From 5c33efe58da97d1277f8615ef750c0695497c0b9 Mon Sep 17 00:00:00 2001
From: sicarius <devnull@localhost>
Date: Tue, 13 Feb 2007 19:10:02 +0000
Subject: Code-Work @ lowlevel

---
 source/AVR_Studio/Soccer/Soccer.aps                |    2 +-
 source/AVR_Studio/Soccer/Soccer.c                  |   15 +-
 source/AVR_Studio/Soccer/default/Makefile          |    5 +-
 source/AVR_Studio/Soccer/default/Soccer.elf        |  Bin 47659 -> 71725 bytes
 source/AVR_Studio/Soccer/default/Soccer.hex        | 1453 +++++++++++++-------
 source/AVR_Studio/Soccer/default/dep/Soccer.o.d    |    8 +-
 .../AVR_Studio/Soccer/default/dep/navigation.o.d   |   11 +-
 source/AVR_Studio/Soccer/default/dep/sensor.o.d    |   13 +-
 source/AVR_Studio/Soccer/global.h                  |   19 +-
 source/AVR_Studio/Soccer/sensor/ballsensor.c       |   28 +-
 source/AVR_Studio/Soccer/sensor/ballsensor.h       |    4 +
 source/AVR_Studio/Soccer/sensor/sensor.h           |    1 +
 12 files changed, 1079 insertions(+), 480 deletions(-)

(limited to 'source')

diff --git a/source/AVR_Studio/Soccer/Soccer.aps b/source/AVR_Studio/Soccer/Soccer.aps
index f694dd6..09677cb 100755
--- a/source/AVR_Studio/Soccer/Soccer.aps
+++ b/source/AVR_Studio/Soccer/Soccer.aps
@@ -1 +1 @@
-<AVRStudio><MANAGEMENT><ProjectName>Soccer</ProjectName><Created>07-Feb-2007 15:43:12</Created><LastEdit>11-Feb-2007 16:35:10</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>07-Feb-2007 15:43:12</Created><Version>4</Version><Build>4, 12, 0, 462</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>default\Soccer.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>Y:\Soccer\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET>AVR Simulator</CURRENT_TARGET><CURRENT_PART>ATmega128</CURRENT_PART><BREAKPOINTS></BREAKPOINTS><IO_EXPAND><HIDE>false</HIDE></IO_EXPAND><REGISTERNAMES><Register>R00</Register><Register>R01</Register><Register>R02</Register><Register>R03</Register><Register>R04</Register><Register>R05</Register><Register>R06</Register><Register>R07</Register><Register>R08</Register><Register>R09</Register><Register>R10</Register><Register>R11</Register><Register>R12</Register><Register>R13</Register><Register>R14</Register><Register>R15</Register><Register>R16</Register><Register>R17</Register><Register>R18</Register><Register>R19</Register><Register>R20</Register><Register>R21</Register><Register>R22</Register><Register>R23</Register><Register>R24</Register><Register>R25</Register><Register>R26</Register><Register>R27</Register><Register>R28</Register><Register>R29</Register><Register>R30</Register><Register>R31</Register></REGISTERNAMES><COM>Auto</COM><COMType>0</COMType><WATCHNUM>0</WATCHNUM><WATCHNAMES><Pane0></Pane0><Pane1></Pane1><Pane2></Pane2><Pane3></Pane3></WATCHNAMES><BreakOnTrcaeFull>0</BreakOnTrcaeFull></DEBUG_TARGET><Debugger><Triggers></Triggers></Debugger><AVRGCCPLUGIN><FILES><SOURCEFILE>Soccer.c</SOURCEFILE><SOURCEFILE>hal\board.c</SOURCEFILE><SOURCEFILE>hal\keylcd.c</SOURCEFILE><SOURCEFILE>hal\i2c.c</SOURCEFILE><SOURCEFILE>global.c</SOURCEFILE><SOURCEFILE>hal\uart.c</SOURCEFILE><SOURCEFILE>navigation.c</SOURCEFILE><SOURCEFILE>sensor\sensor.c</SOURCEFILE><SOURCEFILE>sensor\ballsensor.c</SOURCEFILE><HEADERFILE>hal\board.h</HEADERFILE><HEADERFILE>hal\keylcd.h</HEADERFILE><HEADERFILE>hal\i2c.h</HEADERFILE><HEADERFILE>global.h</HEADERFILE><HEADERFILE>hal\uart.h</HEADERFILE><HEADERFILE>navigation.h</HEADERFILE><HEADERFILE>sensor\sensor.h</HEADERFILE><HEADERFILE>sensor\ballsensor.h</HEADERFILE></FILES><CONFIGS><CONFIG><NAME>default</NAME><USESEXTERNALMAKEFILE>NO</USESEXTERNALMAKEFILE><EXTERNALMAKEFILE></EXTERNALMAKEFILE><PART>atmega128</PART><HEX>1</HEX><LIST>0</LIST><MAP>0</MAP><OUTPUTFILENAME>Soccer.elf</OUTPUTFILENAME><OUTPUTDIR>default\</OUTPUTDIR><ISDIRTY>1</ISDIRTY><OPTIONS><OPTION><FILE>Soccer.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>global.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>hal\board.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>hal\i2c.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>hal\keylcd.c</FILE><OPTIONLIST></OPTIONLIST></OPTION></OPTIONS><INCDIRS/><LIBDIRS/><LIBS/><LINKOBJECTS/><OPTIONSFORALL>-Wall -gdwarf-2     -DF_CPU=16000000ULUL  -O3 -fsigned-char</OPTIONSFORALL><LINKEROPTIONS></LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>0</USES_WINAVR><GCC_LOC>C:\WinAVR\bin\avr-g++.exe</GCC_LOC><MAKE_LOC>C:\WinAVR\utils\bin\make.exe</MAKE_LOC></AVRGCCPLUGIN><ProjectFiles><Files><Name>Y:\Soccer\hal\board.h</Name><Name>Y:\Soccer\hal\keylcd.h</Name><Name>Y:\Soccer\hal\i2c.h</Name><Name>Y:\Soccer\global.h</Name><Name>Y:\Soccer\hal\uart.h</Name><Name>Y:\Soccer\navigation.h</Name><Name>Y:\Soccer\sensor\sensor.h</Name><Name>Y:\Soccer\sensor\ballsensor.h</Name><Name>Y:\Soccer\Soccer.c</Name><Name>Y:\Soccer\hal\board.c</Name><Name>Y:\Soccer\hal\keylcd.c</Name><Name>Y:\Soccer\hal\i2c.c</Name><Name>Y:\Soccer\global.c</Name><Name>Y:\Soccer\hal\uart.c</Name><Name>Y:\Soccer\navigation.c</Name><Name>Y:\Soccer\sensor\sensor.c</Name><Name>Y:\Soccer\sensor\ballsensor.c</Name></Files></ProjectFiles><Files><File00000><FileId>00000</FileId><FileName>Soccer.c</FileName><Status>1</Status></File00000><File00001><FileId>00001</FileId><FileName>hal\board.c</FileName><Status>1</Status></File00001><File00002><FileId>00002</FileId><FileName>hal\keylcd.h</FileName><Status>1</Status></File00002><File00003><FileId>00003</FileId><FileName>hal\keylcd.c</FileName><Status>1</Status></File00003><File00004><FileId>00004</FileId><FileName>hal\i2c.h</FileName><Status>1</Status></File00004><File00005><FileId>00005</FileId><FileName>hal\i2c.c</FileName><Status>1</Status></File00005><File00006><FileId>00006</FileId><FileName>global.h</FileName><Status>1</Status></File00006><File00007><FileId>00007</FileId><FileName>global.c</FileName><Status>1</Status></File00007><File00008><FileId>00008</FileId><FileName>c:\WinAVR\avr\include\avr\iom128.h</FileName><Status>1</Status></File00008><File00009><FileId>00009</FileId><FileName>hal\board.h</FileName><Status>1</Status></File00009><File00010><FileId>00010</FileId><FileName>hal\uart.c</FileName><Status>1</Status></File00010><File00011><FileId>00011</FileId><FileName>navigation.h</FileName><Status>1</Status></File00011><File00012><FileId>00012</FileId><FileName>hal\uart.h</FileName><Status>1</Status></File00012><File00013><FileId>00013</FileId><FileName>navigation.c</FileName><Status>1</Status></File00013><File00014><FileId>00014</FileId><FileName>sensor\sensor.h</FileName><Status>1</Status></File00014><File00015><FileId>00015</FileId><FileName>sensor\sensor.c</FileName><Status>1</Status></File00015><File00016><FileId>00016</FileId><FileName>sensor\ballsensor.h</FileName><Status>1</Status></File00016><File00017><FileId>00017</FileId><FileName>sensor\ballsensor.c</FileName><Status>1</Status></File00017><File00018><FileId>00018</FileId><FileName>c:\WinAVR\avr\include\stdlib.h</FileName><Status>1</Status></File00018><File00019><FileId>00019</FileId><FileName>c:\WinAVR\avr\include\avr\signal.h</FileName><Status>1</Status></File00019></Files><Workspace><File00000><Position>187 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0</LineCol></File00011><File00012><Position>341 156 971 461</Position><LineCol>0 0</LineCol></File00012><File00013><Position>363 185 993 490</Position><LineCol>42 43</LineCol></File00013><File00014><Position>385 214 1015 519</Position><LineCol>12 0</LineCol></File00014><File00015><Position>296 70 1022 525</Position><LineCol>2 0</LineCol></File00015><File00016><Position>319 127 949 432</Position><LineCol>12 0</LineCol></File00016><File00017><Position>341 156 971 461</Position><LineCol>9 0</LineCol></File00017><File00018><Position>363 185 993 490</Position><LineCol>115 0</LineCol></File00018><File00019><Position>388 216 1018 521</Position><LineCol>35 0</LineCol></File00019></Workspace><Events><Bookmarks></Bookmarks></Events><Trace><Filters></Filters></Trace></AVRStudio>
+<AVRStudio><MANAGEMENT><ProjectName>Soccer</ProjectName><Created>07-Feb-2007 15:43:12</Created><LastEdit>13-Feb-2007 17:28:05</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>07-Feb-2007 15:43:12</Created><Version>4</Version><Build>4, 12, 0, 462</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>default\Soccer.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>Y:\AVR_Studio\Soccer\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET>AVR Simulator</CURRENT_TARGET><CURRENT_PART>ATmega128</CURRENT_PART><BREAKPOINTS></BREAKPOINTS><IO_EXPAND><HIDE>false</HIDE></IO_EXPAND><REGISTERNAMES><Register>R00</Register><Register>R01</Register><Register>R02</Register><Register>R03</Register><Register>R04</Register><Register>R05</Register><Register>R06</Register><Register>R07</Register><Register>R08</Register><Register>R09</Register><Register>R10</Register><Register>R11</Register><Register>R12</Register><Register>R13</Register><Register>R14</Register><Register>R15</Register><Register>R16</Register><Register>R17</Register><Register>R18</Register><Register>R19</Register><Register>R20</Register><Register>R21</Register><Register>R22</Register><Register>R23</Register><Register>R24</Register><Register>R25</Register><Register>R26</Register><Register>R27</Register><Register>R28</Register><Register>R29</Register><Register>R30</Register><Register>R31</Register></REGISTERNAMES><COM>Auto</COM><COMType>0</COMType><WATCHNUM>0</WATCHNUM><WATCHNAMES><Pane0></Pane0><Pane1></Pane1><Pane2></Pane2><Pane3></Pane3></WATCHNAMES><BreakOnTrcaeFull>0</BreakOnTrcaeFull></DEBUG_TARGET><Debugger><Triggers></Triggers></Debugger><AVRGCCPLUGIN><FILES><SOURCEFILE>Soccer.c</SOURCEFILE><SOURCEFILE>hal\board.c</SOURCEFILE><SOURCEFILE>hal\keylcd.c</SOURCEFILE><SOURCEFILE>hal\i2c.c</SOURCEFILE><SOURCEFILE>global.c</SOURCEFILE><SOURCEFILE>hal\uart.c</SOURCEFILE><SOURCEFILE>navigation.c</SOURCEFILE><SOURCEFILE>sensor\sensor.c</SOURCEFILE><SOURCEFILE>sensor\ballsensor.c</SOURCEFILE><SOURCEFILE>hal\maussensor.c</SOURCEFILE><HEADERFILE>hal\board.h</HEADERFILE><HEADERFILE>hal\keylcd.h</HEADERFILE><HEADERFILE>hal\i2c.h</HEADERFILE><HEADERFILE>global.h</HEADERFILE><HEADERFILE>hal\uart.h</HEADERFILE><HEADERFILE>navigation.h</HEADERFILE><HEADERFILE>sensor\sensor.h</HEADERFILE><HEADERFILE>sensor\ballsensor.h</HEADERFILE><HEADERFILE>hal\maussensor.h</HEADERFILE></FILES><CONFIGS><CONFIG><NAME>default</NAME><USESEXTERNALMAKEFILE>NO</USESEXTERNALMAKEFILE><EXTERNALMAKEFILE></EXTERNALMAKEFILE><PART>atmega128</PART><HEX>1</HEX><LIST>0</LIST><MAP>0</MAP><OUTPUTFILENAME>Soccer.elf</OUTPUTFILENAME><OUTPUTDIR>default\</OUTPUTDIR><ISDIRTY>1</ISDIRTY><OPTIONS><OPTION><FILE>Soccer.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>global.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>hal\board.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>hal\i2c.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>hal\keylcd.c</FILE><OPTIONLIST></OPTIONLIST></OPTION></OPTIONS><INCDIRS/><LIBDIRS/><LIBS/><LINKOBJECTS/><OPTIONSFORALL>-Wall -gdwarf-2     -DF_CPU=16000000ULUL  -O3 -fsigned-char</OPTIONSFORALL><LINKEROPTIONS></LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>0</USES_WINAVR><GCC_LOC>C:\WinAVR\bin\avr-g++.exe</GCC_LOC><MAKE_LOC>C:\WinAVR\utils\bin\make.exe</MAKE_LOC></AVRGCCPLUGIN><ProjectFiles><Files><Name>Y:\AVR_Studio\Soccer\hal\board.h</Name><Name>Y:\AVR_Studio\Soccer\hal\keylcd.h</Name><Name>Y:\AVR_Studio\Soccer\hal\i2c.h</Name><Name>Y:\AVR_Studio\Soccer\global.h</Name><Name>Y:\AVR_Studio\Soccer\hal\uart.h</Name><Name>Y:\AVR_Studio\Soccer\navigation.h</Name><Name>Y:\AVR_Studio\Soccer\sensor\sensor.h</Name><Name>Y:\AVR_Studio\Soccer\sensor\ballsensor.h</Name><Name>Y:\AVR_Studio\Soccer\hal\maussensor.h</Name><Name>Y:\AVR_Studio\Soccer\Soccer.c</Name><Name>Y:\AVR_Studio\Soccer\hal\board.c</Name><Name>Y:\AVR_Studio\Soccer\hal\keylcd.c</Name><Name>Y:\AVR_Studio\Soccer\hal\i2c.c</Name><Name>Y:\AVR_Studio\Soccer\global.c</Name><Name>Y:\AVR_Studio\Soccer\hal\uart.c</Name><Name>Y:\AVR_Studio\Soccer\navigation.c</Name><Name>Y:\AVR_Studio\Soccer\sensor\sensor.c</Name><Name>Y:\AVR_Studio\Soccer\sensor\ballsensor.c</Name><Name>Y:\AVR_Studio\Soccer\hal\maussensor.c</Name></Files></ProjectFiles><Files><File00000><FileId>00000</FileId><FileName>Soccer.c</FileName><Status>1</Status></File00000><File00001><FileId>00001</FileId><FileName>hal\board.c</FileName><Status>1</Status></File00001><File00002><FileId>00002</FileId><FileName>hal\keylcd.h</FileName><Status>1</Status></File00002><File00003><FileId>00003</FileId><FileName>hal\keylcd.c</FileName><Status>1</Status></File00003><File00004><FileId>00004</FileId><FileName>hal\i2c.h</FileName><Status>1</Status></File00004><File00005><FileId>00005</FileId><FileName>hal\i2c.c</FileName><Status>1</Status></File00005><File00006><FileId>00006</FileId><FileName>global.h</FileName><Status>1</Status></File00006><File00007><FileId>00007</FileId><FileName>global.c</FileName><Status>1</Status></File00007><File00008><FileId>00008</FileId><FileName>c:\WinAVR\avr\include\avr\iom128.h</FileName><Status>1</Status></File00008><File00009><FileId>00009</FileId><FileName>hal\board.h</FileName><Status>1</Status></File00009><File00010><FileId>00010</FileId><FileName>hal\uart.c</FileName><Status>1</Status></File00010><File00011><FileId>00011</FileId><FileName>navigation.h</FileName><Status>1</Status></File00011><File00012><FileId>00012</FileId><FileName>hal\uart.h</FileName><Status>1</Status></File00012><File00013><FileId>00013</FileId><FileName>navigation.c</FileName><Status>1</Status></File00013><File00014><FileId>00014</FileId><FileName>sensor\sensor.h</FileName><Status>1</Status></File00014><File00015><FileId>00015</FileId><FileName>sensor\sensor.c</FileName><Status>1</Status></File00015><File00016><FileId>00016</FileId><FileName>sensor\ballsensor.h</FileName><Status>1</Status></File00016><File00017><FileId>00017</FileId><FileName>sensor\ballsensor.c</FileName><Status>1</Status></File00017><File00018><FileId>00018</FileId><FileName>c:\WinAVR\avr\include\stdlib.h</FileName><Status>1</Status></File00018><File00019><FileId>00019</FileId><FileName>c:\WinAVR\avr\include\avr\signal.h</FileName><Status>1</Status></File00019><File00020><FileId>00020</FileId><FileName>hal\maussensor.h</FileName><Status>1</Status></File00020><File00021><FileId>00021</FileId><FileName>hal\maussensor.c</FileName><Status>1</Status></File00021></Files><Workspace><File00000><Position>187 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459</Position><LineCol>0 0</LineCol></File00012><File00013><Position>360 183 990 488</Position><LineCol>42 0</LineCol></File00013><File00014><Position>382 212 1012 517</Position><LineCol>5 17</LineCol></File00014><File00015><Position>293 68 1019 523</Position><LineCol>2 0</LineCol></File00015><File00016><Position>316 125 946 430</Position><LineCol>13 28</LineCol></File00016><File00017><Position>338 154 968 459</Position><LineCol>27 18</LineCol></File00017><File00018><Position>360 183 990 488</Position><LineCol>115 0</LineCol></File00018><File00019><Position>385 214 1015 519</Position><LineCol>35 0</LineCol></File00019><File00020><Position>303 102 933 407</Position><LineCol>46 0</LineCol></File00020><File00021><Position>299 72 1025 527</Position><LineCol>51 27</LineCol><State>Maximized</State></File00021></Workspace><Events><Bookmarks></Bookmarks></Events><Trace><Filters></Filters></Trace></AVRStudio>
diff --git a/source/AVR_Studio/Soccer/Soccer.c b/source/AVR_Studio/Soccer/Soccer.c
index 90b9bd7..c1a8129 100755
--- a/source/AVR_Studio/Soccer/Soccer.c
+++ b/source/AVR_Studio/Soccer/Soccer.c
@@ -10,7 +10,7 @@ Sensor sensor;
 
 int main() {
 	//board.ledOn();
-	sleep(1);
+	sleep(2);
 	int speed = 255;
 	/*for(int i=-255;i<=255;i+=30) {
 		board.motor(0,i);
@@ -25,6 +25,8 @@ int main() {
 	board.motor(3, speed);
 	PORTB |= (1 << PB5) | (1 << PB7); // Setze PWM-Ports auf high
 	PORTE |= (1 << PE3) | (1 << PE4); 
+	//sleep(10);
+	while(true) { sleep(1); }
 	/*sleep(10);
 	board.motor(0, 0);
 	board.motor(1, 0);
@@ -33,23 +35,24 @@ int main() {
 	//while(true) { sleep(1); }
 	//board.beep(450);
 	//board.ledOn();
-	//keylcd.print("test");
-	//sleep(1);
+	/*keylcd.print("test");
+	sleep(1);
 	//board.ledOff();
 	//sleep(1);
-	/*for(int i=0;i<keylcd.error();i++) {
+	for(int i=0;i<keylcd.error();i++) {
 		board.ledOn();
 		sleep(1);
 		board.ledOff();
 		sleep(1);
 	}
+	
 	board.ledOn();
 	uart1_puts("18");
 	uart1_puts("Hallo Du! Hier ist dein AtMega128\n");
 	sleep(1);
 	board.ledOff();
 	sleep(10);
-	//board.ledOff();	
+	//board.ledOff();*/	
 	
 	while(true) {
 	navigation.Aktualisieren(0,0,speed);
@@ -61,7 +64,7 @@ int main() {
 	navigation.Aktualisieren(270,0,speed);
 	sleep(2);
 
-	}*/
+	}
 	
 
 
diff --git a/source/AVR_Studio/Soccer/default/Makefile b/source/AVR_Studio/Soccer/default/Makefile
index e12720e..4996ec9 100755
--- a/source/AVR_Studio/Soccer/default/Makefile
+++ b/source/AVR_Studio/Soccer/default/Makefile
@@ -34,7 +34,7 @@ HEX_EEPROM_FLAGS += --change-section-lma .eeprom=0
 
 
 ## Objects that must be built in order to link
-OBJECTS = Soccer.o board.o keylcd.o i2c.o global.o uart.o navigation.o sensor.o ballsensor.o 
+OBJECTS = Soccer.o board.o keylcd.o i2c.o global.o uart.o navigation.o sensor.o ballsensor.o maussensor.o 
 
 ## Objects explicitly added by the user
 LINKONLYOBJECTS = 
@@ -70,6 +70,9 @@ sensor.o: ../sensor/sensor.c
 ballsensor.o: ../sensor/ballsensor.c
 	$(CC) $(INCLUDES) $(CFLAGS) -c  $<
 
+maussensor.o: ../hal/maussensor.c
+	$(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
 ##Link
 $(TARGET): $(OBJECTS)
 	 $(CC) $(LDFLAGS) $(OBJECTS) $(LINKONLYOBJECTS) $(LIBDIRS) $(LIBS) -o $(TARGET)
diff --git a/source/AVR_Studio/Soccer/default/Soccer.elf b/source/AVR_Studio/Soccer/default/Soccer.elf
index 2e03b5b..698e83a 100755
Binary files a/source/AVR_Studio/Soccer/default/Soccer.elf and b/source/AVR_Studio/Soccer/default/Soccer.elf differ
diff --git a/source/AVR_Studio/Soccer/default/Soccer.hex b/source/AVR_Studio/Soccer/default/Soccer.hex
index c7808a4..c3ba96a 100755
--- a/source/AVR_Studio/Soccer/default/Soccer.hex
+++ b/source/AVR_Studio/Soccer/default/Soccer.hex
@@ -2,475 +2,1006 @@
 :100010000C9483000C9483000C9483000C94830054
 :100020000C9483000C9483000C9483000C94830044
 :100030000C9483000C9483000C9483000C94830034
-:100040000C9499010C9483000C9444040C94750452
+:100040000C94A0010C9483000C944B040C947C043D
 :100050000C9483000C9483000C9483000C94830014
 :100060000C9483000C9483000C9483000C94830004
-:100070000C9483000C9483000C94E2040C941505FA
+:100070000C9483000C9483000C94E9040C941C05EC
 :100080000C9483000C9483000C9483000829573F40
 :100090009F2D49CBA5310F76C73493F27E37D00D13
 :1000A000013AB60B613D2AAAAB3F0000003F800039
 :1000B0000000BA00B30011241FBECFEFD0E1DEBFB5
-:1000C000CDBF11E0A0E0B1E0E0EAFDE100E00BBF50
+:1000C000CDBF11E0A0E0B1E0E8ECFEE300E00BBF43
 :1000D00002C007900D92A031B107D9F711E0A0E15D
-:1000E000B1E001C01D92AA3AB107E1F710E0C4EBFC
-:1000F000D0E004C02297FE010E94770DC23BD107D9
+:1000E000B1E001C01D92AA3BB107E1F710E0C4EBFB
+:1000F000D0E004C02297FE010E940B1EC23BD10734
 :10010000C9F70C94C1000C9400008130910531F0C6
 :10011000892B19F46F5F7F4FA9F008956F5F7F4FB0
-:10012000E1F780E191E00E94E00181E191E00E942D
-:100130009E0283E191E00E94D90689E191E00E944C
-:100140000107089589E191E00E94FB0683E191E0B7
-:100150000E940B0681E191E00E944F0280E191E054
-:100160000E94090108956FEF7FEF80E090E00E9408
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 :00000001FF
diff --git a/source/AVR_Studio/Soccer/default/dep/Soccer.o.d b/source/AVR_Studio/Soccer/default/dep/Soccer.o.d
index aaf1496..8bf7346 100755
--- a/source/AVR_Studio/Soccer/default/dep/Soccer.o.d
+++ b/source/AVR_Studio/Soccer/default/dep/Soccer.o.d
@@ -13,7 +13,9 @@ Soccer.o: ../Soccer.c ../global.h c:/winavr/bin/../avr/include/stdlib.h \
   c:/winavr/bin/../avr/include/util/twi.h \
   c:/winavr/bin/../avr/include/string.h ../navigation.h \
   c:/winavr/bin/../avr/include/math.h ../sensor/sensor.h \
-  ../sensor/../hal/board.h ../sensor/ballsensor.h ../sensor/../global.h
+  ../sensor/../hal/board.h ../sensor/ballsensor.h \
+  ../sensor/../hal/maussensor.h ../sensor/../hal/../global.h \
+  ../sensor/../global.h
 
 ../global.h:
 
@@ -63,4 +65,8 @@ c:/winavr/bin/../avr/include/math.h:
 
 ../sensor/ballsensor.h:
 
+../sensor/../hal/maussensor.h:
+
+../sensor/../hal/../global.h:
+
 ../sensor/../global.h:
diff --git a/source/AVR_Studio/Soccer/default/dep/navigation.o.d b/source/AVR_Studio/Soccer/default/dep/navigation.o.d
index 4b0d8e0..0fbda94 100755
--- a/source/AVR_Studio/Soccer/default/dep/navigation.o.d
+++ b/source/AVR_Studio/Soccer/default/dep/navigation.o.d
@@ -11,7 +11,8 @@ navigation.o: ../navigation.c ../navigation.h \
   c:/winavr/bin/../avr/include/stdlib.h \
   c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h ../hal/uart.h \
   ../sensor/sensor.h ../sensor/../hal/board.h ../sensor/ballsensor.h \
-  ../sensor/../global.h ../sensor/../hal/board.h
+  ../sensor/../hal/maussensor.h ../sensor/../hal/../global.h \
+  ../sensor/../hal/../hal/board.h ../sensor/../global.h
 
 ../navigation.h:
 
@@ -47,6 +48,10 @@ c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h:
 
 ../sensor/ballsensor.h:
 
-../sensor/../global.h:
+../sensor/../hal/maussensor.h:
 
-../sensor/../hal/board.h:
+../sensor/../hal/../global.h:
+
+../sensor/../hal/../hal/board.h:
+
+../sensor/../global.h:
diff --git a/source/AVR_Studio/Soccer/default/dep/sensor.o.d b/source/AVR_Studio/Soccer/default/dep/sensor.o.d
index 89e848a..209d5f9 100755
--- a/source/AVR_Studio/Soccer/default/dep/sensor.o.d
+++ b/source/AVR_Studio/Soccer/default/dep/sensor.o.d
@@ -9,8 +9,9 @@ sensor.o: ../sensor/sensor.c ../sensor/sensor.h ../sensor/../hal/board.h \
   c:/winavr/bin/../avr/include/avr/interrupt.h \
   c:/winavr/bin/../avr/include/stdlib.h \
   c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h \
-  ../sensor/../hal/uart.h ../sensor/ballsensor.h ../sensor/../global.h \
-  ../sensor/../hal/board.h
+  ../sensor/../hal/uart.h ../sensor/ballsensor.h \
+  ../sensor/../hal/maussensor.h ../sensor/../hal/../global.h \
+  ../sensor/../hal/../hal/board.h ../sensor/../global.h
 
 ../sensor/sensor.h:
 
@@ -40,6 +41,10 @@ c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h:
 
 ../sensor/ballsensor.h:
 
-../sensor/../global.h:
+../sensor/../hal/maussensor.h:
 
-../sensor/../hal/board.h:
+../sensor/../hal/../global.h:
+
+../sensor/../hal/../hal/board.h:
+
+../sensor/../global.h:
diff --git a/source/AVR_Studio/Soccer/global.h b/source/AVR_Studio/Soccer/global.h
index 3f57a8c..4b9339a 100755
--- a/source/AVR_Studio/Soccer/global.h
+++ b/source/AVR_Studio/Soccer/global.h
@@ -13,12 +13,29 @@ inline void sleep(int sec)
   }
 };
 
+inline void msleep(int msec)
+{
+  for (int s=0; s<msec; s++) {
+    for (long int i=0; i<1405; i++) {
+      asm volatile("nop"); 
+    }
+  }
+};
+
 void *operator new(size_t sz);
 void operator delete(void *p);
 
+// Typendefinitionen für den CT-Bot-Code
+typedef unsigned char uint8;                       /*!< vorzeichenlose 8-Bit-Zahl  */
+typedef unsigned int word;                         /*!< vorzeichenlose 16-Bit-Zahl  */
+typedef signed char int8;                          /*!< vorzeichenbehaftete 8-Bit-Zahl */ 
+typedef short int int16;                           /*!< vorzeichenbehaftete 16-Bit-Zahl  */
 
+typedef unsigned long uint32;		/*!< vorzeichenlose 32-Bit-Zahl  */
+typedef signed long int32;			/*!< vorzeichenbehaftete 32-Bit-Zahl  */
 
-
+#define uint16                  word				/*!< Int mit 16 Bit */
+	
 
 /* defines for compatibility */
 #ifndef cbi
diff --git a/source/AVR_Studio/Soccer/sensor/ballsensor.c b/source/AVR_Studio/Soccer/sensor/ballsensor.c
index bf97f99..af9434b 100755
--- a/source/AVR_Studio/Soccer/sensor/ballsensor.c
+++ b/source/AVR_Studio/Soccer/sensor/ballsensor.c
@@ -1,11 +1,35 @@
 #include "ballsensor.h"
 
-Ballsensor::Ballsensor() { 
+Ballsensor::Ballsensor() {
+	// Umrechnungstabelle position i in Winkel
+	winkel[0] = 0;
+	winkel[1] = 30;
+	winkel[2] = 60;
+	winkel[3] = 100;
+	winkel[4] = 180;
+	winkel[5] = 260;
+	winkel[6] = 300;
+	winkel[7] = 330;
 }
 
 Ballsensor::~Ballsensor() {
 }
 
 int Ballsensor::getBallwinkel() {
-	return 0;
+	// Erstelle ein Array für die Sensorwerte
+	int sensor[NUM_BALLSENSOR];
+	int result = 0; // und einer Variable fürs Ergebnis
+	int current = 1024; // Setze aktuellen Wert auf Maximum
+
+	// Analoge Sensoren abfragen und eintragen
+	for(int i=0;i<NUM_BALLSENSOR;i++) sensor[i] = board.GetADC(i);
+
+	// Suche den kleinsten Wert
+	for(int i=0;i<NUM_BALLSENSOR;i++) {
+		// Wenn der Sensorwert kleiner ist ist der Ball näher dran
+		if(sensor[i] < current) result = i; // Ergebnis ist erstmal index
+	}
+
+	// Gebe den Winkel zum index result zurück
+	return winkel[result];
 }
diff --git a/source/AVR_Studio/Soccer/sensor/ballsensor.h b/source/AVR_Studio/Soccer/sensor/ballsensor.h
index 46daf90..5fa7f08 100755
--- a/source/AVR_Studio/Soccer/sensor/ballsensor.h
+++ b/source/AVR_Studio/Soccer/sensor/ballsensor.h
@@ -3,11 +3,15 @@
 
 #include "../hal/board.h"
 
+// Anzahl der Ballsensoren
+#define NUM_BALLSENSOR 8
+
 extern Board board;
 
 class Ballsensor
 {
 private:
+	int winkel[NUM_BALLSENSOR];
 public:
 	Ballsensor();
 	~Ballsensor();
diff --git a/source/AVR_Studio/Soccer/sensor/sensor.h b/source/AVR_Studio/Soccer/sensor/sensor.h
index 25d36c2..afbb3a0 100755
--- a/source/AVR_Studio/Soccer/sensor/sensor.h
+++ b/source/AVR_Studio/Soccer/sensor/sensor.h
@@ -3,6 +3,7 @@
 
 #include "../hal/board.h"
 #include "ballsensor.h"
+#include "../hal/maussensor.h"
 #include "../global.h"
 
 extern Board board;
-- 
cgit v1.2.3