From 3c3c628b617dc53f0b7b59285c7d67888074c33d Mon Sep 17 00:00:00 2001
From: sicarius <devnull@localhost>
Date: Sun, 18 Feb 2007 00:14:00 +0000
Subject: +++ Additional Codework

---
 source/Concept/Framework/robot.c | 135 +++++++++++++++++++++++++++++++++++++++
 1 file changed, 135 insertions(+)
 create mode 100755 source/Concept/Framework/robot.c

(limited to 'source/Concept/Framework/robot.c')

diff --git a/source/Concept/Framework/robot.c b/source/Concept/Framework/robot.c
new file mode 100755
index 0000000..d8ea1c2
--- /dev/null
+++ b/source/Concept/Framework/robot.c
@@ -0,0 +1,135 @@
+#include "robot.h"
+
+//-----------------------------------------------------------------------------
+Robot::Robot()
+{
+	//Hardware
+
+	//Set pin 1-6 output, 0 and 7 input
+	DDRA = (1 << 1) | (1 << 2) | (1 << 3) | (1 << 4) | (1 << 5) | (1 << 6);
+	PORTA = 0;
+
+	//All output
+	DDRB = (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 4) | (1 << 5) | (1 << 6)  | (1 << 7);
+	PORTB = (1 << 1);
+
+	//All output except PC4/PC5 (mousesensor SDA)
+	DDRC = (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 6)  | (1 << 7);
+	PORTC = 0;
+
+	//All output except PD0+1(I2C) + 2+3(RS232)
+	DDRD = (1 << 3) | (1 << 4) | (1 << 5) | (1 << 6)  | (1 << 7);
+	PORTD = (1 << 0) | (1 << 1);//Activate pullup at PD0+1
+
+	//PE5 for input
+	DDRE = (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 4) | (1 << 6)  | (1 << 7);
+	PORTE = 0;
+
+	//All input with pullup
+	DDRF = 0;
+	PORTF = (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 4) | (1 << 5) | (1 << 6)  | (1 << 7);
+
+	//All input
+	DDRG = (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 4); 
+	PORTG = (1 << 0) | (1 << 1);
+
+	// activate channel A+B on PWM1 at 8Bit
+	TCCR1A = (1<< COM1A1) | (1<< COM1B1) | (1<< WGM10);
+	TCCR1B = (1<<ICNC1) | (1<<CS11); // set clock/prescaler 1/8 -> enable counter
+
+	// activate Kanal A+B on PWM3 at 8Bit
+	TCCR3A = (1<< COM3A1) | (1<< COM3B1) | (1<< WGM10);
+	TCCR3B =  (1<<ICNC3) | (1<<CS31); // set clock/prescaler 1/8 -> enable counter
+
+	//Activate interrupt
+	sei();
+
+	//Interface
+	for(uint8 i = IO_START; i < IO_END; i++)
+	{
+		modules[i] = NULL;
+	}
+}
+
+//-----------------------------------------------------------------------------
+Robot::~Robot()
+{
+	for(uint8 i = 0; i < IO_END; i++)
+	{
+		if(!modules[i]) continue;
+
+		delete modules[i];
+		modules[i] = NULL;
+	}
+}
+
+//-----------------------------------------------------------------------------
+bool Robot::AddModule(IO_Module* newModule)
+{
+	if(modules[newModule->GetId()])
+		return false;
+
+	newModule->SetParent(this);
+
+	modules[newModule->GetId()] = newModule;
+
+	return true;
+}
+
+//-----------------------------------------------------------------------------
+bool Robot::RemoveModule(IO_Module* oldModule)
+{
+	return RemoveModule(oldModule->GetId());
+}
+
+//-----------------------------------------------------------------------------
+void Robot::Update()
+{
+	GetModule<Ball_Tracker>(IO_BALL_TRACKER_MAIN)->Update();
+
+	GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN)->Update();
+
+	GetModule<Navigator>(IO_NAVIGATOR_MAIN)->Update();
+
+	//insert code here
+}
+
+//-----------------------------------------------------------------------------
+uint16 Robot::GetADCValue(uint8 channel)
+{
+	if(channel > 7) return 0;
+
+	uint32 result = 0;
+	
+	//Activate ADC and set division factor to 8
+	ADCSRA = (1 << ADEN) | (1 << ADPS1) | (1 << ADPS0);
+
+	//Set multiplexer channel
+	ADMUX = channel;
+	//Use internal referencevoltage (2,56 V for atmega32)
+	ADMUX |= (1 << REFS1) | (1 << REFS0);
+	
+	//Initialise ADC and start dummyreadout
+	ADCSRA |= (1 << ADSC);
+	while(ADCSRA & (1 << ADSC));
+	
+	//Get voltage three times and calculate average value
+	for(uint8 i = 0; i < 3; i++)
+	{
+		// Eine Wandlung
+		ADCSRA |= (1 << ADSC);
+		// Auf Ergebnis warten...
+		while(ADCSRA & (1 << ADSC));
+		
+		result += ADCW;
+	}
+	
+	//Disable ADC
+	ADCSRA &= ~(1 << ADEN);
+	
+	result /= 3;
+	
+	return (uint16)(result);
+}
+
+//--- EOF ---
-- 
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