From 7393d1d12c3ee23a85978d619768af645137d1ac Mon Sep 17 00:00:00 2001 From: sicarius Date: Thu, 15 Feb 2007 19:03:00 +0000 Subject: Code-Work :) --- source/AVR_Studio/Soccer/Soccer.c | 56 +- source/AVR_Studio/Soccer/default/Soccer.elf | Bin 86146 -> 87393 bytes source/AVR_Studio/Soccer/default/Soccer.hex | 2279 +++++++++++++------------- source/AVR_Studio/Soccer/hal/board.c | 26 +- source/AVR_Studio/Soccer/hal/board.h | 42 +- source/AVR_Studio/Soccer/navigation.c | 18 +- source/AVR_Studio/Soccer/sensor/ballsensor.c | 5 +- 7 files changed, 1247 insertions(+), 1179 deletions(-) (limited to 'source') diff --git a/source/AVR_Studio/Soccer/Soccer.c b/source/AVR_Studio/Soccer/Soccer.c index 52bcd06..117b6bc 100755 --- a/source/AVR_Studio/Soccer/Soccer.c +++ b/source/AVR_Studio/Soccer/Soccer.c @@ -11,23 +11,48 @@ Sensor sensor; int main() { //board.ledOn(); sleep(2); + + uart1_puts("Hallo hier ist das RNMega128Funk-Board"); + + int speed = 255; - /*for(int i=-255;i<=255;i+=30) { + board.motor(0, speed); + board.motor(1, speed); + board.motor(2, speed); + + sleep(2); + navigation.Aktualisieren(180,0,speed); + while(true) { sleep(1); } + /*board.motor(0,speed); + board.motor(2,speed); + sleep(2); + board.motor(0,speed); + board.motor(2,0); + board.motor(1,speed); + sleep(2); + + + + for(int i=-255;i<=255;i+=10) { board.motor(0,i); board.motor(1,i); board.motor(2,i); board.motor(3,i); - sleep(1); - }*/ + msleep(500); + } + + board.motor(0, speed); board.motor(1, speed); board.motor(2, speed); board.motor(3, speed); - PORTB |= (1 << PB5) | (1 << PB6); // Setze PWM-Ports auf high - PORTE |= (1 << PE3); // | (1 << PE4); - PORTA |= (1 << PA4); // | (1 << PA5); + while(true) { sleep(1); }*/ + /* + //PORTB |= (1 << PB5) | (1 << PB6); // Setze PWM-Ports auf high + //PORTE |= (1 << PE3); // | (1 << PE4); + //PORTA |= (1 << PA5); // | (1 << PA5); //sleep(10); - while(true) { sleep(1); } + */ /*sleep(10); board.motor(0, 0); board.motor(1, 0); @@ -56,15 +81,14 @@ int main() { //board.ledOff();*/ while(true) { - navigation.Aktualisieren(0,0,speed); - sleep(2); - navigation.Aktualisieren(90,0,speed); - sleep(2); - navigation.Aktualisieren(180,0,speed); - sleep(2); - navigation.Aktualisieren(270,0,speed); - sleep(2); - + navigation.Aktualisieren(0,0,speed); + sleep(2); + navigation.Aktualisieren(90,0,speed); + sleep(2); + navigation.Aktualisieren(180,0,speed); + sleep(2); + navigation.Aktualisieren(270,0,speed); + sleep(2); } diff --git a/source/AVR_Studio/Soccer/default/Soccer.elf b/source/AVR_Studio/Soccer/default/Soccer.elf index 75a4f4a..5c63ac2 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 afa7ee0..1bf5d66 100755 --- a/source/AVR_Studio/Soccer/default/Soccer.hex +++ b/source/AVR_Studio/Soccer/default/Soccer.hex @@ -2,1147 +2,1168 @@ 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+:10488000BB27B91708F091E0879508959F919F91F4 +:104890001124F2CE6627772788279927089510E0FC +:1048A000C4EBD0E004C0FE010E9401232296C63B67 +:0448B000D107C9F76C +:1048B40048616C6C6F206869657220697374206448 +:1048C400617320524E4D65676131323846756E6BA7 +:1048D4002D426F61726400FF0000000000000000C0 +:0848E400002000FE01000000AD :00000001FF 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< enable counter + // aktiviere Kanal A+B auf PWM1 mit 8Bit + TCCR1A = (1<< COM1A1) | (1<< COM1B1) | (1<< WGM10); + TCCR1B = (1< enable counter // aktiviere Kanal A+B auf PWM3 mit 8Bit - //TCCR3A = (1<< COM3A1) | (1<< COM3B1) | (1<< WGM10); - //TCCR3B = (1< enable counter + TCCR3A = (1<< COM3A1) | (1<< COM3B1) | (1<< WGM10); + TCCR3B = (1< 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 diff --git a/source/AVR_Studio/Soccer/navigation.c b/source/AVR_Studio/Soccer/navigation.c index f2c1d1c..cbdbdc9 100755 --- a/source/AVR_Studio/Soccer/navigation.c +++ b/source/AVR_Studio/Soccer/navigation.c @@ -28,21 +28,21 @@ void Navigation::SetzeGeschwindigkeit(int nGeschwindigkeit) { // Aktualieren ohne Parameter void Navigation::Aktualisieren() { // Richtung in x und y-Kompontente zerlegen - float y = cos(richtung); // richtung ist winkel - float x = sin(richtung); + double y = cos(richtung); // richtung ist winkel + double x = sin(richtung); // Abweichung der Ausrichtung ermitteln(als winkel) int w = sensor.GetAusrichtung() - ausrichtung; - // Stärke der einzelnen Motoren berechnen - float v0 = x; - float v1 = (-x+sqrt(3)*y)/2; - float v2 = (-x-sqrt(3)*y)/2; + // Stärke der einzelnen Motoren berechnen + double v0 = (-x-sqrt(3)*y)/2; + double v1 = x; + double v2 = (-x+sqrt(3)*y)/2; // Ausgerechnete Stärke an die Motoren übergeben - board.motor(0,(int)v0*geschwindigkeit +w); - board.motor(1,(int)v1*geschwindigkeit +w); - board.motor(2,(int)v2*geschwindigkeit +w); + board.motor(0,(int)((double)v0*geschwindigkeit +w)); + board.motor(1,(int)((double)v1*geschwindigkeit +w)); + board.motor(2,(int)((double)v2*geschwindigkeit +w)); } // Aktualieren mit allen Parametern diff --git a/source/AVR_Studio/Soccer/sensor/ballsensor.c b/source/AVR_Studio/Soccer/sensor/ballsensor.c index 8136581..d26b12c 100755 --- a/source/AVR_Studio/Soccer/sensor/ballsensor.c +++ b/source/AVR_Studio/Soccer/sensor/ballsensor.c @@ -34,7 +34,10 @@ void Ballsensor::Aktualisieren() { // Suche den kleinsten Wert for(int i=0;i