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#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<Ball_Tracker>(IO_BALL_TRACKER_MAIN)->Update();
GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN)->Update();
GetModule<Navigator>(IO_NAVIGATOR_MAIN)->Update();
//insert code here
}
//-----------------------------------------------------------------------------
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 ---
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