From 56d9bdd39ed36c36e9a61411b86c76d5228b2133 Mon Sep 17 00:00:00 2001
From: sicarius <devnull@localhost>
Date: Sun, 11 Feb 2007 18:32:03 +0000
Subject: Added lot's of code-files used during work

---
 source/ct-Bot/bot-logic/behaviour_servo.c | 68 +++++++++++++++++++++++++++++++
 1 file changed, 68 insertions(+)
 create mode 100644 source/ct-Bot/bot-logic/behaviour_servo.c

(limited to 'source/ct-Bot/bot-logic/behaviour_servo.c')

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
-- 
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