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Revision beea48aa

IDbeea48aaab7b027978a3703b75fe90f29e6ddc2f

Added by Thomas Mullins about 12 years ago

Tested forklift code and fixed some things (a few weeks ago)

View differences:

forklift/code/Makefile
1 
SRC = forklift.c analog.c twi.c motor.c
2 
HDR = analog.h twi.h motor.h
3 

  		




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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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