From 7393d1d12c3ee23a85978d619768af645137d1ac Mon Sep 17 00:00:00 2001
From: sicarius <devnull@localhost>
Date: Thu, 15 Feb 2007 19:03:00 +0000
Subject: Code-Work :)

---
 source/AVR_Studio/Soccer/hal/board.c | 26 ++++++++++++++++------
 source/AVR_Studio/Soccer/hal/board.h | 42 +++++++++++++++++++++---------------
 2 files changed, 44 insertions(+), 24 deletions(-)

(limited to 'source/AVR_Studio/Soccer/hal')

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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