Revision beea48aa

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forklift/code/Makefile
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SRC = forklift.c analog.c twi.c motor.c
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HDR = analog.h twi.h motor.h
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forklift: forklift.hex
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	@
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%.hex: %.elf
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	avr-objcopy -j .text -j .data -O ihex $< $@
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forklift.elf: forklift.c analog.c analog.h twi.c twi.h
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	avr-gcc -mmcu=atmega168 -DF_CPU=8000000L forklift.c analog.c twi.c -o forklift.elf -Os
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forklift.elf: $(SRC) $(HDR)
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	avr-gcc -mmcu=atmega168 -DF_CPU=8000000L $(SRC) -o forklift.elf -Os
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download: forklift.hex
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	avrdude -c avrispmkII -p m328p forklift.hex
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	avrdude -c avrispmkII -p m128 -P usb -B 1 -U flash:w:forklift.hex
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clean:
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	rm -f forklift.elf forklift.hex
forklift/code/analog.c
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int line_threshold = 150;
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int line_read(int which);
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void line_update(int* values);
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int line_locate(int* values);
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void analog_init(void)
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{
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  // ADMUX register
......
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  return analog_read(ADC_LINE);
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}
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void line_update(int* values)
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void line_update(char* values)
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{
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  int i;
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  for(i = 0; i<5; i++)
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    values[i] = line_read(i) < line_threshold ? LWHITE : LBLACK;
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    values[i] = line_read(i) < line_threshold ? LBLACK : LWHITE;
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}
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int line_locate(int* values)
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int line_locate(char* values)
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{
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  int i;
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  int wsum = 0;
......
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int line_read_pos(void)
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{
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  int values[5];
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  char values[5];
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  line_update(values);
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  return line_locate(values);
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}
forklift/code/analog.h
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#define ADC_LINE   1
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void analog_init(void);
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int analog_read(int which);
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int analog_read(int which);
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void line_update(char* values);
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int line_locate(char* values);
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int line_read(int which);
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int line_read_pos(void);
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void line_set_threshold_high(uint8_t threshhold);
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void line_set_threshold_low(uint8_t threshhold);
forklift/code/forklift.c
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#define FORKLIFT_HEIGHT_SETPOINT   3 // r/w
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#define FORKLIFT_LINE_POS          4
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#define FORKLIFT_LINE_THRESH_HIGH  5 // r/w
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#define FORKLIFT_LINE_THRESH_LOW   6 // r/w
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#define FORKLIFT_LINE_THRESH_LOW   6 // r/w
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#define FORKLIFT_LINE_VALS_START   7
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#define FORKLIFT_LINE_VALS_END    12 // non-inclusive
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#define FORKLIFT_DATA_LEN          7
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#define FORKLIFT_DATA_LEN         12
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#define PROP(X,Y,Z)                (((X)*(Y))/(Z))
......
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  0,
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  0,
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  0,
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  150
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  150, // default line threshold
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  0,
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  0,
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  0,
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  0,
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  0
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};
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int error;
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int i_term;
......
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  internal_index++;
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  if (internal_index >= FORKLIFT_DATA_LEN)
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    internal_index = 0;
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}
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void update_height(void)
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//Call to update the forklift height point. Should be called each loop
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{
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	internal_data[FORKLIFT_HEIGHT] = analog_read(ADC_HEIGHT);
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}
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int clamp(int min, int max, int val)
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{
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	if(val>max) return max;
......
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	error = (int)internal_data[FORKLIFT_HEIGHT]
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						-(int)internal_data[FORKLIFT_HEIGHT_SETPOINT];
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	i_term = i_term +  error/10;
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	set_motor(clamp(-127,127, i_term/10 + (error*2)/5));
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	//set_motor(clamp(-127,127, i_term/10 + (error*2)/5));
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}
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int main()
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{
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  int i;
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  error = 0;
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  i_term = 0;
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  init_int0();
......
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  motor_init();
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  while (1)
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  {
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  	/*error = PROP((int)internal_data[FORKLIFT_HEIGHT]
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						-(int)internal_data[FORKLIFT_HEIGHT_SETPOINT],2,5);
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		set_motor(clamp(-127,127,error));*/
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    // do motor stuff
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	internal_data[FORKLIFT_LINE_POS] = (analog_read(ADC_LINE)>>2);//line_read_pos();
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    internal_data[FORKLIFT_HEIGHT] = (analog_read(ADC_HEIGHT)>>2);
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    for (i = 0; i < 5; i++)
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  	  internal_data[i + FORKLIFT_LINE_VALS_START] = line_read(i) >> 2;
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	internal_data[FORKLIFT_LINE_POS] = line_read_pos();
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    internal_data[FORKLIFT_HEIGHT] = analog_read(ADC_HEIGHT) >> 2;
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  }
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  return 0;
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}
forklift/code/twi.c
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      twi_stop();
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      break;
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  }
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}
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}

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