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Diffstat (limited to 'source/qFix/qfixSoccerBoard.h')
| -rw-r--r-- | source/qFix/qfixSoccerBoard.h | 339 |
1 files changed, 339 insertions, 0 deletions
diff --git a/source/qFix/qfixSoccerBoard.h b/source/qFix/qfixSoccerBoard.h new file mode 100644 index 0000000..96570bd --- /dev/null +++ b/source/qFix/qfixSoccerBoard.h @@ -0,0 +1,339 @@ +//------------------------------------------------------------------
+// qfixSoccerBoard.h
+//
+// This file contains the class SoccerBoard which represents the
+// physical SoccerBoard with all its inputs and outputs.
+//
+// Copyright 2004-2006 by KTB mechatronics GmbH
+// Author: Stefan Enderle
+//------------------------------------------------------------------
+
+
+#include "qfix.h"
+
+
+#ifndef qfixSoccerBoard_h
+#define qfixSoccerBoard_h
+
+
+static int speedMotor0 = 0;
+static int speedMotor1 = 0;
+static int speedMotor2 = 0;
+static int speedMotor3 = 0;
+static int speedMotor4 = 0;
+static int speedMotor5 = 0;
+
+
+/**
+* \class SoccerBoard
+* \brief Represents the controller board "SoccerBoard".
+* \author Stefan Enderle
+*
+* The class SoccerBoard represents the
+* physical SoccerBoard 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 SoccerBoard
+{
+
+public:
+ /** Constructor for the SoccerBoard class.
+ */
+ SoccerBoard();
+
+ /** Puts on LED i. i must be 0 or 1.
+ */
+ void ledOn(int i);
+
+ /** Puts off LED i. i must be 0 or 1.
+ */
+ void ledOff(int i);
+
+ /** Puts off all LEDs.
+ */
+ void ledsOff();
+
+ /** Puts LED i on if state is true, else off. i must be 0 or 1.
+ */
+ void led(int i, bool state);
+
+ /** Puts the power output i on
+ */
+ void powerOn(int i);
+
+ /** Puts the power output i off
+ */
+ void powerOff(int i);
+
+ /** Puts the power output i on if state is true, else off.
+ */
+ void power(int i, bool state);
+
+ /** Checks the state of button i. If it is pressed, true is returned,
+ * else false.
+ */
+ 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.
+ */
+ void motor(int i, int speed);
+
+ /** Puts off all motors.
+ */
+ void motorsOff();
+
+ /** returns the value of the analog port i. 0 <= value <= 255.
+ */
+ int analog(int i);
+
+ /** returns true if the digital port is logical high, else false.
+ */
+ bool digital(int i);
+
+ /** Waits until button i is pressed and released again.
+ */
+ void waitForButton(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(PORTB, 3); // enable1 = 0
+ else if (abs(speedMotor0)+OFFSET >= counter) sbi(PORTB, 3); // enable1 = 1
+ else cbi(PORTB, 3); // enable1 = 0
+
+ if (speedMotor1==0) cbi(PORTG, 2); // enable2 = 0
+ else if (abs(speedMotor1)+OFFSET >= counter) sbi(PORTG, 2); // enable2 = 1
+ else cbi(PORTG, 2); // enable2 = 0
+
+ if (speedMotor2==0) cbi(PORTB, 4); // enable3 = 0
+ else if (abs(speedMotor2)+OFFSET >= counter) sbi(PORTB, 4); // enable3 = 1
+ else cbi(PORTB, 4); // enable3 = 0
+
+ if (speedMotor3==0) cbi(PORTB, 6); // enable4 = 0
+ else if (abs(speedMotor3)+OFFSET >= counter) sbi(PORTB, 6); // enable4 = 1
+ else cbi(PORTB, 6); // enable4 = 0
+
+ if (speedMotor4==0) cbi(PORTB, 5); // enable5 = 0
+ else if (abs(speedMotor4)+OFFSET >= counter) sbi(PORTB, 5); // enable5 = 1
+ else cbi(PORTB, 5); // enable5 = 0
+
+ if (speedMotor5==0) cbi(PORTB, 7); // enable6 = 0
+ else if (abs(speedMotor5)+OFFSET >= counter) sbi(PORTB, 7); // enable6 = 1
+ else cbi(PORTB, 7); // enable6 = 0
+
+ if (counter==0) counter=255+OFFSET;
+ else counter--;
+}
+
+
+
+void initTimer()
+{
+ TCCR0A=1; // timer 0 for interrupt
+ TIMSK0=1;
+ sei(); // enable interrupts
+}
+
+
+
+
+SoccerBoard::SoccerBoard()
+{
+ // PORT A: Digital In (PA0, PA1) //
+ DDRA= 255 - (1+2); // all bits output (motor direction) except PA0,PA1 (digital in)
+ PORTA=1+2; // set pullups for digital in
+
+ // PORT B: LEDs (PB0, PB2), Motor enable (PB3-PB7) //
+ DDRB = 1+4; // PB0 + PB4 = LEDs -> output
+ DDRB |= 8+16+32+64+128; // PB3 - PB7 = Motor enable -> output
+ PORTB |= 1+4; // set bits 0 and 2 -> LEDs off
+ PORTB &= 255-(8+16+32+64+128); // clear bits 3-7 -> motor disable
+
+ // PORT C: Power Output //
+ DDRC = 255; // direction port D, all bits output
+ PORTC = 0; // clear all bits -> power on
+
+ // PORT D: I2C, USB, CAN //
+ DDRD = 0; // all bits input
+ PORTD = 1+2; // set bits 0,1 -> I2C pullUps
+
+ // PORT E: Digital In (PE2 - PE7) //
+ DDRE=0; // all bits input
+ PORTE=4+8+16+32+64+128; // set pullups for digital in
+
+ // PORT F: Analog In //
+ DDRF=0; // all bits input
+ ADCSRA=128; // set A/D enable bit (ADEN)
+
+ // PORT G: Buttons (PG3, PG4), motor enable (PG2)
+ DDRG = BV(PG2); // PG2 output
+ PORTG= BV(PG3)+BV(PG4); // set pullups for buttons
+ cbi(PORTG,PG2); // clear PG2 -> motor disable
+
+ initTimer();
+}
+
+
+void SoccerBoard::ledOn(int i)
+{
+ if (i==0) cbi(PORTB, PB0); // clear bit -> LED on
+ else if (i==1) cbi(PORTB, PB2); // clear bit -> LED on
+}
+
+
+void SoccerBoard::ledOff(int i)
+{
+ if (i==0) sbi(PORTB, PB0); // set bit -> LED off
+ else if (i==1) sbi(PORTB, PB2); // set bit -> LED off
+}
+
+void SoccerBoard::ledsOff()
+{
+ PORTB|=BV(PB0)+BV(PB2); // set bits -> LEDs off
+}
+
+
+void SoccerBoard::led(int i, bool state)
+{
+ if (state) ledOn(i); else ledOff(i);
+}
+
+
+void SoccerBoard::powerOn(int i)
+{
+ if ((i<0) || (i>7)) return;
+ cbi(PORTC, i);
+}
+
+
+void SoccerBoard::powerOff(int i)
+{
+ if ((i<0) || (i>7)) return;
+ sbi(PORTC, i);
+}
+
+
+void SoccerBoard::power(int i, bool state)
+{
+ if (state) powerOn(i); else powerOff(i);
+}
+
+
+bool SoccerBoard::button(int i)
+{
+ if (i==0) return ( (PING & BV(PG4)) == 0);
+ else if (i==1) return ( (PING & BV(PG3)) == 0);
+ else return false; // bad approach...
+}
+
+
+void SoccerBoard::ledMeter(int i)
+{
+ led(0, (i>100));
+ led(1, (i>200));
+}
+
+
+void SoccerBoard::motor(int i, int speed)
+{
+ if ((i<0) || (i>5)) return;
+
+ if (i==0) {
+ speedMotor0 = speed;
+ if (speed>0) sbi(PORTA, 3); // input1 = 1
+ else cbi(PORTA, 3); // input1 = 0
+ }
+
+ else if (i==1) {
+ speedMotor1 = speed;
+ if (speed>0) sbi(PORTA, 2); // input2 = 1
+ else cbi(PORTA, 2); // input2 = 0
+ }
+
+ else if (i==2) {
+ speedMotor2 = speed;
+ if (speed>0) sbi(PORTA, 5); // input3 = 1
+ else cbi(PORTA, 5); // input3 = 0
+ }
+
+ else if (i==3) {
+ speedMotor3 = speed;
+ if (speed>0) sbi(PORTA, 4); // input4 = 1
+ else cbi(PORTA, 4); // input4 = 0
+ }
+
+ else if (i==4) {
+ speedMotor4 = speed;
+ if (speed>0) sbi(PORTA, 7); // input5 = 1
+ else cbi(PORTA, 7); // input5 = 0
+ }
+
+ else if (i==5) {
+ speedMotor5 = speed;
+ if (speed>0) sbi(PORTA, 6); // input6 = 1
+ else cbi(PORTA, 6); // input6 = 0
+ }
+}
+
+
+void SoccerBoard::motorsOff()
+{
+ motor(0,0);
+ motor(1,0);
+ motor(2,0);
+ motor(3,0);
+ motor(4,0);
+ motor(5,0);
+}
+
+
+// return 0-255 //
+int SoccerBoard::analog(int i)
+{
+ if ((i<0) || (i>7)) 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 SoccerBoard::digital(int i)
+{
+ if ((i<0) || (i>7)) return false; // bad solution...
+
+ if (i==0) return (PINA & 1);
+ else if (i==1) return (PINA & 2);
+ else return (PINE & (1<<i)) ;
+}
+
+
+void SoccerBoard::waitForButton(int i)
+{
+ if ((i<0) || (i>3)) return; // bad solution...
+ while (!button(i)) { /* do nothing */ }
+ while (button(i)) { /* do nothing */ }
+}
+
+
+#endif
+
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