Revision 1496
Reverted "libdragonfly" folder back to version before Init Checking was implemented and did "make dist" to recompile the library. BOM LEDs now shine
correctly.
bom.c | ||
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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* files (the "Software"), to deal in the Software without |
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* restriction, including without limitation the rights to use, |
|
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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|
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|
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/** |
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* @file bom.c |
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* @brief Implementation for using the BOM |
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* |
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* Contains functions for using the Bearing and Orientation Module (BOM) |
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* |
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* @author Colony Project, CMU Robotics Club |
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**/ |
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|
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#include "dragonfly_defs.h" |
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#include "dio.h" |
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#include "serial.h" |
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#include "analog.h" |
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#include "bom.h" |
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|
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//On the original BOM1.0, the emmitter angular order does not match the analog mux order |
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43 |
//so you need to iterate through the mux index in the following order if you want to get |
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44 |
//the detector readings in order: |
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45 |
static const char lookup[16] = {7,6,5,0xe,1,4,3,2,0xf,0,0xd,8,0xc,0xb,9,0xa}; |
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|
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// internal function prototypes |
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static void bom_select(char which); |
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|
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/* |
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Bk R Y (Analog) |
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--------- |
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Green |
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Blue |
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White |
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--------- |
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Blue |
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White |
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*/ |
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|
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|
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/* |
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the analog pin definitions from dio.h DO NOT work here, |
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so we must use PF0 from avrgcc (as opposed to _PIN_F0). |
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BUT the dio pin definitions from dio.h must be used (no PE...). |
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|
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also, _PIN_E2 is initialized to high for some reason, |
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which turns the BOM on when the robot is turned on. |
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WORK-AROUND: call digital_output(_PIN_E2,0) at some point. |
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|
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*/ |
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|
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#define MONKI PF0 //analog (yellow) |
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//------------------------// |
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#define MONKL _PIN_E2 //green |
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#define MONK1 _PIN_E3 //blue |
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#define MONK0 _PIN_E4 //white |
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//------------------------// |
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#define MONK3 _PIN_E6 //blue |
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#define MONK2 _PIN_E7 //white |
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|
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#define BOM_VALUE_THRESHOLD 150 //200 |
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#define NUM_BOM_LEDS 16 |
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|
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/* |
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*The following pin definitions are for the BOM v1.5 |
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*/ |
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|
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#define BOM_MODE _PIN_E2 //dio0 |
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#define BOM_STROBE _PIN_E3 //dio1 |
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|
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#define BOM_DATA _PIN_A0 //servo0 |
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#define BOM_CLOCK _PIN_A1 //servo1 |
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|
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#define BOM_S0 _PIN_E5 //dio3 |
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#define BOM_S1 _PIN_E4 //dio2 |
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#define BOM_S2 _PIN_E7 //dio4 |
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#define BOM_S3 _PIN_E6 //dio5 |
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#define BOM_OUT PF0 //analog(yellow) |
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|
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/** |
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* @defgroup bom BOM (Bearing and Orientation Module) |
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* @brief Functions for dealing with the BOM. |
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* |
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* The Bearing and Orientation Module / Barrel of Monkeys / BOM |
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* is a custom sensor designed and built by the Colony Project. |
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* It consists of a ring of 16 IR emitters and 16 IR detectors. |
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* The BOM is most often use to determine the direction of other |
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* robots. This module contains functions for controlling the BOM. |
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* |
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* Include bom.h to access these functions. |
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* |
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* @{ |
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**/ |
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|
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unsigned char bom_initd=0; |
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|
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static unsigned int bom_val[NUM_BOM_LEDS]; |
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static volatile char bom_type = BOM10; |
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static int select_pins[4]; |
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static int analog_pin; |
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|
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/** |
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* Initializes the BOM. |
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* Call bom_init before reading bom values or turning bom leds. |
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* |
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* @bugs INCOMPLETE - No utilization of BOM1.5 RSSI capability. Probably leave this out |
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* until Cornell and Pras return |
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* |
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* @return 0 if init succesfull, an error code otherwise |
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* |
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* @see bom_refresh, bom_leds_on, bom_leds_off |
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**/ |
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int bom_init(char type) { |
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if(bom_initd) |
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return ERROR_INIT_ALREADY_INITD; |
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bom_type = type; |
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switch(bom_type) { |
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case BOM10: |
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select_pins[0] = MONK0; |
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select_pins[1] = MONK1; |
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select_pins[2] = MONK2; |
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select_pins[3] = MONK3; |
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analog_pin = MONKI; |
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break; |
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case BOM15: |
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//Sets BOM1.5 to normal [BOM] mode |
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digital_output(BOM_MODE, 0); |
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select_pins[0] = BOM_S0; |
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select_pins[1] = BOM_S1; |
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select_pins[2] = BOM_S2; |
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select_pins[3] = BOM_S3; |
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bom_set_leds(BOM_ALL); |
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analog_pin = BOM_OUT; |
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break; |
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case RBOM: |
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break; |
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//default: |
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} |
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bom_initd=1; |
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return 0; |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
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|
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26 |
|
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/** |
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* @file bom.c |
|
29 |
* @brief Implementation for using the BOM |
|
30 |
* |
|
31 |
* Contains functions for using the Bearing and Orientation Module (BOM) |
|
32 |
* |
|
33 |
* @author Colony Project, CMU Robotics Club |
|
34 |
**/ |
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|
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#include "bom.h" |
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#include "dio.h" |
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#include "serial.h" |
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#include "analog.h" |
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|
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//On the original BOM1.0, the emmitter angular order does not match the analog mux order |
|
42 |
//so you need to iterate through the mux index in the following order if you want to get |
|
43 |
//the detector readings in order: |
|
44 |
static const char lookup[16] = {7,6,5,0xe,1,4,3,2,0xf,0,0xd,8,0xc,0xb,9,0xa}; |
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45 |
|
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46 |
// internal function prototypes |
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47 |
static void bom_select(char which); |
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48 |
|
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/* |
|
50 |
Bk R Y (Analog) |
|
51 |
--------- |
|
52 |
Green |
|
53 |
Blue |
|
54 |
White |
|
55 |
--------- |
|
56 |
Blue |
|
57 |
White |
|
58 |
*/ |
|
59 |
|
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60 |
|
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61 |
/* |
|
62 |
the analog pin definitions from dio.h DO NOT work here, |
|
63 |
so we must use PF0 from avrgcc (as opposed to _PIN_F0). |
|
64 |
BUT the dio pin definitions from dio.h must be used (no PE...). |
|
65 |
|
|
66 |
also, _PIN_E2 is initialized to high for some reason, |
|
67 |
which turns the BOM on when the robot is turned on. |
|
68 |
WORK-AROUND: call digital_output(_PIN_E2,0) at some point. |
|
69 |
|
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*/ |
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|
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#define MONKI PF0 //analog (yellow) |
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//------------------------// |
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#define MONKL _PIN_E2 //green |
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#define MONK1 _PIN_E3 //blue |
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#define MONK0 _PIN_E4 //white |
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//------------------------// |
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#define MONK3 _PIN_E6 //blue |
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#define MONK2 _PIN_E7 //white |
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|
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#define BOM_VALUE_THRESHOLD 150 //200 |
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#define NUM_BOM_LEDS 16 |
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|
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/* |
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*The following pin definitions are for the BOM v1.5 |
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*/ |
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87 |
|
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#define BOM_MODE _PIN_E2 //dio0 |
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#define BOM_STROBE _PIN_E3 //dio1 |
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|
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#define BOM_DATA _PIN_A0 //servo0 |
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#define BOM_CLOCK _PIN_A1 //servo1 |
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|
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#define BOM_S0 _PIN_E5 //dio3 |
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#define BOM_S1 _PIN_E4 //dio2 |
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#define BOM_S2 _PIN_E7 //dio4 |
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#define BOM_S3 _PIN_E6 //dio5 |
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#define BOM_OUT PF0 //analog(yellow) |
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|
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/** |
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* @defgroup bom BOM (Bearing and Orientation Module) |
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* @brief Functions for dealing with the BOM. |
|
103 |
* |
|
104 |
* The Bearing and Orientation Module / Barrel of Monkeys / BOM |
|
105 |
* is a custom sensor designed and built by the Colony Project. |
|
106 |
* It consists of a ring of 16 IR emitters and 16 IR detectors. |
|
107 |
* The BOM is most often use to determine the direction of other |
|
108 |
* robots. This module contains functions for controlling the BOM. |
|
109 |
* |
|
110 |
* Include bom.h to access these functions. |
|
111 |
* |
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* @{ |
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**/ |
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|
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static unsigned int bom_val[NUM_BOM_LEDS]; |
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static volatile char bom_type = BOM10; |
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static int select_pins[4]; |
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static int analog_pin; |
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|
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/** |
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* Initializes the BOM. |
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* Call bom_init before reading bom values or turning bom leds. |
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* |
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* @bugs INCOMPLETE - No utilization of BOM1.5 RSSI capability. Probably leave this out |
|
125 |
* until Cornell and Pras return |
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* |
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* @see bom_refresh, bom_leds_on, bom_leds_off |
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**/ |
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void bom_init(char type) { |
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bom_type = type; |
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|
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switch(bom_type) { |
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case BOM10: |
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select_pins[0] = MONK0; |
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select_pins[1] = MONK1; |
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select_pins[2] = MONK2; |
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select_pins[3] = MONK3; |
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analog_pin = MONKI; |
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break; |
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case BOM15: |
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//Sets BOM1.5 to normal [BOM] mode |
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digital_output(BOM_MODE, 0); |
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select_pins[0] = BOM_S0; |
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select_pins[1] = BOM_S1; |
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select_pins[2] = BOM_S2; |
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select_pins[3] = BOM_S3; |
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bom_set_leds(BOM_ALL); |
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analog_pin = BOM_OUT; |
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break; |
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case RBOM: |
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break; |
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//default: |
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} |
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} |
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|
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/** |
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* Iterates through each bit in the bit_field. For each set bit, sets the corresponding bom select bits |
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* and updates the corresponding bom value with an analog_get8 reading. analog_init and bom_init |
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* must be called for this to work. Must call this before reading BOM values! |
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* |
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* |
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* @param bit_field specifies which elements in bom_val[] should be updated. Use BOM_ALL to refresh all values. |
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* Ex. if 0x0003 is passed, bom_val[0] and bom_val[1] will be updated. |
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* |
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* @see bom_get |
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**/ |
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void bom_refresh(int bit_field) { |
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int i; |
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int loop_was_running = 0; |
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|
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//Check analog loop status |
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if(analog_loop_status() == ADC_LOOP_RUNNING) { |
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loop_was_running = 1; |
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analog_stop_loop(); |
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} |
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|
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//Read BOM values |
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for(i = 0; i < NUM_BOM_LEDS; i++) { |
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if(bit_field & 0x1) { |
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bom_select(i); |
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bom_val[i] = analog_get8(analog_pin); |
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} |
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bit_field = bit_field >> 1; |
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} |
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|
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//Restore analog loop status |
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if(loop_was_running) |
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analog_start_loop(); |
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} |
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190 |
|
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/** |
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* Gets the bom reading from bom_val[which]. Call bom_refresh beforehand to read new bom values. |
|
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* |
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* @pre must call bom refresh first |
|
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* |
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* @param which which bom value to return |
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* |
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* @return the bom value |
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* |
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* see bom_refresh |
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**/ |
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int bom_get(int which) { |
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return bom_val[which]; |
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} |
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205 |
|
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/** |
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* Compares all the values in bom_val[] and returns the index to the lowest (max) value element. |
|
208 |
* |
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209 |
* @pre must call bom refresh |
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210 |
* @return index to the lowest (max) bom value element. -1 if no value is lower than |
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211 |
* BOM_VALUE_THRESHOLD |
|
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**/ |
|
213 |
int bom_get_max(void) { |
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int i, lowest_val, lowest_i; |
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lowest_i = -1; |
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lowest_val = 255; |
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for(i = 0; i < NUM_BOM_LEDS; i++) { |
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218 |
if(bom_val[i] < lowest_val) { |
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lowest_val = bom_val[i]; |
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lowest_i = i; |
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} |
|
222 |
} |
|
223 |
|
|
224 |
if(lowest_val < BOM_VALUE_THRESHOLD) |
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return lowest_i; |
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226 |
else |
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227 |
return -1; |
|
167 | 228 |
} |
168 | 229 |
|
169 |
/** |
|
170 |
* Iterates through each bit in the bit_field. For each set bit, sets the corresponding bom select bits |
|
171 |
* and updates the corresponding bom value with an analog_get8 reading. analog_init and bom_init |
|
172 |
* must be called for this to work. Must call this before reading BOM values! |
|
173 |
* |
|
174 |
* |
|
175 |
* @param bit_field specifies which elements in bom_val[] should be updated. Use BOM_ALL to refresh all values. |
|
176 |
* Ex. if 0x0003 is passed, bom_val[0] and bom_val[1] will be updated. |
|
177 |
* |
|
178 |
* @return 0 if init succesfull, an error code otherwise |
|
179 |
* |
|
180 |
* @see bom_get |
|
181 |
**/ |
|
182 |
int bom_refresh(int bit_field) { |
|
183 |
int i; |
|
184 |
int loop_was_running = 0; |
|
185 |
|
|
186 |
if(!bom_initd) |
|
187 |
return ERROR_LIBRARY_NOT_INITD; |
|
188 |
|
|
189 |
|
|
190 |
//Check analog loop status |
|
191 |
if(analog_loop_status() == ADC_LOOP_RUNNING) { |
|
192 |
loop_was_running = 1; |
|
193 |
analog_stop_loop(); |
|
194 |
} |
|
195 |
|
|
196 |
//Read BOM values |
|
197 |
for(i = 0; i < NUM_BOM_LEDS; i++) { |
|
198 |
if(bit_field & 0x1) { |
|
199 |
bom_select(i); |
|
200 |
bom_val[i] = analog_get8(analog_pin); |
|
201 |
} |
|
202 |
bit_field = bit_field >> 1; |
|
203 |
} |
|
204 |
|
|
205 |
//Restore analog loop status |
|
206 |
if(loop_was_running) |
|
207 |
analog_start_loop(); |
|
208 |
|
|
209 |
return 0; |
|
210 |
} |
|
211 |
|
|
212 |
/** |
|
213 |
* Gets the bom reading from bom_val[which]. Call bom_refresh beforehand to read new bom values. |
|
214 |
* |
|
215 |
* @pre must call bom refresh first |
|
216 |
* |
|
217 |
* @param which which bom value to return |
|
218 |
* |
|
219 |
* @return the bom value, -1 on error |
|
220 |
* |
|
221 |
* see bom_refresh |
|
222 |
**/ |
|
223 |
int bom_get(int which) { |
|
224 |
if(!bom_initd) |
|
225 |
return -1; |
|
226 |
|
|
227 |
return bom_val[which]; |
|
228 |
} |
|
229 |
|
|
230 |
/** |
|
231 |
* Compares all the values in bom_val[] and returns the index to the lowest (max) value element. |
|
232 |
* |
|
230 |
/** |
|
231 |
* Computes the weighted average of all the bom readings to estimate the position (and distance) of another robot. |
|
232 |
* |
|
233 | 233 |
* @pre must call bom refresh |
234 |
* @return index to the lowest (max) bom value element. -1 if no value is lower than |
|
235 |
* BOM_VALUE_THRESHOLD, -2 if the bom is not initialized |
|
236 |
**/ |
|
237 |
int bom_get_max(void) { |
|
238 |
int i, lowest_val, lowest_i; |
|
239 |
|
|
240 |
if(!bom_initd) |
|
241 |
return -2; |
|
242 |
|
|
243 |
lowest_i = -1; |
|
244 |
lowest_val = 255; |
|
245 |
for(i = 0; i < NUM_BOM_LEDS; i++) { |
|
246 |
if(bom_val[i] < lowest_val) { |
|
247 |
lowest_val = bom_val[i]; |
|
248 |
lowest_i = i; |
|
249 |
} |
|
250 |
} |
|
251 |
|
|
252 |
if(lowest_val < BOM_VALUE_THRESHOLD) |
|
253 |
return lowest_i; |
|
254 |
else |
|
255 |
return -1; |
|
256 |
} |
|
257 |
|
|
258 |
/** |
|
259 |
* Computes the weighted average of all the bom readings to estimate the position (and distance) of another robot. |
|
260 |
* |
|
261 |
* @pre must call bom refresh |
|
262 |
* @param dist pointer to int in which to return the estimated distance to the other robot |
|
234 |
* @param dist pointer to int in which to return the estimated distance to the other robot |
|
263 | 235 |
* @return estimated position of the max bom value element as a fixed point value analogous to 10 times the |
264 |
* index of the max bom value. -1 if no value is lower than BOM_VALUE_THRESHOLD, -2 if the bom is not initialized
|
|
236 |
* index of the max bom value. -1 if no value is lower than BOM_VALUE_THRESHOLD.
|
|
265 | 237 |
**/ |
266 | 238 |
int bom_get_max10(int *dist) { |
267 | 239 |
int i, max; |
268 | 240 |
long long mean = 0, sum = 0; |
269 | 241 |
|
270 |
if(!bom_initd) |
|
271 |
return ERROR_LIBRARY_NOT_INITD; |
|
272 |
|
|
273 |
|
|
274 | 242 |
max = bom_get_max(); |
275 | 243 |
if (max < 0) |
276 | 244 |
{ |
... | ... | |
296 | 264 |
} |
297 | 265 |
|
298 | 266 |
return mean; |
299 |
} |
|
300 |
|
|
301 |
/** |
|
302 |
* Iterates through each bit in the bit_field. If the bit is set, the corresponding emitter will |
|
303 |
* be enabled to turn on when bom_on() is called. |
|
304 |
* bom_init must be called for this to work. Does nothing if a BOM1.0 is installed |
|
305 |
* |
|
306 |
* @param bit_field specifies which leds should be turned on when bom_on is called. Use BOM_ALL to turn on all bom leds. |
|
307 |
* Ex. if 0x0005 is passed, leds 0 and 2 will be turned on. |
|
308 |
* |
|
309 |
* @return 0 if init succesfull, an error code otherwise |
|
310 |
* |
|
311 |
**/ |
|
312 |
int bom_set_leds(int bit_field) { |
|
313 |
int i; |
|
314 |
unsigned int mask = 1<<(NUM_BOM_LEDS-1); |
|
315 |
|
|
316 |
if(!bom_initd) |
|
317 |
return ERROR_LIBRARY_NOT_INITD; |
|
318 |
|
|
319 |
switch(bom_type) { |
|
320 |
case BOM10: |
|
321 |
//TODO: put an assert here to alert the user that this should not be called |
|
322 |
break; |
|
323 |
|
|
324 |
case BOM15: |
|
325 |
for(i=NUM_BOM_LEDS; i>0; i--) |
|
326 |
{ |
|
327 |
//set the current bit, sending MSB first |
|
328 |
digital_output(BOM_DATA, bit_field&mask); |
|
329 |
//then pulse the clock |
|
330 |
digital_output(BOM_CLOCK, 1); |
|
331 |
digital_output(BOM_CLOCK, 0); |
|
332 |
mask = mask>>1; |
|
333 |
} |
|
334 |
break; |
|
335 |
|
|
336 |
case RBOM: |
|
337 |
//add rbom code here |
|
338 |
break; |
|
339 |
} |
|
340 |
|
|
341 |
return 0; |
|
342 |
} |
|
343 |
|
|
344 |
|
|
345 |
/** |
|
346 |
* (DEPRECATED) Returns the direction of the maximum BOM reading, |
|
347 |
* as an integer in the range 0-15. 0 indicates to the |
|
348 |
* robot's right, while the rest of the sensors are |
|
349 |
* numbered counterclockwise. This is useful for determining |
|
350 |
* the direction of a robot flashing its BOM, of only one |
|
351 |
* robot is currently doing so. analog_init must be called |
|
352 |
* before this function can be used. |
|
353 |
* |
|
354 |
* @return the direction of the maximum BOM reading |
|
355 |
* |
|
356 |
* @see analog_init |
|
357 |
**/ |
|
358 |
int get_max_bom(void) { |
|
359 |
bom_refresh(BOM_ALL); |
|
360 |
return bom_get_max(); |
|
361 |
} |
|
362 |
|
|
363 |
/** |
|
364 |
* Flashes the BOM. If using a BOM1.5, only the emitters that have been enabled using |
|
365 |
* bom_set_leds will turn on. |
|
366 |
* |
|
367 |
* @return 0 if init succesfull, an error code otherwise |
|
368 |
* |
|
369 |
* @see bom_off, bom_set_leds |
|
370 |
**/ |
|
371 |
int bom_on(void) |
|
372 |
{ |
|
373 |
if(!bom_initd) |
|
374 |
return ERROR_LIBRARY_NOT_INITD; |
|
375 |
|
|
376 |
switch(bom_type) { |
|
377 |
case BOM10: |
|
378 |
digital_output(MONKL, 1); |
|
379 |
break; |
|
380 |
case BOM15: |
|
381 |
digital_output(BOM_STROBE, 1); |
|
382 |
break; |
|
383 |
case RBOM: |
|
384 |
break; |
|
385 |
} |
|
386 |
|
|
387 |
return 0; |
|
388 |
} |
|
389 |
|
|
390 |
/** |
|
391 |
* Turns off all bom leds. |
|
392 |
* |
|
393 |
* @return 0 if init succesfull, an error code otherwise |
|
394 |
* |
|
395 |
* @see bom_on |
|
396 |
**/ |
|
397 |
int bom_off(void) |
|
398 |
{ |
|
399 |
if(!bom_initd) |
|
400 |
return ERROR_LIBRARY_NOT_INITD; |
|
401 |
|
|
402 |
switch(bom_type) { |
|
403 |
case BOM10: |
|
404 |
digital_output(MONKL, 0); |
|
405 |
break; |
|
406 |
case BOM15: |
|
407 |
digital_output(BOM_STROBE, 0); |
|
408 |
break; |
|
409 |
case RBOM: |
|
410 |
break; |
|
411 |
} |
|
412 |
|
|
413 |
return 0; |
|
414 |
} |
|
415 |
|
|
416 |
/** @} **/ //end group |
|
417 |
|
|
418 |
//select a detector to read |
|
419 |
static void bom_select(char which) { |
|
420 |
if(bom_type == BOM10) |
|
421 |
which = lookup[(int)which]; |
|
422 |
|
|
423 |
if (which&8) |
|
424 |
digital_output(select_pins[3], 1); |
|
425 |
else |
|
426 |
digital_output(select_pins[3], 0); |
|
427 |
|
|
428 |
if (which&4) |
|
429 |
digital_output(select_pins[2], 1); |
|
430 |
else |
|
431 |
digital_output(select_pins[2], 0); |
|
432 |
|
|
433 |
if (which&2) |
|
434 |
digital_output(select_pins[1], 1); |
|
435 |
else |
|
436 |
digital_output(select_pins[1], 0); |
|
437 |
|
|
438 |
if (which&1) |
|
439 |
digital_output(select_pins[0], 1); |
|
440 |
else |
|
441 |
digital_output(select_pins[0], 0); |
|
442 |
|
|
443 |
} |
|
267 |
} |
|
268 |
|
|
269 |
/** |
|
270 |
* Iterates through each bit in the bit_field. If the bit is set, the corresponding emitter will |
|
271 |
* be enabled to turn on when bom_on() is called. |
|
272 |
* bom_init must be called for this to work. Does nothing if a BOM1.0 is installed |
|
273 |
* |
|
274 |
* @param bit_field specifies which leds should be turned on when bom_on is called. Use BOM_ALL to turn on all bom leds. |
|
275 |
* Ex. if 0x0005 is passed, leds 0 and 2 will be turned on. |
|
276 |
**/ |
|
277 |
void bom_set_leds(int bit_field) { |
|
278 |
int i; |
|
279 |
unsigned int mask = 1<<(NUM_BOM_LEDS-1); |
|
280 |
switch(bom_type) { |
|
281 |
case BOM10: |
|
282 |
//TODO: put an assert here to alert the user that this should not be called |
|
283 |
break; |
|
284 |
|
|
285 |
case BOM15: |
|
286 |
for(i=NUM_BOM_LEDS; i>0; i--) |
|
287 |
{ |
|
288 |
//set the current bit, sending MSB first |
|
289 |
digital_output(BOM_DATA, bit_field&mask); |
|
290 |
//then pulse the clock |
|
291 |
digital_output(BOM_CLOCK, 1); |
|
292 |
digital_output(BOM_CLOCK, 0); |
|
293 |
mask = mask>>1; |
|
294 |
} |
|
295 |
break; |
|
296 |
|
|
297 |
case RBOM: |
|
298 |
//add rbom code here |
|
299 |
break; |
|
300 |
} |
|
301 |
} |
|
302 |
|
|
303 |
|
|
304 |
/** |
|
305 |
* (DEPRECATED) Returns the direction of the maximum BOM reading, |
|
306 |
* as an integer in the range 0-15. 0 indicates to the |
|
307 |
* robot's right, while the rest of the sensors are |
|
308 |
* numbered counterclockwise. This is useful for determining |
|
309 |
* the direction of a robot flashing its BOM, of only one |
|
310 |
* robot is currently doing so. analog_init must be called |
|
311 |
* before this function can be used. |
|
312 |
* |
|
313 |
* @return the direction of the maximum BOM reading |
|
314 |
* |
|
315 |
* @see analog_init |
|
316 |
**/ |
|
317 |
int get_max_bom(void) { |
|
318 |
bom_refresh(BOM_ALL); |
|
319 |
return bom_get_max(); |
|
320 |
} |
|
321 |
|
|
322 |
/** |
|
323 |
* Flashes the BOM. If using a BOM1.5, only the emitters that have been enabled using |
|
324 |
* bom_set_leds will turn on. |
|
325 |
* |
|
326 |
* @see bom_off, bom_set_leds |
|
327 |
**/ |
|
328 |
void bom_on(void) |
|
329 |
{ |
|
330 |
switch(bom_type) { |
|
331 |
case BOM10: |
|
332 |
digital_output(MONKL, 1); |
|
333 |
break; |
|
334 |
case BOM15: |
|
335 |
digital_output(BOM_STROBE, 1); |
|
336 |
break; |
|
337 |
case RBOM: |
|
338 |
break; |
|
339 |
} |
|
340 |
} |
|
341 |
|
|
342 |
/** |
|
343 |
* Turns off all bom leds. |
|
344 |
* |
|
345 |
* @see bom_on |
|
346 |
**/ |
|
347 |
void bom_off(void) |
|
348 |
{ |
|
349 |
switch(bom_type) { |
|
350 |
case BOM10: |
|
351 |
digital_output(MONKL, 0); |
|
352 |
break; |
|
353 |
case BOM15: |
|
354 |
digital_output(BOM_STROBE, 0); |
|
355 |
break; |
|
356 |
case RBOM: |
|
357 |
break; |
|
358 |
} |
|
359 |
} |
|
360 |
|
|
361 |
/** @} **/ //end group |
|
362 |
|
|
363 |
//select a detector to read |
|
364 |
static void bom_select(char which) { |
|
365 |
if(bom_type == BOM10) |
|
366 |
which = lookup[(int)which]; |
|
367 |
|
|
368 |
if (which&8) |
|
369 |
digital_output(select_pins[3], 1); |
|
370 |
else |
|
371 |
digital_output(select_pins[3], 0); |
|
372 |
|
|
373 |
if (which&4) |
|
374 |
digital_output(select_pins[2], 1); |
|
375 |
else |
|
376 |
digital_output(select_pins[2], 0); |
|
377 |
|
|
378 |
if (which&2) |
|
379 |
digital_output(select_pins[1], 1); |
|
380 |
else |
|
381 |
digital_output(select_pins[1], 0); |
|
382 |
|
|
383 |
if (which&1) |
|
384 |
digital_output(select_pins[0], 1); |
|
385 |
else |
|
386 |
digital_output(select_pins[0], 0); |
|
387 |
|
|
388 |
} |
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