Colony

########Update This Section########

#

#

# Relative path to the root directory (containing lib directory)

ifndef COLONYROOT

COLONYROOT = ../..

endif

# Target file name (without extension).

TARGET = main

# Uncomment this to use the wireless library

USE_WIRELESS = 1

# com1 = serial port. Use lpt1 to connect to parallel port.

AVRDUDE_PORT = /dev/ttyUSB0

#

#

###################################

# Hey Emacs, this is a -*- makefile -*-

#----------------------------------------------------------------------------

# WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al.

#

# Released to the Public Domain

#

# Additional material for this makefile was written by:

# Peter Fleury

# Tim Henigan

# Colin O'Flynn

# Reiner Patommel

# Markus Pfaff

# Sander Pool

# Frederik Rouleau

#

#----------------------------------------------------------------------------

# On command line:

#

# make all = Make software.

#

# make clean = Clean out built project files.

#

# make coff = Convert ELF to AVR COFF.

#

# make extcoff = Convert ELF to AVR Extended COFF.

#

# make program = Download the hex file to the device, using avrdude.

#                Please customize the avrdude settings below first!

#

# make debug = Start either simulavr or avarice as specified for debugging,

#              with avr-gdb or avr-insight as the front end for debugging.

#

# make filename.s = Just compile filename.c into the assembler code only.

#

# make filename.i = Create a preprocessed source file for use in submitting

#                   bug reports to the GCC project.

#

# To rebuild project do "make clean" then "make all".

#----------------------------------------------------------------------------

#if you want your code to work on the Firefly++ and not Firefly+

#then add the -DFFPP line to CDEFS

CDEFS =

#-DFFPP

# MCU name

MCU = atmega128

# Processor frequency.

#     This will define a symbol, F_CPU, in all source code files equal to the

#     processor frequency. You can then use this symbol in your source code to

#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done

#     automatically to create a 32-bit value in your source code.

F_CPU = 8000000

# Output format. (can be srec, ihex, binary)

FORMAT = ihex

# List C source files here. (C dependencies are automatically generated.)

SRC = $(wildcard *.c)

# List Assembler source files here.

#     Make them always end in a capital .S.  Files ending in a lowercase .s

#     will not be considered source files but generated files (assembler

#     output from the compiler), and will be deleted upon "make clean"!

#     Even though the DOS/Win* filesystem matches both .s and .S the same,

#     it will preserve the spelling of the filenames, and gcc itself does

#     care about how the name is spelled on its command-line.

ASRC =

# Optimization level, can be [0, 1, 2, 3, s].

#     0 = turn off optimization. s = optimize for size.

#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)

OPT = s

# Debugging format.

#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.

#     AVR Studio 4.10 requires dwarf-2.

#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.

DEBUG =

# Compiler flag to set the C Standard level.

#     c89   = "ANSI" C

#     gnu89 = c89 plus GCC extensions

#     c99   = ISO C99 standard (not yet fully implemented)

#     gnu99 = c99 plus GCC extensions

CSTANDARD = -std=gnu99

# Place -D or -U options here

CDEFS += -DF_CPU=$(F_CPU)UL

CDEFS += -DFFP

# for wireless library

ifdef USE_WIRELESS

	CDEFS += -DROBOT

endif

# Place -I, -L options here

CINCS = -I$(COLONYROOT)/lib/include/libdragonfly

CINCS += -L$(COLONYROOT)/lib/bin

ifdef USE_WIRELESS

	CINCS += -I$(COLONYROOT)/lib/include/libwireless

endif

#---------------- Compiler Options ----------------

#  -g*:          generate debugging information

#  -O*:          optimization level

#  -f...:        tuning, see GCC manual and avr-libc documentation

#  -Wall...:     warning level

#  -Wa,...:      tell GCC to pass this to the assembler.

#    -adhlns...: create assembler listing

CFLAGS =

# CFLAGS = -g$(DEBUG)

CFLAGS += $(CDEFS) $(CINCS)

CFLAGS += -O$(OPT)

CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums

CFLAGS += -Wall -Wstrict-prototypes

CFLAGS += -Wa,-adhlns=$(<:.c=.lst)

CFLAGS += $(CSTANDARD)

#---------------- Assembler Options ----------------

#  -Wa,...:   tell GCC to pass this to the assembler.

#  -ahlms:    create listing

#  -gstabs:   have the assembler create line number information; note that

#             for use in COFF files, additional information about filenames

#             and function names needs to be present in the assembler source

#             files -- see avr-libc docs [FIXME: not yet described there]

ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs

#---------------- Library Options ----------------

# Minimalistic printf version

PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min

# Floating point printf version (requires MATH_LIB = -lm below)

PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt

# If this is left blank, then it will use the Standard printf version.

#PRINTF_LIB =

#PRINTF_LIB = $(PRINTF_LIB_MIN)

PRINTF_LIB = $(PRINTF_LIB_FLOAT)

# Minimalistic scanf version

SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min

# Floating point + %[ scanf version (requires MATH_LIB = -lm below)

SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt

# If this is left blank, then it will use the Standard scanf version.

SCANF_LIB =

#SCANF_LIB = $(SCANF_LIB_MIN)

#SCANF_LIB = $(SCANF_LIB_FLOAT)

MATH_LIB = -lm

#---------------- External Memory Options ----------------

# 64 KB of external RAM, starting after internal RAM (ATmega128!),

# used for variables (.data/.bss) and heap (malloc()).

#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff

# 64 KB of external RAM, starting after internal RAM (ATmega128!),

# only used for heap (malloc()).

#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff

EXTMEMOPTS =

#---------------- Linker Options ----------------

#  -Wl,...:     tell GCC to pass this to linker.

#    -Map:      create map file

#    --cref:    add cross reference to  map file

LDFLAGS = -Wl,-Map=$(TARGET).map,--cref

LDFLAGS += $(EXTMEMOPTS)

LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)

ifdef USE_WIRELESS

	LDFLAGS += -lwireless

endif

LDFLAGS += -ldragonfly

#---------------- Programming Options (avrdude) ----------------

# Programming hardware: alf avr910 avrisp bascom bsd

# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500

#

# Type: avrdude -c ?

# to get a full listing.

#

AVRDUDE_PROGRAMMER = avrisp

# programmer connected to serial device

AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex

#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep

# Uncomment the following if you want avrdude's erase cycle counter.

# Note that this counter needs to be initialized first using -Yn,

# see avrdude manual.

#AVRDUDE_ERASE_COUNTER = -y

# Uncomment the following if you do /not/ wish a verification to be

# performed after programming the device.

#AVRDUDE_NO_VERIFY = -V

# Increase verbosity level.  Please use this when submitting bug

# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>

# to submit bug reports.

#AVRDUDE_VERBOSE = -v -v

AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)

AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)

AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)

AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)

#don't check for device signature

AVRDUDE_FLAGS += -F

#---------------- Debugging Options ----------------

# For simulavr only - target MCU frequency.

DEBUG_MFREQ = $(F_CPU)

# Set the DEBUG_UI to either gdb or insight.

# DEBUG_UI = gdb

DEBUG_UI = insight

# Set the debugging back-end to either avarice, simulavr.

DEBUG_BACKEND = avarice

#DEBUG_BACKEND = simulavr

# GDB Init Filename.

GDBINIT_FILE = __avr_gdbinit

# When using avarice settings for the JTAG

JTAG_DEV = /dev/com1

# Debugging port used to communicate between GDB / avarice / simulavr.

DEBUG_PORT = 4242

# Debugging host used to communicate between GDB / avarice / simulavr, normally

#     just set to localhost unless doing some sort of crazy debugging when

#     avarice is running on a different computer.

DEBUG_HOST = localhost

#============================================================================

# Define programs and commands.

SHELL = sh

CC = avr-gcc

OBJCOPY = avr-objcopy

OBJDUMP = avr-objdump

SIZE = avr-size

NM = avr-nm

AVRDUDE = avrdude

REMOVE = rm -f

REMOVEDIR = rm -rf

COPY = cp

WINSHELL = cmd

# Define Messages

# English

MSG_ERRORS_NONE = Errors: none

MSG_BEGIN = -------- begin --------

MSG_END = --------  end  --------

MSG_SIZE_BEFORE = Size before:

MSG_SIZE_AFTER = Size after:

MSG_COFF = Converting to AVR COFF:

MSG_EXTENDED_COFF = Converting to AVR Extended COFF:

MSG_FLASH = Creating load file for Flash:

MSG_EEPROM = Creating load file for EEPROM:

MSG_EXTENDED_LISTING = Creating Extended Listing:

MSG_SYMBOL_TABLE = Creating Symbol Table:

MSG_LINKING = Linking:

MSG_COMPILING = Compiling:

MSG_ASSEMBLING = Assembling:

MSG_CLEANING = Cleaning project:

# Define all object files.

OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)

# Define all listing files.

LST = $(SRC:.c=.lst) $(ASRC:.S=.lst)

# Compiler flags to generate dependency files.

GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d

# Combine all necessary flags and optional flags.

# Add target processor to flags.

ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)

ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)

# Default target.

all: begin gccversion sizebefore build sizeafter end

build: elf hex eep lss sym

elf: $(TARGET).elf

hex: $(TARGET).hex

eep: $(TARGET).eep

lss: $(TARGET).lss

sym: $(TARGET).sym

# Eye candy.

# AVR Studio 3.x does not check make's exit code but relies on

# the following magic strings to be generated by the compile job.

begin:

	@echo

	@echo $(MSG_BEGIN)

end:

	@echo $(MSG_END)

	@echo

# Display size of file.

HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex

ELFSIZE = $(SIZE) -A $(TARGET).elf

AVRMEM = avr-mem.sh $(TARGET).elf $(MCU)

sizebefore:

	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \

	$(AVRMEM) 2>/dev/null; echo; fi

sizeafter:

	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \

	$(AVRMEM) 2>/dev/null; echo; fi

# Display compiler version information.

gccversion :

	@$(CC) --version

# Program the device.

program: $(TARGET).hex $(TARGET).eep

	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)

# Generate avr-gdb config/init file which does the following:

#     define the reset signal, load the target file, connect to target, and set

#     a breakpoint at main().

gdb-config:

	@$(REMOVE) $(GDBINIT_FILE)

	@echo define reset >> $(GDBINIT_FILE)

	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)

	@echo end >> $(GDBINIT_FILE)

	@echo file $(TARGET).elf >> $(GDBINIT_FILE)

	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)

ifeq ($(DEBUG_BACKEND),simulavr)

	@echo load  >> $(GDBINIT_FILE)

endif

	@echo break main >> $(GDBINIT_FILE)

debug: gdb-config $(TARGET).elf

ifeq ($(DEBUG_BACKEND), avarice)

	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.

	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \

	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)

	@$(WINSHELL) /c pause

else

	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \

	$(DEBUG_MFREQ) --port $(DEBUG_PORT)

endif

	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)

# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.

COFFCONVERT=$(OBJCOPY) --debugging \

--change-section-address .data-0x800000 \

--change-section-address .bss-0x800000 \

--change-section-address .noinit-0x800000 \

--change-section-address .eeprom-0x810000

coff: $(TARGET).elf

	@echo

	@echo $(MSG_COFF) $(TARGET).cof

	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof

extcoff: $(TARGET).elf

	@echo

	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof

	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof

# Create final output files (.hex, .eep) from ELF output file.

%.hex: %.elf

	@echo

	@echo $(MSG_FLASH) $@

	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@

%.eep: %.elf

	@echo

	@echo $(MSG_EEPROM) $@

	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \

	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@

# Create extended listing file from ELF output file.

%.lss: %.elf

	@echo

	@echo $(MSG_EXTENDED_LISTING) $@

	$(OBJDUMP) -h -S $< > $@

# Create a symbol table from ELF output file.

%.sym: %.elf

	@echo

	@echo $(MSG_SYMBOL_TABLE) $@

	$(NM) -n $< > $@

# Link: create ELF output file from object files.

.SECONDARY : $(TARGET).elf

.PRECIOUS : $(OBJ)

%.elf: $(OBJ)

	@echo

	@echo $(MSG_LINKING) $@

	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)

# Compile: create object files from C source files.

%.o : %.c

	@echo

	@echo $(MSG_COMPILING) $<

	$(CC) -c $(ALL_CFLAGS) $< -o $@

# Compile: create assembler files from C source files.

%.s : %.c

	$(CC) -S $(ALL_CFLAGS) $< -o $@

# Assemble: create object files from assembler source files.

%.o : %.S

	@echo

	@echo $(MSG_ASSEMBLING) $<

	$(CC) -c $(ALL_ASFLAGS) $< -o $@

# Create preprocessed source for use in sending a bug report.

%.i : %.c

	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@

# Target: clean project.

clean: begin clean_list end

clean_list :

	@echo

	@echo $(MSG_CLEANING)

	$(REMOVE) $(TARGET).hex

	$(REMOVE) $(TARGET).eep

	$(REMOVE) $(TARGET).cof

	$(REMOVE) $(TARGET).elf

	$(REMOVE) $(TARGET).map

	$(REMOVE) $(TARGET).sym

	$(REMOVE) $(TARGET).lss

	$(REMOVE) $(OBJ)

	$(REMOVE) $(LST)

	$(REMOVE) $(SRC:.c=.s)

	$(REMOVE) $(SRC:.c=.d)

	$(REMOVEDIR) .dep

# Include the dependency files.

-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)

# Listing of phony targets.

.PHONY : all begin finish end sizebefore sizeafter gccversion \

build elf hex eep lss sym coff extcoff \

clean clean_list program debug gdb-config

#include <dragonfly_lib.h>

#include <encoders.h>

int main(void)

{

	/* initialize components */

	dragonfly_init(ALL_ON);

	orb_enable();

	orb1_set_color(ORANGE);

	return 0;

}

/**

 * 

 * @file encoders.h

 * @brief Contains functions for reading encoder values.

 *

 * Contains high and low level functions for reading encoders

 * including reading out total distance covered, and 

 * eventually velocity.

 *	

 * @author Colony Project, CMU Robotics Club

*/

/**

 * @addtogroup encoders

 * @{

 **/

#ifndef __ENCODERS_H__

#define __ENCODERS_H__

#ifndef LEFT

	#define LEFT 0

#endif

#ifndef RIGHT

	#define RIGHT 1

#endif

/** @brief Magnet misaligned - likely distance from encoder problem. **/

#define ENCODER_MAGNET_FAILURE 1025

/** @brief Encoder misaligned - likely on XY plane. **/

#define ENCODER_MISALIGNED 1027

/** @brief Not enough time has passed - encoders not initialized in hardware. **/

#define ENCODER_DATA_NOT_READY 1026

//delay_ms argument after a full read is complete

#define ENCODER_DELAY 20

#define MIN_V (-100)

#define MAX_V 100

//Data invalid flags (hardware failure):

#define OCF _BV(4)

#define COF _BV(3)

//Data invalid alarm (May be invalid):

#define LIN _BV(2)

#define MagINCn _BV(1)

#define MagDECn _BV(0)

#define BUFFER_SIZE 23

/** @brief Initialize encoders. **/

void encoders_init(void);

/** @brief Read instantaneous encoder value. **/

int encoder_read(char encoder);

/** @brief Get total distance traveled. **/

int encoder_get_dx(char encoder);

/** @brief Reset distance counter. **/

void encoder_rst_dx(char encoder);

/** @brief Get time count: The number of encoder reads that have occurred. **/

int encoder_get_tc(void);

/** @brief Reset the time count. **/

void encoder_rst_tc(void);

/** @brief Waits for the next n encoder reading, then returns. **/

void encoder_wait( int nReadings );

/**@}**/ //end group

#endif

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file lcd.h

 * @brief Contains definitions for dealing with the LCD screen.

 * 

 * Contains definitions and functions for dealing with the 

 * LCD screen.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#ifndef _LCD_H_

#define _LCD_H_

/**

 * @addtogroup lcd

 * @{

 **/

/** @brief Initialize the LCD screen **/

void lcd_init(void);

/** @brief Clear the LCD screen **/

void lcd_clear_screen( void );

/** @brief Print a char to the LCD screen **/

void lcd_putc(char c);

/** @brief Print a string to the LCD screen **/

void lcd_puts(char *s);

/** @brief Print an int to the LCD screen **/

void lcd_puti(int value);

/** @brief Set the current cursor position **/

void lcd_gotoxy(int x, int y);

/** @} **/

#endif

/**

 * @file odometry.h

 * @brief Code for estimating the robots pose.

 * 

 * Offers simple position and orientation information.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#ifndef __ODOMETRY_C__

#define __ODOMETRY_C__

//Odometry resolution, *64 microseconds.

//= approx. 100 ms

#define ODOMETRY_CLK 255u 

//Wheel = 2.613 in.  

//Circumference = 208.508133 mm

//Distance per encoder click (circumference / 1024)  = 203.621224 um.

//Robot width = 5.3745 in. = 136.5123 mm

#define ROBOT_WIDTH_UM 137000  //um

#define CLICK_DISTANCE_UM 204 //um

#define DISTANCE_SCALE 2.10526316

#define ANGLE_SCALE 1.12823207

//Standard measures will be mm and us

/** @brief Retrieve the robots estimated x position*/

long odometry_dx(void);

/** @brief Retrieve the robots estimated y position*/

long odometry_dy(void);

/** @brief Retrieve the robots estimated orientation*/

double odometry_angle(void);

/** @brief Initialize odometry. MUST be called before 

 * the other functions work.**/

void odometry_init(void);

/** @brief Reset position and orientation to the origin facing

 * the x axis.*/

void odometry_reset(void);

#endif

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file move.h

 * @brief Contains definitions for controlling robot motion

 * 

 * This file offers higher-level functions for robot motion.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#ifndef _MOVE_H_

#define _MOVE_H_

/**

 * @addtogroup move

 * @{

 **/

/** @brief Move forwards **/

#define FWD 0

/** @brief Move backwards **/

#define BCK 1

/** @brief A slow speed **/

#define SLOW_SPD 96

/** @brief Half of the full speed **/

#define HALF_SPD 128

/** @brief A normal speed **/

#define NRML_SPD 160

/** @brief A fast speed **/

#define FAST_SPD 192

/** @brief The maximum speed **/

#define FULL_SPD 255

/** @brief A slow turning speed **/

#define SLOW_TURN 64

/** @brief A medium turning speed **/

#define NRML_TURN 96

/** @brief A high turning speed **/

#define FAST_TURN 128

/** @brief Move the robot at the specified velocity **/

void move(int velocity, int omega);

/** @brief Move the robot while avoiding obstacles **/

void move_avoid(int velocity, int omega, int strength);

/** @} **/

#endif

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file battery.h

 * @brief Definitions for checking battery voltage.

 * 

 * Contains definitions for checking the voltage of the 

 * battery.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#ifndef _BATTERY_H_

#define _BATTERY_H_

/**

 * @addtogroup battery

 * @{

 **/

/** @brief Normal battery voltage. (6 V) **/

#define BATTERY_NORMALV 154

/** @brief Charging battery voltage. (7 V) **/

#define BATTERY_CHARINGV 179

/** @brief Low battery voltage. ( < 6 V) **/

#define BATTERY_LOWV 152

/** @brief Read the battery voltage. **/

int battery8(void);

/** @brief Read the battery voltage in deciVolts. **/

int battery(void);

/** @brief Check if the battery is low. **/

char battery_low(void);

/** @brief Get an average battery voltage reading. **/

int battery8_avg(int n_samples);

/** @} **/ //end addtogroup

#endif

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file dio.h

 * @brief Definitions for digital input / output

 *

 * This file contains definitions and functions for dealing

 * with digital input and output.

 *

 * @author Colony Project, CMU Robotics Club

 * Based on Tom Lauwer's Firefly Library

 **/

#ifndef _DIO_H

#define _DIO_H

/*

  these are ALL the pins

  don't use unless you know what you're doing

*/

/*

  DIO pins on new dragonfly boards are shown below:

  -----------------------------------------------

  | _PIN_E6 | _PIN_E7 | _PIN_D2 | _PIN_D3 | VCC |

  -----------------------------------------------

  | _PIN_E2 | _PIN_E3 | _PIN_E4 | _PIN_E5 | GND |

  -----------------------------------------------

*/

/** @brief Port A **/

#define _PORT_A 1

/** @brief Port B **/

#define _PORT_B 2

/** @brief Port C **/

#define _PORT_C 3

/** @brief Port D **/

#define _PORT_D 4

/** @brief Port E **/

#define _PORT_E 5

/** @brief Port F **/

#define _PORT_F 6

/** @brief Port G **/

#define _PORT_G 7

/** @brief Pin A0 **/

#define _PIN_A0 8

/** @brief Pin A1 **/

#define _PIN_A1 9

/** @brief Pin A2 **/

#define _PIN_A2 10

/** @brief Pin A3 **/

#define _PIN_A3 11

/** @brief Pin A4 **/

#define _PIN_A4 12

/** @brief Pin A5 **/

#define _PIN_A5 13

/** @brief Pin A6 **/

#define _PIN_A6 14 

/** @brief Pin A7 **/

#define _PIN_A7 15

/** @brief Pin B0 **/

#define _PIN_B0 16

/** @brief Pin B1 **/

#define _PIN_B1 17

/** @brief Pin B2 **/

#define _PIN_B2 18

/** @brief Pin B3 **/

#define _PIN_B3 19

/** @brief Pin B4 **/

#define _PIN_B4 20

/** @brief Pin B5 **/

#define _PIN_B5 21

/** @brief Pin B6 **/

#define _PIN_B6 22

/** @brief Pin B7 **/

#define _PIN_B7 23

/** @brief Pin C0 **/

#define _PIN_C0 24

/** @brief Pin C1 **/

#define _PIN_C1 25

/** @brief Pin C2 **/

#define _PIN_C2 26

/** @brief Pin C3 **/

#define _PIN_C3 27

/** @brief Pin C4 **/

#define _PIN_C4 28

/** @brief Pin C5 **/

#define _PIN_C5 29

/** @brief Pin C6 **/

#define _PIN_C6 30

/** @brief Pin C7 **/

#define _PIN_C7 31

/** @brief Pin D0 **/

#define _PIN_D0 32  // pin DIO6 on new dragonfly boards

/** @brief Pin D1 **/

#define _PIN_D1 33  // pin DIO7

/** @brief Pin D2 **/

#define _PIN_D2 34

/** @brief Pin D3 **/

#define _PIN_D3 35

/** @brief Pin D4 **/

#define _PIN_D4 36

/** @brief Pin D5 **/

#define _PIN_D5 37

/** @brief Pin D6 **/

#define _PIN_D6 38

/** @brief Pin D7 **/

#define _PIN_D7 39

/** @brief Pin E0 **/

#define _PIN_E0 40

/** @brief Pin E1 **/

#define _PIN_E1 41

/** @brief Pin E2 **/

#define _PIN_E2 42  // pin DIO0

/** @brief Pin E3 **/

#define _PIN_E3 43  // pin DIO1

/** @brief Pin E4 **/

#define _PIN_E4 44  // pin DIO2

/** @brief Pin E5 **/

#define _PIN_E5 45  // pin DIO3

/** @brief Pin E6 **/

#define _PIN_E6 46  // pin DIO4

/** @brief Pin E7 **/

#define _PIN_E7 47  // pin DIO5

/** @brief Pin F0 **/

#define _PIN_F0 48

/** @brief Pin F1 **/

#define _PIN_F1 49

/** @brief Pin F2 **/

#define _PIN_F2 50

/** @brief Pin F3 **/

#define _PIN_F3 51

/** @brief Pin F4 **/

#define _PIN_F4 52

/** @brief Pin F5 **/

#define _PIN_F5 53

/** @brief Pin F6 **/

#define _PIN_F6 54

/** @brief Pin F7 **/

#define _PIN_F7 55

/** @brief Pin G0 **/

#define _PIN_G0 56

/** @brief Pin WR **/

#define _PIN_WR 56

/** @brief Pin G1 **/

#define _PIN_G1 57

/** @brief Pin RD **/

#define _PIN_RD 57

/** @brief Pin G2 **/

#define _PIN_G2 58

/** @brief Pin ALE **/

#define _PIN_ALE 58

/** @brief Pin G3 **/

#define _PIN_G3 59

/** @brief Pin TOSC2 **/

#define _PIN_TOSC2 59

/** @brief Pin G4 **/

#define _PIN_G4 60

/** @brief Pin TOSC1 **/

#define _PIN_TOSC1 60

//#define _PIN_G5 61

//#define _PIN_G6 62

//#define _PIN_G7 63

/*

  These are the header pins (the ones you can connect things to)

  Feel free to use these

*/

/**

 * @addtogroup dio

 * @{

 **/

/** @brief Pin A0 **/

#define PIN_A0 8

/** @brief Pin A1 **/

#define PIN_A1 9

/** @brief Pin A2 **/

#define PIN_A2 10

/** @brief Pin A3 **/

#define PIN_A3 11

/** @brief Pin A4 **/

#define PIN_A4 12

/** @brief Pin A5 **/

#define PIN_A5 13

/** @brief Pin A6 **/

#define PIN_A6 14 

/** @brief Pin A7 **/

#define PIN_A7 15

/** @brief Pin SS **/

#define PIN_SS 16

/** @brief Pin SCK **/

#define PIN_SCK 17

/** @brief Pin MOSI **/

#define PIN_MOSI 18

/** @brief Pin MISO **/

#define PIN_MISO 19

/** @brief LCD Command Pin **/

#define PIN_LCD_COMMAND 20

/** @brief Pin C0 **/

#define PIN_C0 24

/** @brief Pin C1 **/

#define PIN_C1 25

/** @brief Pin C2 **/

#define PIN_C2 26

/** @brief Pin C3 **/

#define PIN_C3 27

/** @brief Pin C4 **/

#define PIN_C4 28

/** @brief Pin C5 **/

#define PIN_C5 29

/** @brief Pin C6 **/

#define PIN_C6 30

/** @brief Pin C7 **/

#define PIN_C7 31

/** @brief Pin SCL **/

#define PIN_SCL 32

/** @brief Pin SDA **/

#define PIN_SDA 33

/** @brief Pin RX0 **/

#define PIN_RX0 40

/** @brief Pin TX0 **/

#define PIN_TX0 41

/** @brief LCD Reset Pin **/

#define PIN_LCD_RESET 42

/** @brief Pin E6 **/

#define PIN_E6 46

/** @brief Pin EXT_DIO1 **/

#define PIN_EXT_DIO1 46

/** @brief Pin E7 **/

#define PIN_E7 47

/** @brief Pin EXT_DIO2 **/

#define PIN_EXT_DIO2 48

/** @brief Pin AN0 **/

#define PIN_AN0 48

/** @brief Pin ADC0 **/

#define PIN_ADC0 48

/** @brief Pin AN1 **/

#define PIN_AN1 49

/** @brief Pin ADC1 **/

#define PIN_ADC1 49

/** @brief Pin AN2 **/

#define PIN_AN2 50

/** @brief Pin ADC2 **/

#define PIN_ADC2 50

/** @brief Pin AN3 **/

#define PIN_AN3 51

/** @brief Pin ADC3 **/

#define PIN_ADC3 51

/** @brief Pin AN4 **/

#define PIN_AN4 52

/** @brief Pin ADC4 **/

#define PIN_ADC4 52

/** @brief Pin AN5 **/

#define PIN_AN5 53

/** @brief Pin ADC5 **/

#define PIN_ADC5 53

/** @brief Pin AN6 **/

#define PIN_AN6 54

/** @brief Pin ADC6 **/

#define PIN_ADC6 54

/** @brief Pin AN7 **/

#define PIN_AN7 55

/** @brief Pin ADC7 **/

#define PIN_ADC7 55

/** @brief Wheel Pin **/

#define PIN_WHEEL 54

/** @brief Battery Voltage Monitor Pin **/

#define PIN_BATT 55

/** @brief button1 Pin **/

#define PIN_BTN1 56

/** @brief button2 Pin **/

#define PIN_BTN2 57

/** @brief LED1 Pin **/

#define PIN_LED1 58

/* Buttons */

/** @brief Button Pin **/

#define PIN_BTN PING

/** @brief button2 Pin **/

#define BTN2 PING1

/** @brief button1 Pin **/

#define BTN1 PING0

/** @brief Read a portpin. **/

int digital_input(int);

/** @brief Output to a portpin. **/

void digital_output(int bit, int val);

/** @brief Pullup a portpin. **/

void digital_pull_up(int);

/** @brief Check if button1 is pressed. **/

int button1_read( void );

/** @brief Check if button1 is clicked. **/

int button1_click( void );

/** @brief Wait until button1 is pressed. **/

void button1_wait( void );

/** @brief Check if button2 is pressed. **/

int button2_read( void );

/** @brief Check if button2 is clicked. **/

int button2_click( void );

/** @brief Wait until button2 is pressed. **/

void button2_wait( void );

/** @} **/ // end addtogroup

#endif

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file dragonfly_lib.h

 * @brief Contains other include files

 * 

 * Include this file for all the functionality of libdragonfly.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#ifndef _DRAGONFLY_LIB_H_

#define _DRAGONFLY_LIB_H_

/**

 * @addtogroup dragonfly

 * @{

 **/

// Configuration definitions

/** @brief Initialize analog **/

#define ANALOG 0x01

/** @brief Initialize serial communications **/

#define SERIAL 0x02

/** @brief Initialize USB communications **/

#define USB    0x02

/** @brief Initialize communications **/

#define COMM   0x02

/** @brief Initialize the orb **/

#define ORB    0x04

/** @brief Initialize the motors **/

#define MOTORS 0x08

/** @brief Initialize I2C **/

#define I2C    0x20

/** @brief Initialize the buzzer **/

#define BUZZER 0x40

/** @brief Initialize the LCD screen **/

#define LCD    0x80

/** @brief Initialize the rangefinders **/

#define RANGE  0x0100

/** @brief Initialize the BOM **/

#define BOM  0x0200

/** @brief Initialize everything  **/

#define ALL_ON 0x03FF

/** @brief Initialize the board **/

void dragonfly_init(int config);

/** @} **/ //end addtogroup

#include <inttypes.h>

#include <stdio.h>

#include <stdlib.h>

#include <avr/io.h>

#include <avr/interrupt.h>

#include <util/delay.h>

#include <util/twi.h>

#include <analog.h>

#include <dio.h>

#include <time.h>

#include <lcd.h>

#include <lights.h>

#include <motor.h>

#include <serial.h>

#include <buzzer.h>

#include <rangefinder.h>

#include <bom.h>

#include <move.h>

#include <reset.h>

#include <math.h>

#include <eeprom.h>

#endif

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/** @file i2c.h

 *  @brief Header file for I2C

 *

 *  Contains functions for I2C.

 *

 *  @author Kevin Woo and Suresh Nidhiry, Colony Project, CMU Robotics Club

 **/

#ifndef _I2C_H_

#define _I2C_H_

#include <stddef.h>

/** @brief Address of slave receive handler function **/

typedef void (*fun_srecv_t)(char);

/** @brief Address of master receive handler function**/

typedef int (*fun_mrecv_t)(char);

/** @brief Address of slave send handler function**/

typedef char (*fun_send_t)(void);

int i2c_init(char addr, fun_mrecv_t master_recv, fun_srecv_t slave_recv, fun_send_t slave_send);

int i2c_send(char dest, char* data, size_t bytes);

int i2c_request(char dest);

void i2c_packet_rec (char i2c_byte);

void i2c_packet_sniff(char data);

#endif

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file bom.h

 * @brief Definitions for using the BOM

 * 

 * This file contains definitions for using the Bearing and 

 * Orientation Module (BOM).

 *

 * @author Colony Project, CMU Robotics Club

 *

 **/

#ifndef _BOM_H

#define _BOM_H

/**

 * @addtogroup bom

 * @{

 **/

/** @brief Include all elements in the 16-bit bitfield **/

#define BOM_ALL 0xFFFF

/** @brief Original BOM - No Range, No Individual LED control **/

#define BOM10     0

/** @brief BOM 1.5 - No Range, Individual LED control **/

#define BOM15   1

/** @brief RBOM - Range, Individual LED control **/

#define RBOM    2

/** @brief Initialize the bom according to bom type **/

void bom_init(char type);

/** @brief Refresh bom_val[] with new values from analog8.  analog_init and bom_init must be called for this to work. **/

void bom_refresh(int bit_field);

/** @brief Gets the bom reading from bom_val[which].  Call bom_refresh beforehand to read new bom values. **/

int bom_get(int which);

/** @brief Compares all the values in bom_val[] and returns the index to the highest value element. **/

int bom_get_max(void);

/** @brief Enables the selected bom leds on a BOM1.5 **/

void bom_set_leds(int bit_field);

/** @brief (DEPRECATED) Gets and compares all bom values.  Returns the index to the highest value element. **/

int get_max_bom(void);

/** @brief Turns on all BOM leds, or turns on enabled leds on a BOM1.5. **/

void bom_on(void);

/** @brief Turns off all bom leds. **/

void bom_off(void);

/** @} **/

#endif

/**