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/*
* c't-Bot
*
* This program is free software; you can redistribute it
* and/or modify it under the terms of the GNU General
* Public License as published by the Free Software
* Foundation; either version 2 of the License, or (at your
* option) any later version.
* This program is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
* PURPOSE. See the GNU General Public License for more details.
* You should have received a copy of the GNU General Public
* License along with this program; if not, write to the Free
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
* MA 02111-1307, USA.
*
*/
/*! @file behaviour_servo.c
* @brief kontrolliert die Servos
*
* @author Benjamin Benz (bbe@heise.de)
* @date 07.12.06
*/
#include "bot-logic/bot-logik.h"
#ifdef BEHAVIOUR_SERVO_AVAILABLE
#include "motor.h"
#include "timer.h"
/*! Uebergabevariable fuer Servo-Verhalten */
static uint16 servo_time;
static uint8 servo_nr;
static uint8 servo_pos;
uint8 servo_active = 0; /*!< 0, wenn kein Servo aktiv, sonst Bit der gerade aktiven Servos gesetzt */
/*!
* Dieses Verhalten fuehrt ein Servo-Kommando aus und schaltet danach den Servo wieder ab
*
* @param *data der Verhaltensdatensatz
*/
void bot_servo_behaviour(Behaviour_t *data){
/* Servo ausschalten, falls Klappe zu oder Countdown abgelaufen */
if ( (servo_pos == DOOR_CLOSE && sensDoor == 0) || (TIMER_GET_TICKCOUNT_16 - servo_time > MS_TO_TICKS(1000L)) ){
servo_set(servo_nr, SERVO_OFF); // Servo aus
servo_active &= ~servo_nr;
return_from_behaviour(data); // und Verhalten auch aus
}
}
/*!
* Fahre den Servo an eine Position
* @param servo Nummer des Servos
* @param pos Zielposition des Servos
*/
void bot_servo(Behaviour_t * caller, uint8 servo, uint8 pos){
servo_active |= servo;
servo_set(servo, pos); // Servo-PWM einstellen
servo_pos = pos; // Zielposition merken
servo_nr = servo; // Servo-Nr speichern
servo_time = TIMER_GET_TICKCOUNT_16; // Der Count down verschafft dem Servo etwas Zeit
switch_to_behaviour(caller,bot_servo_behaviour,OVERRIDE); // Warte-Verahlten an
}
#endif
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