Colony

# this is a local makefile

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

ifndef COLONYROOT

COLONYROOT = ..

# 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 = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)

else

COLONYROOT := ../$(COLONYROOT)

endif

include $(COLONYROOT)/Makefile

#include <dragonfly_lib.h>

int main(void)

{

	dragonfly_init(ALL_ON);

	int i, j, max = -1;

	int vals[16];

	orbs_set_color(RED, RED);

	delay_ms(2000);

	orbs_set_color(GREEN, GREEN);

	while (1) {

		/* Refresh and make sure the table is updated */

		bom_refresh(BOM_ALL);

		delay_ms(100);

		/* Record values into an array */

		for (i = 0; i < 16; i++) {

			vals[i] = bom_get(i);

			if (max < vals[i])

				max = vals[i];

		}

		/* Display results */

		for (i = 0; i < 16; i++) {

			usb_puti(vals[i]);

			usb_putc('\t');

			for (j = 0; j < (int)((max - vals[i]) / 5); j++) {

				usb_putc('#');

			}

			usb_putc('\n');

		}

		usb_puts("Max: ");

		usb_puti(bom_get_max());

		usb_putc('\n');

		usb_putc('\n');

		delay_ms(400);

	}

	return 0;

}

#include <dragonfly_lib.h>

int main(void)

{

	/* initialize components, set wireless channel */

	if (dragonfly_init(ANALOG|ORB|BOM) != 0) {

    orbs_set_color(YELLOW, YELLOW);

    while(1) { ; }

  }

	if (bom_on() != 0) {

    orbs_set_color(RED, RED);

    while(1) { ; }

  }

	while (1) {

		orbs_set_color(GREEN, BLUE);

		delay_ms(1000);

		orbs_set_color(BLUE, GREEN);

		delay_ms(1000);

	}

	return 0;

}

# this is a local makefile

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

ifndef COLONYROOT

COLONYROOT = ..

# Target file name (without extension).

TARGET = main

# Uncomment this to use the wireless library

USE_WIRELESS = 0

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

AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM7:'; else echo '/dev/ttyUSB0'; fi)

else

COLONYROOT := ../$(COLONYROOT)

endif

include $(COLONYROOT)/Makefile

# this is a local makefile

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

ifndef COLONYROOT

COLONYROOT = ..

# 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 = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)

else

COLONYROOT := ../$(COLONYROOT)

endif

include $(COLONYROOT)/Makefile

# this is a local makefile

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

ifndef COLONYROOT

COLONYROOT = ..

# 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 = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)

else

COLONYROOT := ../$(COLONYROOT)

endif

include $(COLONYROOT)/Makefile

/**

 * 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.c

 * @brief Dragonfly initialization

 *

 * Contains implementation of dragonfly_init.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#include "dragonfly_lib.h"

/* init_dragonfly - Initializes functions based on configuration parameters

   examples:

   init_dragonfly (0, 0, 0); - just initialize the digital IO (buttons, potentiometer)

   init_dragonfly (ANALOG | SERIAL | BUZZER, C0_C1_ANALOG, BAUD115200); 

   Initialize ADC and set C0 and C1 as analog inputs.  Initialize serial and set baud rate

   to 115200 bps.  Initialize the buzzer.

   init_dragonfly (MOTORS | ORB, 0, 0);

   Initialize motor driving and the color fading abilities of the ORB. */

/**

 * @defgroup dragonfly Dragonfly

 * @brief General Dragonfly Functions

 * General functions for the dragonfly. Include

 * dragonfly_lib.h to access these functions.

 *

 * @{

 **/

/**

 * Initializes the components specified by config.

 * 

 * @see analog_init, usb_init, xbee_init, buzzer_init,

 * bom_init, orb_init, motors_init, lcd_init, encoders_init

 **/

void flash_red(void);

int dragonfly_init(int config) 

{

    sei();

    // Set directionality of various IO pins

    DDRG &= ~(_BV(PING0)|_BV(PING1));

    PORTG |= _BV(PING0)|_BV(PING1);

    if(config & ANALOG)

        analog_init(ADC_START);

    if(config & COMM)

    {

        //Defaults to 115200. Check serial.h for more information.

        usb_init();

        xbee_init();

    }

    if(config & BUZZER)

    {

        sei();

        buzzer_init();

    }

    if(config & ORB)

    {

        sei();

        orb_init();

    }

    if(config & MOTORS)

        motors_init();

    if(config & LCD)

        lcd_init();

    if(config & RANGE)

        range_init();

    if(config & BOM)

    {

        unsigned char bom_read = get_bom_type();

        if(bom_read == 0xFF) {

            //warn that bom initialization failed

            flash_red();

            return ERROR_INIT_FAILED;

        }

        else

          if (bom_init(bom_read) != 0)

            return ERROR_INIT_FAILED;

    }

	if (config & ENCODERS)

	{

		encoders_init();

	}

    // delay a bit for stability

    _delay_ms(1);

  return 0;

}

//flash lights red three times and restore ports

void flash_red(void)

{

    cli();

    char dd = DDRC;

    char po = PORTC;

    char i;

    DDRC = 0x77;

    for(i = 0; i<3; i++)

    {

        PORTC = 0x77;

        delay_ms(300);

        PORTC = 0x66;

        delay_ms(300);

    }

    DDRC = dd;

    PORTC = po;

    sei();

}

/** @} **/ //end defgroup

/**

 * 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

 * @{

 **/

/** @brief Initialize the board **/

int dragonfly_init(int config);

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

#include <inttypes.h>

#include <avr/io.h>

#include <avr/interrupt.h>

#include <util/delay.h>

#include <util/twi.h>

// This file is included from the libdragonfly directory because it seems to be

// missing from the AVR libc distribution.

#include "atomic.h"

#include "dragonfly_defs.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 "encoders.h"

#include "move.h"

#include "reset.h"

#include "math.h"

#include "eeprom.h"

#include <stddef.h>

#include <stdbool.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 bom.c

 * @brief Implementation for using the BOM

 *

 * Contains functions for using the Bearing and Orientation Module (BOM)

 *

 * @author Colony Project, CMU Robotics Club

 **/

//#include "dragonfly_defs.h"

#include "bom.h"

#include "dio.h"

#include "serial.h"

#include "analog.h"

//On the original BOM1.0, the emmitter angular order does not match the analog mux order

//so you need to iterate through the mux index in the following order if you want to get

//the detector readings in order:

static const char lookup[16] = {7,6,5,0xe,1,4,3,2,0xf,0,0xd,8,0xc,0xb,9,0xa};

// internal function prototypes

static void bom_select(char which);

/*

 Bk R Y (Analog)

---------

 Green

 Blue

 White

---------

 Blue

 White

*/

/*

the analog pin definitions from dio.h DO NOT work here,

so we must use PF0 from avrgcc (as opposed to _PIN_F0).

BUT the dio pin definitions from dio.h must be used (no PE...).

also, _PIN_E2 is initialized to high for some reason,

which turns the BOM on when the robot is turned on.

WORK-AROUND: call digital_output(_PIN_E2,0) at some point.

*/

#define MONKI PF0         //analog (yellow)

//------------------------//

#define MONKL _PIN_E2     //green

#define MONK1 _PIN_E3     //blue

#define MONK0 _PIN_E4     //white

//------------------------//

#define MONK3 _PIN_E6     //blue

#define MONK2 _PIN_E7     //white

#define BOM_VALUE_THRESHOLD 150 //200

#define NUM_BOM_LEDS 16

/*

  *The following pin definitions are for the BOM v1.5

  */

#define BOM_MODE	_PIN_E2	//dio0

#define BOM_STROBE	_PIN_E3	//dio1

#define BOM_DATA	_PIN_A0 //servo0

#define BOM_CLOCK	_PIN_A1	//servo1

#define BOM_S0		_PIN_E5	//dio3

#define BOM_S1		_PIN_E4	//dio2

#define BOM_S2		_PIN_E7	//dio4

#define BOM_S3		_PIN_E6	//dio5

#define BOM_OUT		PF0		//analog(yellow)

/**

 * @defgroup bom BOM (Bearing and Orientation Module)

 * @brief Functions for dealing with the BOM.

 *

 * The Bearing and Orientation Module / Barrel of Monkeys / BOM

 * is a custom sensor designed and built by the Colony Project.

 * It consists of a ring of 16 IR emitters and 16 IR detectors.

 * The BOM is most often use to determine the direction of other

 * robots. This module contains functions for controlling the BOM.

 *

 * Include bom.h to access these functions.

 *

 * @{

 **/

unsigned char bom_initd=0;

static unsigned int bom_val[NUM_BOM_LEDS];

static volatile char bom_type = BOM10;

static int select_pins[4];

static int analog_pin;

/**

 * Initializes the BOM.

 * Call bom_init before reading bom values or turning bom leds.

 *

 * @bugs INCOMPLETE - No utilization of BOM1.5 RSSI capability. Probably leave this out

 * until Cornell and Pras return

 *

 * @return 0 if init succesfull, an error code otherwise 

 *

 * @see bom_refresh, bom_leds_on, bom_leds_off

 **/

int bom_init(char type) {

    if(bom_initd)

      return ERROR_INIT_ALREADY_INITD;

    bom_type = type;

    switch(bom_type) {

    case BOM10:

		select_pins[0] = MONK0; 

		select_pins[1] = MONK1;

		select_pins[2] = MONK2;

		select_pins[3] = MONK3;

		analog_pin = MONKI;

        break;

    case BOM15:

        //Sets BOM1.5 to normal [BOM] mode

        digital_output(BOM_MODE, 0);

		select_pins[0] = BOM_S0; 

		select_pins[1] = BOM_S1;

		select_pins[2] = BOM_S2;

		select_pins[3] = BOM_S3;

		bom_set_leds(BOM_ALL);

		analog_pin = BOM_OUT;

        break;

    case RBOM:

        break;

    default:

      return -1;        

    //default:

    }

    bom_initd=1;

    return 0;

}

/**

 * Iterates through each bit in the bit_field. For each set bit, sets the corresponding bom select bits

 *    and updates the corresponding bom value with an analog_get8 reading.  analog_init and bom_init

 *    must be called for this to work. Must call this before reading BOM values!

 *

 *

 * @param bit_field specifies which elements in bom_val[] should be updated. Use BOM_ALL to refresh all values.

 *    Ex. if 0x0003 is passed, bom_val[0] and bom_val[1] will be updated.

 *

 * @return 0 if init succesfull, an error code otherwise

 *

 * @see bom_get

 **/

int bom_refresh(int bit_field) {

    int i;

    int loop_was_running = 0;

    if(!bom_initd)

      return ERROR_LIBRARY_NOT_INITD;

    //Check analog loop status

    if(analog_loop_status() == ADC_LOOP_RUNNING) {

      loop_was_running = 1;

      analog_stop_loop();

    }

    //Read BOM values

    for(i = 0; i < NUM_BOM_LEDS; i++) {

      if(bit_field & 0x1) {

	bom_select(i);

	bom_val[i] = analog_get8(analog_pin);

      }

      bit_field = bit_field >> 1;

    }

    //Restore analog loop status

    if(loop_was_running)

      analog_start_loop();

    return 0;

}

/**

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

 *

 * @pre must call bom refresh first

 *

 * @param which which bom value to return

 *

 * @return the bom value, -1 on error

 *

 * see bom_refresh

 **/

int bom_get(int which) {

    if(!bom_initd)

      return -1;

    return bom_val[which];

}

/** 

 * Compares all the values in bom_val[] and returns the index to the lowest (max) value element.

 *

 * @pre must call bom refresh

 * @return index to the lowest (max) bom value element.  -1 if no value is lower than

 *    BOM_VALUE_THRESHOLD, -2 if the bom is not initialized

 **/

int bom_get_max(void) {

    int i, lowest_val, lowest_i;

    if(!bom_initd)

      return -2;

    lowest_i = -1;

    lowest_val = 255;

    for(i = 0; i < NUM_BOM_LEDS; i++) {

        if(bom_val[i] < lowest_val) {

            lowest_val = bom_val[i];

            lowest_i = i;

        }

    }

    if(lowest_val < BOM_VALUE_THRESHOLD)

        return lowest_i;

    else

        return -1;

}

/** 

 * Computes the weighted average of all the bom readings to estimate the position (and distance) of another robot.

 *

 * @pre must call bom refresh

 * @param dist  pointer to int in which to return the estimated distance to the other robot

 * @return estimated position of the max bom value element as a fixed point value analogous to 10 times the

 *        index of the max bom value.  -1 if no value is lower than BOM_VALUE_THRESHOLD, -2 if the bom is not initialized

 **/

int bom_get_max10(int *dist) {

    int i, max;

    long long mean = 0, sum = 0;

    if(!bom_initd)

      return ERROR_LIBRARY_NOT_INITD;

    max = bom_get_max();

    if (max < 0)

    {

        if (dist)

        {

            *dist = -1;

        }

        return -1;

    }

    /* Record values into an array */

    for (i = 0; i < NUM_BOM_LEDS; i++) {

        int idx = ((i + (NUM_BOM_LEDS/2 - max) + NUM_BOM_LEDS) % NUM_BOM_LEDS) - (NUM_BOM_LEDS/2 - max);

        int val = 255 - bom_val[i];

        mean += idx * val;

        sum += val;

    }

    mean = (mean * 10) / sum;

    mean = (mean + NUM_BOM_LEDS*10) % (NUM_BOM_LEDS*10);

    if (dist)

    {

        *dist = 50 - sum/48;

    }

    return mean;

}

/**

 * Iterates through each bit in the bit_field. If the bit is set, the corresponding emitter will

 *    be enabled to turn on when bom_on() is called.

 *    bom_init must be called for this to work. Does nothing if a BOM1.0 is installed

 *

 * @param bit_field specifies which leds should be turned on when bom_on is called.  Use BOM_ALL to turn on all bom leds.

 *    Ex. if 0x0005 is passed, leds 0 and 2 will be turned on.

 *

 * @return 0 if init succesfull, an error code otherwise

 *

 **/

int bom_set_leds(int bit_field) {

    int i;

    unsigned int mask = 1<<(NUM_BOM_LEDS-1);

    if(!bom_initd)

      return ERROR_LIBRARY_NOT_INITD;

    switch(bom_type) {

    case BOM10:

        //TODO: put an assert here to alert the user that this should not be called

        break;

    case BOM15:

	    for(i=NUM_BOM_LEDS; i>0; i--)

	    {

		    //set the current bit, sending MSB first

		    digital_output(BOM_DATA, bit_field&mask);

		    //then pulse the clock

		    digital_output(BOM_CLOCK, 1);

		    digital_output(BOM_CLOCK, 0);

			mask = mask>>1;

	    }

        break;

    case RBOM:

        //add rbom code here

        break;

    }

    return 0;

}

/**

 * (DEPRECATED) Returns the direction of the maximum BOM reading,

 * as an integer in the range 0-15. 0 indicates to the

 * robot's right, while the rest of the sensors are

 * numbered counterclockwise. This is useful for determining

 * the direction of a robot flashing its BOM, of only one

 * robot is currently doing so. analog_init must be called

 * before this function can be used.

 *

 * @return the direction of the maximum BOM reading

 *

 * @see analog_init

 **/

int get_max_bom(void) {

    bom_refresh(BOM_ALL);

    return bom_get_max();

}

/**

 * Flashes the BOM.  If using a BOM1.5, only the emitters that have been enabled using

 * bom_set_leds will turn on.

 * 

 * @return 0 if init succesfull, an error code otherwise

 *

 * @see bom_off, bom_set_leds

 **/

int bom_on(void)

{

  if(!bom_initd)

    return ERROR_LIBRARY_NOT_INITD;

  switch(bom_type) {

  case BOM10:

	digital_output(MONKL, 1);

	break;

  case BOM15:

	digital_output(BOM_STROBE, 1);

	break;

  case RBOM:

	break;

  default:

    return -1;

  }

  return 0;

}

/**

 * Turns off all bom leds.

 * 

 * @return 0 if init succesfull, an error code otherwise

 *

 * @see bom_on

 **/

int bom_off(void)

{

  if(!bom_initd)

    return ERROR_LIBRARY_NOT_INITD;

  switch(bom_type) {

  case BOM10:

	digital_output(MONKL, 0);

	break;

  case BOM15:

	digital_output(BOM_STROBE, 0);

	break;

  case RBOM:

	break;

  }

  return 0;

}

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

//select a detector to read

static void bom_select(char which) {

	if(bom_type == BOM10)

	  which = lookup[(int)which];

    if (which&8)

      digital_output(select_pins[3], 1);

    else

      digital_output(select_pins[3], 0);

    if (which&4)

      digital_output(select_pins[2], 1);

    else

      digital_output(select_pins[2], 0);

    if (which&2)

      digital_output(select_pins[1], 1);

    else

      digital_output(select_pins[1], 0);

    if (which&1)

      digital_output(select_pins[0], 1);

    else

      digital_output(select_pins[0], 0);

}

/**

 * 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 motor.c

 * @brief Motors

 *

 * Implementation of functions for controlling the motors.

 *

 * @author Colony Project, CMU Robotics Club

 * Much of this is taken from FWR's library, author: Tom Lauwers

 **/

#include "dragonfly_defs.h"

#include "motor.h"

/**

 * @defgroup motors Motors

 * @brief Functions for controlling the motors.

 * Functions for controlling the motors. Found in motor.h.

 * @{

 **/

unsigned char motors_initd=0;

/**

 * Initializes both motors so that they can be used with future

 * calls to motor1_set and motor2_set.

 *

 * @return 0 if init succesfull, an error code otherwise

 *

 * @see motors_off, motor1_set, motor2_set

 **/

int motors_init( void ) {

  if(motors_initd)

    return ERROR_INIT_ALREADY_INITD;

  // Configure counter such that we use phase correct

  // PWM with 8-bit resolution

  PORTA &= 0x0F;

  DDRA |= 0xF0;

  DDRB |= 0x60;

  //timer 1A and 1B

  TCCR1A = _BV(COM1A1) | _BV(COM1B1) | _BV(WGM10);

  TCCR1B = _BV(WGM12) | _BV(CS10);

  //	TCCR1A = 0xA1;

  //	TCCR1B = 0x04;

  OCR1AH=0;

  OCR1AL=0;

  OCR1BH=0;

  OCR1BL=0;

  motors_initd=1;

  return 0;

}

/**

 * Sets the speed and direction of the left motor.

 * motors_init must be called before this function can be used.

 *

 * @param direction Either FORWARD or BACKWARD to set the direction of rotation.

 * @param speed The speed the motor will run at, in the range 0-255.

 * 

 * @return 0 if init succesfull, an error code otherwise

 *

 * @see motor_r_set, motors_init

 **/

int motor_l_set(int direction, int speed) {

  if(!motors_initd)

    return ERROR_LIBRARY_NOT_INITD;

  if(direction == 0) {

    // turn off PWM first if switching directions

    if((PORTA & 0x30) != 0x10) {

      OCR1A = 0;

    }	

    PORTA = (PORTA & 0xCF) | 0x10;

    //		PORTD |= 0x10;

    //		PORTD &= 0xBF;

  } else {

    // turn off PWM first if switching directions

    if((PORTA & 0x30) != 0x20) {

      OCR1A = 0;

    }

    PORTA = (PORTA & 0xCF) | 0x20;

    //		PORTD |= 0x40;

    //		PORTD &= 0xEF;

  }

  // Set the timer to count up to speed, an 8-bit value

  OCR1AL = speed;

  return 0;

}

/**

 * Sets the speed and direction of the right motor.

 * motors_init must be called before this function can be used.

 *

 * @param direction Either FORWARD or BACKWARD to set the direction of rotation.

 * @param speed The speed the motor will run at, in the range 0-255.

 *

 * @return 0 if init succesfull, an error code otherwise

 *

 * @see motor_l_set, motors_init

 **/

int motor_r_set(int direction, int speed) {

  if(!motors_initd)

    return ERROR_LIBRARY_NOT_INITD;

  if(direction == 0) {

    //		PORTD |= 0x20;

    //		PORTD &= 0x7F;

    // turn off PWM first if switching directions

    if((PORTA & 0xC0) != 0x80) {

      OCR1B = 0;

    }		

    PORTA = (PORTA & 0x3F) | 0x80;

  } else {

    //		PORTD |= 0x80;

    //		PORTD &= 0xDF;

    // turn off PWM first if switching directions

    if((PORTA & 0xC0) != 0x40) {

      OCR1B = 0;

    }		

    PORTA = (PORTA & 0x3F) | 0x40;

  }

  OCR1BL = speed;

  return 0;

}

/**

 * Sets the speed and direction of motor1.

 * motors_init must be called before this function can be used.

 *

 * @param direction Either FORWARD or BACKWARD to set the direction of rotation.

 * @param speed The speed the motor will run at, in the range 0-255.

 *

 * @return 0 if init succesfull, an error code otherwise

 *

 * @see motor2_set, motors_init

 **/

int motor1_set(int direction, int speed) {

  return motor_l_set(direction, speed);

}

/**

 * Sets the speed and direction of motor2.

 * motors_init must be called before this function can be used.

 *

 * @param direction Either FORWARD or BACKWARD to set the direction of rotation.

 * @param speed The speed the motor will run at, in the range 0-255.

 *

 * @return 0 if init succesfull, an error code otherwise

 *

 * @see motor2_set, motors_init

 **/

int motor2_set(int direction, int speed) {

  return motor_r_set(direction, speed);

}

/**

 * Turns off both motors.

 *

 * @return 0 if init succesfull, an error code otherwise

 *

 * @see motors_init

 **/

int motors_off( void ) {

  if(!motors_initd)

    return ERROR_LIBRARY_NOT_INITD;

  OCR1AL = 0x0;

  OCR1BL = 0x0;

  return 0;

}

/**@}**///end defgroup

/**

 * 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 motor.h

 * @brief Contains definitions for controlling the motors

 *

 * Contains definitions and functions for controlling

 * the motors.

 *

 * @author Colony Project, CMU Robotics Club

 * Based on Tom Lauwer's Firefly Library

 **/

#ifndef _MOTOR_H

#define _MOTOR_H

#include <avr/io.h>

/**

 * @addtogroup motors

 * @{

 **/

/** @brief make the motors go forwards **/

#define FORWARD 1

/** @brief make the motors go backwards **/

#define BACKWARD 0

/** @brief Initialize the motors **/

int motors_init(void);

/** @brief Set speed and direction of motor1 

 *  @deprecated use the left motor function instead. it's more intuitive and easier to read.**/

int motor1_set(int direction, int speed);

/** @brief Set speed and direction of motor2 

 *  @deprecated use the right motor function instead. it's more intuitive and easier to read.**/

int motor2_set(int direction, int speed);

/** @brief Set speed and direction of left motor **/

int motor_l_set(int direction, int speed);

/** @brief Set speed and direction of right motor **/

int motor_r_set(int direction, int speed);

/** @brief Turn the motors off **/

int motors_off(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 serial.c

 * @brief Serial Input and Output

 *

 * Implementation of functions for serial input and output.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#include <avr/io.h>

#include "dragonfly_defs.h"

#include "serial.h"

unsigned char usb_initd=0;

unsigned char xbee_initd=0;

#ifdef USE_STDIO

#include <stdio.h>

/**

 * For use with fprintf() and related stdio functions

 **/

FILE *usb_fd;

/**

 * For use with fprintf() and related stdio functions

 **/

FILE *xbee_fd;

#endif

/**

 * Initializes communication over the USB serial port.

 * This must be called before any other usb function

 * may be used.

 **/

int usb_init() {

  //Set baud rate

  // - 115200 (both wired and wireless) is UBRR=8, U2X=1

  // - 9600 is U2X =1, UBRR = 107.

  if(usb_initd) {

    return ERROR_INIT_ALREADY_INITD;

  }

#if (USB_BAUD == 115200)

  UBRR0H = 0x00;

  UBRR0L = 8;

  UCSR0A |= _BV(U2X0);

#elif (USB_BAUD == 9600)

  UBRR0H = 0x00;

  UBRR0L = 103;

  UCSR0A |= _BV(U2X0);

#else //Baud rate is defined in the header file, we should not get here

  return 0;

#endif

  /*Enable receiver and transmitter */

  UCSR0B |= (1<<RXEN0)|(1<<TXEN0);

  /* Set frame format: 8data, 1stop bit, asynchronous normal mode */

  UCSR0C |= (1<<UCSZ00) | (1<<UCSZ01);

  // if we have enabled the stdio stuff, then we init it here

#ifdef USE_STDIO

  /* Open the stdio stream corresponding to this port */

  usb_fd = fdevopen(usb_putc, usb_getc);

#endif

  usb_initd = 1;

  return 0;

}

/**

 * Initializes communication over the XBee.

 * This must be called before any other xbee function

 * may be used.

 **/

int xbee_init() {

  if(xbee_initd) {

    return ERROR_INIT_ALREADY_INITD;

  }

  //Set baud rate

  // - 115200 (both wired and wireless) is UBRR=8, U2X=1

  // - 9600 is U2X =1, UBRR = 107.

#if (XBEE_BAUD == 115200)

  UBRR1H = 0x00;

  UBRR1L = 8;

  UCSR1A |= _BV(U2X1);

#elif (XBEE_BAUD == 9600)

  UBRR1H = 0x00;

  UBRR1L = 103;

  UCSR1A |= _BV(U2X1);

#else //Baud rate is defined in the header file, we should not get here

  return 0;

#endif

  //Enable receiver and transmitter

  UCSR1B |= (1<<RXEN1)|(1<<TXEN1);

  // Set frame format: 8data, 1stop bit, asynchronous normal mode

  UCSR1C |= (1<<UCSZ10) | (1<<UCSZ11);

  // if we have enabled the stdio stuff, then we init it here

#ifdef USE_STDIO

  /* Open the stdio stream corresponding to this port */

  xbee_fd = fdevopen(xbee_putc, xbee_getc);

#endif

  xbee_initd = 1;

  return 0;

}

/**

 * Sends a character over USB.

 *

 * @param c the character to send

 * @return 0 for success, nonzero for failure

 **/

int usb_putc(char c) {

  if(!usb_initd)

    return ERROR_LIBRARY_NOT_INITD;

  // Wait until buffer is clear for sending

  loop_until_bit_is_set(UCSR0A, UDRE0);

  // Load buffer with your character

  UDR0 = c;

  return 0;

}

/**

 * Sends a character to the XBee.

 *

 * @param c the character to send

 * @return 0 for success, nonzero for failure

 **/

int xbee_putc(char c) {

  if(!xbee_initd)

    return ERROR_LIBRARY_NOT_INITD;

  // Wait until buffer is clear for sending

  loop_until_bit_is_set(UCSR1A, UDRE1);

  // Load buffer with your character

  UDR1 = c;

  return 0;

}

/**

 * Sends a sequence of characters over USB.

 *

 * @param s the string to send

 * @return 0 for success, nonzero for failure

 **/

int usb_puts(char *s) {

  char *t = s;

  if(!usb_initd)

    return ERROR_LIBRARY_NOT_INITD;

  while (*t != 0) {

    usb_putc(*t);

    t++;

  }

  return 0;

}

/**

 * Sends a sequence of characters from program space over USB.

 *

 * @param s the string to send

 *

 * @return 0 if init succesfull, an error code otherwise

 **/

int usb_puts_P (PGM_P s) {

    char buf;

    if(!usb_initd)

      return ERROR_LIBRARY_NOT_INITD;

    while (memcpy_P (&buf, s, sizeof (char)), buf!=0) {

        usb_putc (buf);

        s++;

    }

    return 0;

}

/**

 * Returns the first character in the buffer received from USB.

 * This function blocks execution until a character has been received.

 * xbee_init must be called before this function may be used.

 * 

 * @return the first character in the usb buffer, -1 on error

 *

 * @see usb_init, usb_getc_nb

 **/

int usb_getc(void) {

  if(!usb_initd)

    return -1;

  // Wait for the receive buffer to be filled

  loop_until_bit_is_set(UCSR0A, RXC0);

  // Read the receive buffer

  return UDR0;

}

/**

 * Returns the first character in the buffer received from USB.

 * This function blocks execution until a character has been

 * received. xbee_init must be called before this function

 * may be used.

 * 

 * @return the first character in the xbee buffer, -1 on error

 * 

 * @see xbee_init, xbee_getc_nb

 **/

int xbee_getc(void) {

  if(!usb_initd)

    return -1;

  // Wait for the receive buffer to be filled

  loop_until_bit_is_set(UCSR1A, RXC1);

  // Read the receive buffer

  return UDR1;

}

/**

 * Non blocking version of usb_getc. If a character is present in the buffer,

 * it is returned, otherwise -1 is returned immediately. usb_init must be

 * called before this function can be used.

 *

 * @param c the received character. This will be set if a character has

 * been received.

 * 

 * @return -1 if no character is available, 0 otherwise, positive for error

 * 

 * @see usb_init, usb_getc

 **/

int usb_getc_nb(char *c) {

  if(!usb_initd)

    return ERROR_LIBRARY_NOT_INITD;

  // check if the receive buffer is filled

  if (UCSR0A & _BV(RXC0)) {

    // Read the receive buffer

    (*c) = UDR0;

    return 0;

  } else {

    // Return empty

    return -1;

  }

}

/**

 * Non blocking version of xbee_getc. If a character is present in the buffer,

 * it is returned, otherwise -1 is returned immediately. xbee_init

 * must be called before this function can be used.

 *

 * @param c the received character. This will be set if a character has

 * been received.

 * 

 * @return -1 if no character is available, 0 otherwise, positive for error

 *

 * @see xbee_init, xbee_getc

 **/

int xbee_getc_nb(char *c) {

  if(!xbee_initd)

    return ERROR_LIBRARY_NOT_INITD;

  // check if the receive buffer is filled