blob: 9dc564df2dbc9011739a49cb749312ec6c287d9a (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
|
#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/PC7 (mousesensor SDA)
DDRC = (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 5) | (1 << 6);
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();
// Initialiate TWI
Init_TWI();
//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<Command_Handler>(IO_COMMAND_HANDLER_MAIN)->Update();
GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN)->Update();
GetModule<Ball_Tracker>(IO_BALL_TRACKER_MAIN)->Update();
GetModule<Obstacle_Tracker>(IO_OBSTACLE_TRACKER_MAIN)->Update();
//GetModule<Logic>(IO_LOGIC_MAIN)->Update();
GetModule<Navigator>(IO_NAVIGATOR_MAIN)->Update();
}
//-----------------------------------------------------------------------------
uint16 Robot::GetADCValue(uint8 channel)
{
if(channel > 7) return 0;
uint32 result = 0;
//Activate ADC and set division factor to 128
ADCSRA = (1 << ADEN) | (1 << ADPS2) | (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 ---
|
