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#ifndef _BOARD_H_
#define _BOARD_H_
#include <avr/io.h>
#include <avr/interrupt.h>
#include <stdlib.h>
#include "uart.h"
#include "../global.h"
//#define abs(a) ((a < 0)? -a : a)
#define BEEPER_PIN PG2
// 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 PORTB
#define MOTOR1_PWM OCR1B
#define MOTOR1_A (1 << 2)
#define MOTOR1_B (1 << 3)
#define MOTOR2_PORT PORTD
#define MOTOR2_PWM OCR3A
#define MOTOR2_A (1 << 5)
#define MOTOR2_B (1 << 4)
#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
#define ABSTAND_DDR DDRC
#define ABSTAND_PIN PINC
#define UART_BAUD_RATE 9600
class Board
{
private:
public:
Board();
~Board();
int GetADC(uint8_t channel);
int GetAbstand(int i);
void beep(int freq);
void ledOn();
void ledOff();
void led(bool status);
void motor(int i, int speed);
void kicker();
};
#endif
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