Colony

/*

lights.h

Contains function prototypes, variables, and pins used by the Orbs and PWM

most of this is shamelessly copied from FWR's orb.h (Tom Lauwers and Steven Shamlian)

author: CMU Robotics Club, Colony Project

Change Log:

1.25.07 - KWoo

        Removed FF+ code. Cleaned up and commented all variables.

*/

#ifndef _LIGHTS_H_

#define _LIGHTS_H_

/***** Port and Pin Definitions ****/

//Orb Ports and Registers

#define ORB_PORT        PORTC

#define ORB_DDR                DDRC

//Orb Pins

#define ORB1_RED        0x00

#define ORB1_GREEN        0x01

#define ORB1_BLUE        0x02

#define ORB2_RED         0x04

#define ORB2_GREEN         0x05

#define ORB2_BLUE         0x06

//ORB Colors

#define RED       0xE0

#define ORANGE    0xE4

#define YELLOW    0xE8

#define LIME      0x68

#define GREEN     0x1C

#define CYAN      0x1F

#define BLUE      0x03

#define PINK      0xA6 

#define PURPLE    0x41

#define MAGENTA   0xE3

#define WHITE     0xFE

#define ORB_OFF   0x00

#include <avr/interrupt.h>

#define ORB_RESET 1025

#define ORBPORT PORTC

#define ORBDDR DDRC

#define ORBMASK 0x77

/**** Function Prototypes ****/

//Enables counter and PWM for use with the orb.

void orb_init(void);

//Sets both orbs to a specified color 

void orb_set(unsigned char red_led, unsigned char green_led, unsigned char blue_led);

//Sets Orb1 to the specified color

void orb1_set(unsigned char red_led, unsigned char green_led, unsigned char blue_led); 

//Sets Orb2 to the specified color

void orb2_set(unsigned char red_led, unsigned char green_led, unsigned char blue_led);

//Sets both orbs to the same color using a color name

void orb_set_color(int col);

//Sets orb1 to a color using a color name

void orb1_set_color(int col);

//Sets orb2 to a color using a color name

void orb2_set_color(int col);

//Turns off the PWM and thus the Orbs

void orb_disable(void);

//Turns on the PWM and thus the Orbs

void orb_enable(void);

//Runs through some colors

void orb_tester(void);

//Set just one channel

void orb_set_angle(int servo, int angle);

#endif