Colony

volatile int left_err_old;

volatile int right_err_old;

volatile int left_vel_old = 0;

volatile int right_vel_old = 0;

volatile int left_vel;

volatile int right_vel;

/*

*/

#define PR	1

#define DR	0.1

#define IR	0.1

#define INTERVAL	20

	if (left_ref > 127)

		left_ref -= 256;

	if (right_ref > 127)

		right_ref -= 256;

//	sprintf(buf, "received: %d %d\n", left_ref, right_ref);

//	usb_puts(buf);

	if (!left_ref)

		left_err = 0;

	if (!right_ref)

		right_err = 0;

//	left_err = left_vel == 2048 ? left_err_old : left_err;

//	right_err = right_vel == 2048 ? right_err_old : right_err;

	left_u = (int)(PL*(float)left_err + DL*(float)(left_err - left_err_old) + IL*(float)left_i);

	left_err_old = left_err;

	right_u = (int)(PR*(float)right_err + DR*(float)(right_err - right_err_old) + IR*(float)right_i);

	right_err_old = right_err;

//	sprintf(buf, "u: %d %d\n", left_u, right_u);

//	usb_puts(buf);

	if (!left_ref)

		left_u = 0;

	if (!right_ref)

		right_u = 0;

		left_vel = encoder_get_v(0);

		right_vel = encoder_get_v(1);

		// err handling

		if (left_vel == 2048)

			left_vel = left_vel_old;

		else 

			left_vel_old = left_vel;

		if (right_vel == 2048)

			right_vel = right_vel_old;

		else 

			right_vel_old = right_vel;

		if (!(count % INTERVAL)) {

			wl_send_global_packet(GROUP, ENCODER, encoder, 2, 0);

			//sprintf(buf, "sent (%d): %d %d %d %d\n", count, left_vel, right_vel, encoder[0], encoder[1]);

			//usb_puts(buf);

		}	

		ctrl();

		if (!(count % INTERVAL))

			wl_do();

		motor1_set(left_dir, left_u);

		motor2_set(right_dir, right_u);

//		delay_ms(100);

OPT = 0

	while (1) {

		if(position == SENDER)

		{

			data[0] = usb_getc(); 

			data[1] = usb_getc();

			wl_send_global_packet(GROUP, MOTOR, data, 2, 0);

		}        

		wl_do();

	}

 * 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.

 **/

/**

#ifndef SENSOR_MATRIX_H

#define SENSOR_MATRIX_H

#define MAXIMUM_XBEE_ID		0x10

#define READING_UNKNOWN		0xFF

//TODO: the order of member variables in this struct should be changed in case the compile packs the struct

// In order to achieve the best packing, the variables should be listed in order of decreasing memory size.

// Thus, pointers should be first, followed by int, followed by char.

	 * The number of robots in the token ring.

	int numJoined;

	unsigned char joined[MAXIMUM_XBEE_ID];

	// on the bayboard, we don't include the matrix to save memory.

#ifndef BAYBOARD

	 * The matrix. Each row represents the readings of one

	 * robot.

	unsigned char matrix[MAXIMUM_XBEE_ID][MAXIMUM_XBEE_ID];

#endif

void sensor_matrix_create(void);

void sensor_matrix_set_reading(int observer, int robot, int reading);

int sensor_matrix_get_reading(int observer, int robot);

void sensor_matrix_set_in_ring(int robot, int in);

int sensor_matrix_get_in_ring(int robot);

int sensor_matrix_get_joined(void);

/**@brief Get the maximum size of the sensor matrix **/

int sensor_matrix_get_size(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.

 **/

/**

#ifndef WIRELESS_H

#define WIRELESS_H

//TODO: a PacketGroupHandler is at least 10 bytes (I don't know if function pointers are 2 bytes

// or 4 bytes).  That means that in the c file, your array of packet groups is at least 160 bytes.

// Normally that might be fine (the robot's avr chips have 4k SRAM), but austin's chip only has

// 1k SRAM, so if this number can be reduced or if the size of the struct could be reduced, that would be a plus.

 * The wireless library provides a modular method for dealing with

 * group code. Each packet in the group also has a type. A packet

 * with a group code registered in the wireless library is

 * A PacketGroupHandler represents a packet group, and is used to

//TODO: the order of member variables in this struct should be changed in case the compile packs the struct

// In order to achieve the best packing, the variables should be listed in order of decreasing memory size.

// Thus, pointers should be first, followed by int, followed by char.

  //TODO: if this number must be less than or equal to WL_MAX_PACKET_GROUPS, don't you only need

  // one byte for it and it can be made an unsigned char?

	void (*handle_receive) (char type, int source, unsigned char* packet, int length);

int wl_init(void);

int wl_send_robot_to_robot_global_packet(char group, char type, char* data, int len, int dest, char frame);

int wl_send_robot_to_robot_packet(char group, char type, char* data, int len, int dest, char frame);

int wl_send_global_packet(char group, char type, char* data, int len, char frame);

void wl_send_pan_packet(char group, char type, char* data, int len, char frame);

int wl_set_pan(int pan);

int wl_set_channel(int channel);

int wl_get_xbee_id(void);

/**@brief Set the com port on a computer, undefined on the robot.**/

void wl_set_com_port(char* port);

#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.

 **/

/**

#ifndef WL_TOKEN_RING_H

#define WL_TOKEN_RING_H

int wl_token_ring_register(void);

void wl_token_ring_set_bom_functions(void (*on_function) (void), void (*off_function) (void),

  int (*max_bom_function) (void));

int wl_token_ring_join(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 wl_defs.h

 * @brief Definitions for Wireless

 *

 * Contains definitions for wireless packet groups, packet types,

 * debugging information, etc.

 *

 * @author Brian Coltin, Colony Project, CMU Robotics Club

 **/

#ifndef WL_DEFS_H

#define WL_DEFS_H

//#define WL_DEBUG

#define WL_TOKEN_SENSOR_MATRIX 2

#define WL_TOKEN_BOM_ON 3

#define WL_TOKEN_JOIN 4

#define WL_TOKEN_JOIN_ACCEPT 5

#ifndef FIREFLY

#else

#define BOM_DELAY 200

#endif

#define DEATH_DELAY 4

#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.

 **/

/**

#ifndef XBEE_H

#define XBEE_H

 * The port to use the XBee from on the computer.

 * Also, a backup port if the other is used.

 **/

#ifndef ROBOT

#define XBEE_PORT_DEFAULT "/dev/ttyUSB1"

#endif

/**

int xbee_lib_init(void);

int xbee_send_packet(char* packet, int len, int dest, char options, char frame);

int xbee_set_pan_id(int id);

int xbee_set_channel(int channel);

/**@brief Set the com port on a computer, undefined on the robot**/

void xbee_set_com_port(char* port);

#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.

 **/

/**

 * @brief Error Packets

 *

 * A packet group for sending error packets.

 *

 * @author Brian Coltin, Colony Project, CMU Robotics Club

 **/

#ifndef WL_ERROR_GROUP_H

#define WL_ERROR_GROUP_H

/**

 * @file wl_error_group.h

#endif

// FIXME remove

typedef unsigned char uint8_t;

 * 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.

 **/

/**

/**

 * @addtogroup orbs

 * @{

 **/

 * Quick start: call orb_init_pwm or orb_init_binary, depending on which mode you want to use. Call orb*set or

 * orb*set_color to set the orbs.

 * 

 * The orbs have two modes of operation: PWM mode and binary mode. In PWM mode, a pwm signal is generated by a hardware

 * timer and the orbs can be set to a value of 0 through 255. In binary mode, the orbs can only be turned on or off and

 * a value of 0 means "off" and any other value means "on". The mode can be chosen on initialization and can be changed

 * at runtime using the orb_set_mode function.

 *

 * Operation (PWM mode): On timer overflow, all LEDs with a value>0 are turned on and the output compare value for the

 * first LED is loaded. On compare match, the corresponding LED is turned off and the next output compare value is

 * loaded. All masks are precomputed and sorted by time when setting the values.

 *

 * The data structure (pwm_t) containing the PWM times and masks is triple buffered. This is because the buffer the ISR

 * is reading from may only be modified on timer overflow before the next PWM sequence is started, because otherwise the

 * next OCR value might be sed to a value smaller than the current timer value, resulting in the remaining channels not

 * being turned off in that PWM period (flash to on). When using two buffers, the page flip can only occur on a timer

 * overflow for the same reason. So after writing a buffer and marking it for page flip, neither of the buffers could be

 * modified because the front buffer is read by the ISR and the back buffer could be switched at any time. So the

 * calling thread would have to be delayed by up to one full PWM period (8ms in the current implementation, but

 * 20ms-50ms would be a reasonable value to expect here). To avoid this, triple buffering is used.

 *

 * The code for applying the orbs is fairly optimized. See the apply_orbs function for some time measurements and

 * further nodes.

 *

 * The PWM frequency is 120Hz (8ms period time). The next lower frequency (determined by the prescaler) is 30 Hz which

 * is too slow (orbs flicker).

 *

 * The orbs code is thread safe, which means that the functions may be called from another interrupt handler. If there

 * are multiple concurrent calls to the orb*set* functions, one of them is ignored and the orbs are never left in an

 * inconsistent state. For example, if the orbs are set to green by the main thread and to red by an interrupt handler,

 * the resulting color will be either red or green, but never yellow.

 * Thread safety is achieved by grabbing a lock at the beginning of all functions that modify the orb code and releasing

 * the lock at the end. If the lock is already taken, the function just returns doing nothing.

 *

 * Some performance measurements:

 *   - Time for setting new orb values (PWM mode):       35us-72us (depending on the degree to which the array is

 *                                                                  already in the correct order)

 *   - Time for setting new orb values (binary mode):        5.5us

 *

 *   - Interrupt time (PWM mode only):                         8us (overflow)

 *                                                            10us (output compare)

 *                                                             6us (last output compare)

 *                                                            30us (output compare, all value equal)

 *

 *   - Maximum total interrupt time per period:               64us

 *   - Maximum CPU usage for interrupts (PWM mode only):     <0.8%

 *

 *   - Maximum contiguous synchronized block:                 30us (output compare interrupt, all values equal)

 *

 * There are some potential optimizations left. See the source code for more information.

 *

 * A note on robustness: if the output compare interrupt is disabled for too long, either due to a long ISR or a long

 * synchronized code block, the orbs will flicker to brighter values for being turned off too late. With software PWM,

 * there's nothing at all to be done about that. The problem can be alleviated by using a lower PWM frequency, but then

 * the orbs will start flickering all the time due to the low update frequency.

 * Some measurements: with 100us synchronized blocks, the flickering is accepptably low. Longer synchronized blocks

 * mean more flickering. At 1ms synchronized blocks, the flickering is quite bad, especially for low orb values. Note

 * that orb value 0 never flickers at all because the corresponding channels are not turned on at all.

 * Test code (note the _delay_us restrictions!)

 *   orb_set (1,1,1); while (1) { SYNC { for (uint8_t m=0; m<10; ++m) { _delay_us(10); } } }

 **/

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

/**

// ***** Predefined colors *****

/** @brief Turn the orb off **/

#define ORB_OFF   0x00

// ***** Initialization *****

/** @brief Enables the orbs in default mode **/

/** @brief Enables the orbs in binary mode **/

void orb_init_binary (void);

/** @brief Enables the orbs in PWM mode **/

void orb_init_pwm (void);

// ***** Mode setting *****

/** Specification of the orb mode **/

typedef uint8_t orb_mode_t;

/** @brief PWM mode **/

#define orb_mode_pwm 0

/** @brief Binary mode **/

#define orb_mode_binary 1

/** @brief Switches the orbs to the specified mode **/

void orb_set_mode (orb_mode_t mode);

/** @brief Disables the orb timer, but does not change the mode **/

void orb_disable_timer (void);

/** @brief Enables the orb timer, but does not change the mode **/

void orb_enable_timer (void);

// ***** Setting RGB colors *****

/** @brief set the specified orb to a specified color **/

void orb_n_set (uint8_t num, uint8_t red, uint8_t green, uint8_t blue);

void orb_set(uint8_t red, uint8_t green, uint8_t blue);

void orb1_set(uint8_t red_led, uint8_t green_led, uint8_t blue_led); 

void orb2_set(uint8_t red_led, uint8_t green_led, uint8_t blue_led);

void orbs_set (uint8_t red1, uint8_t green1, uint8_t blue1, uint8_t red2, uint8_t green2, uint8_t blue2);

// ***** Settings predefined colors *****

/** @brief set the specified orb to the specified color **/

void orb_n_set_color(uint8_t num, uint8_t col);

void orb1_set_color(uint8_t col);

void orb2_set_color(uint8_t col);

/** @brief set the orbs to specified colors **/

void orbs_set_color(uint8_t col1, uint8_t col2);

/** @brief Set both orbs to a specified color **/

void orb_set_color(uint8_t col);

/**

 * @addtogroup spi

 * @{

 **/

/** 

* @brief Initialize SPI

* 

* @param spi_fun_recv_t The function that handles SPI data, byte for byte.

* @param spi_fun_recv_complete_t  Called on a completed transmission - typically for cleaning up.

*/

/** 

* @brief Initialize SPI transfer.

* 

* @param char The number of bytes to transfer.

*/

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

 * 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.

 **/

/**

void rtc_init(int prescale_opt, void (*rtc_func)(void));

 * 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.

 **/

/**

 * 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.

 **/

/**

 * 

 */

#include <inttypes.h>

#define AN10 0x0A

#define AN11 0x0B

#define AN12 0x0C

#define AN13 0x0D

#define AN14 0x0E

#define AN15 0x0F

/** @brief BOM_PORT analog port for BOM **/

#define BOM_PORT AN0

#define ADC_START 1

#define ADC_STOP 0

#define ADMUX_OPT 0x60

/** @brief Struct to hold the value of a particular analog port **/

typedef struct {

  uint8_t adc8;

  uint16_t adc10;

} adc_t;

/** @brief Initialize analog ports. Will start running a loop

    if start_conversion is ADC_START.**/

void analog_init(int start_conversion);

/** @brief starts the analog loop. Doesn't do anything if the loop is already running. **/

void analog_start_loop(void);

/** @brief Stops the analog loop. Doesn't do anything if the loop is already stopped. **/

void analog_stop_loop(void);

/** @brief Returns an 8-bit analog value from the look up table. Use this instead of analog_get8. **/

/** @brief Returns an 10-bit analog value from the look up table. Use this instead of analog_get10. **/

/** @brief Read an 8-bit number from an analog port. Loop must be stopped for this to work. **/

unsigned int analog_get8(int which);

/** @brief Read a 10-bit number from an analog port. Loop must be stopped for this to work. **/

unsigned int analog_get10(int which);

/**

 * @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__

/**

 * @addtogroup odometry 

 * @{

 **/

//Odometry resolution, *64 microseconds.

#define ODOMETRY_CLK 255u 

#define TIME_SCALE 64

//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 //Magic constant.

#define ANGLE_SCALE 1.12823207 //Magic constant.

/** @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);

/** @brief Report estimated velocity [mm/s].*/

long odometry_velocity(void);

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

#endif

/**

 * 

 * @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

//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

#define BUFFER_SIZE		46

#define ERR_VEL			1024

//////////////////////////////

/** @brief Initialize encoders. **/

void encoders_init(void);

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

int encoder_read(char encoder);

/** @brief Currently a stub - DO NOT Use. **/

char encoder_direction(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 Still untested, so use at your own risk. **/

int encoder_get_v(char encoder);

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

void encoder_wait( int nReadings );

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

#endif