+16; // set high bits -> LEDs off
+}
+
+
+void BobbyBoard::led(int i, bool state)
+{
+ if (state) ledOn(i); else ledOff(i);
+}
+
+
+void BobbyBoard::powerOn(int i)
+{
+ if ((i<0) || (i>7)) return;
+ cbi(PORTD, i);
+}
+
+
+void BobbyBoard::powerOff(int i)
+{
+ if ((i<0) || (i>7)) return;
+ sbi(PORTD, i);
+}
+
+
+void BobbyBoard::power(int i, bool state)
+{
+ if (state) powerOn(i); else powerOff(i);
+}
+
+
+bool BobbyBoard::button(int i)
+{
+ if ((i<0) || (i>3)) return false;
+ return ( (PINA & (16<<i)) == 0);
+}
+
+
+void BobbyBoard::ledMeter(int i)
+{
+ led(0, (i>50));
+ led(1, (i>100));
+ led(2, (i>150));
+ led(3, (i>200));
+}
+
+
+void BobbyBoard::motor(int i, int speed)
+{
+ if ((i<0) || (i>1)) return;
+
+ if (i==0) {
+ speedMotor0 = speed;
+ if (speed==0) {
+ cbi(PORTC, 4); // input1 = 0
+ cbi(PORTC, 5); // input2 = 0
+ }
+ else if (speed>0) {
+ sbi(PORTC, 4); // input1 = 1
+ cbi(PORTC, 5); // input2 = 0
+
+ }
+ else {
+ cbi(PORTC, 4); // input1 = 0
+ sbi(PORTC, 5); // input2 = 1
+ }
+ }
+
+ if (i==1) {
+ speedMotor1 = speed;
+ if (speed==0) {
+ cbi(PORTC, 6); // input3 = 0
+ cbi(PORTC, 7); // input4 = 0
+ }
+ else if (speed>0){
+ sbi(PORTC, 6); // input3 = 1
+ cbi(PORTC, 7); // input4 = 0
+ }
+ else {
+ cbi(PORTC, 6); // input3 = 0
+ sbi(PORTC, 7); // input4 = 1
+ }
+ }
+}
+
+
+void BobbyBoard::motors(int motor0, int motor1)
+{
+ motor(0,motor0);
+ motor(1,motor1);
+}
+
+
+void BobbyBoard::motorsOff()
+{
+ motor(0,0);
+ motor(1,0);
+}
+
+
+// return 0-255 //
+int BobbyBoard::analog(int i)
+{
+ if ((i<0) || (i>3)) return -1;
+
+ ADMUX=i; // select analog input and start A/D
+ sbi(ADMUX, ADLAR); // left adjust -> we use only ADCH
+ sbi(ADCSRA, ADSC); // start conversion
+ while (ADCSRA & 64); // wait until ADSC is low again
+ int value = ADCH; // read 8 bit value fom ADCH
+ return value;
+}
+
+
+bool BobbyBoard::digital(int i)
+{
+ if ((i<0) || (i>3)) return false; // bad solution...
+
+ return (PINB & (1<<i)) ;
+}
+
+
+void BobbyBoard::waitForButton(int i)
+{
+ if ((i<0) || (i>3)) return; // bad solution...
+ while (!button(i)) { /* do nothing */ }
+ while (button(i)) { /* do nothing */ }
+}
+
+
+void BobbyBoard::sleep(int i)
+{
+ ::sleep(i);
+}
+
+
+void BobbyBoard::msleep(int i)
+{
+ ::msleep(i);
+}
+
+
+
+#endif
+
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