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Revision 1281

Added by Kevin Woo over 10 years ago

Finished wall init. Calibrates it to the 0 point correctly.

View differences:

hardware_wall.c
1 1
#include "hardware_wall.h"
2
#include <avr/io.h>
3
#include <avr/interrupt.h>
2 4

  
3
uint16_t simulated_wall_position; // TODO remove and replace with real wall
5
uint16_t wall_position; // Wall position in encoder ticks
4 6

  
5 7
void wall_init ()
6 8
{
7
	// FIXME implement
8
	
9
	simulated_wall_position=0;
9
    // Start the motors
10
    motors_init();
11
    motor2_set(FORWARD, 0);
12

  
13
    // Enable 5V switching regulator to power dynamos
14
    DDRB |= _BV(PB4);
15
    PORTB &= ~_BV(PB4);
16

  
17
    // Turn on the interrupts for the A quadrature
18
    cli();
19
    EICRB |= _BV(ISC60);
20
    EIMSK |= _BV(INT6);
21
	sei();
22

  
23
    // Enable limit switch as input
24
    DDRF &= ~_BV(DDF0);
25
    
26
    usb_puts("Moving back...\r\n");
27
    delay_ms(1000);
28
    // Move wall back until the switch is triggered
29
    motor2_set(FORWARD, 255);  
30
    while (!(PINF & _BV(PINF0)));
31
    motor2_set(FORWARD, 0);
32

  
33
    delay_ms(1000);
34
    usb_puts("Moving forward...\r\n");
35
   
36
    // Move wall forward slowly until the switch is untriggered
37
    motor2_set(BACKWARD, 255);
38
    while (PINF & _BV(PINF0));
39
    motor2_set(FORWARD, 0);
40
  
41
    usb_puts("Done with wall init\r\n");
42

  
43
	wall_position=0;
44
    
10 45
}
11 46

  
12 47

  
......
18 53
	
19 54
	// FIXME implement
20 55
	
21
	simulated_wall_position=position+1;
56
	//wall_position=position+1;
22 57
	
23 58
	usb_puts ("# Wall position reached" NL);
24 59
}
25 60

  
61

  
26 62
// We might also need this because the wall_set_position might not reach the exact position
27 63
uint16_t wall_get_position ()
28 64
{
29
	// FIXME implement
30
	//return 0;
31
	
32
	return simulated_wall_position;
65
	return wall_position;
33 66
}
67

  
68
// Read encoder when it changes and determine our position
69
ISR(INT6_vect) {
70
    uint8_t tmp = PINE;
71

  
72
    if (((tmp & _BV(PE6)) << 1) ^ (tmp & _BV(PE7))) {
73
        wall_position--;
74
    } else {
75
        wall_position++;
76
    }
77
}

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