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/**
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* Copyright (c) 2007 Colony Project
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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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* @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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#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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//On the original BOM1.0, the emmitter angular order does not match the analog mux order
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//so you need to iterate through the mux index in the following order if you want to get
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//the detector readings in order:
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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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* BOM Vector Component Tables *
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**************************** **/
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/*
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* The x component of each BOM detector (indexed from 0 to 15)
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* was calculated using the following formula:
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*
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* x_comp[i] = fix(25 * cos ( 2 * pi / 16 * i) )
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*
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* where "fix" rounds towards 0. If the BOM detectors were superimposed
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* onto a 2 dimensional Cartesian space, this effectively calculates the
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* x component of the emitter vector where emitter 0 corresponds to an
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* angle of 0 radians, 4 -> pi/2, 8 -> pi, ect.
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*/
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static const signed int x_comp[16] = { |
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25,
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23,
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17,
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9,
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0,
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-9,
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-17,
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-23,
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-25,
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-23,
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-17,
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-9,
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0,
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9,
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17,
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23
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}; |
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/*
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* The y component of each BOM detector (indexed from 0 to 15)
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* was calculated using the following formula:
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*
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* y_comp[i] = fix(25 * sin ( 2 * pi / 16 * i) )
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*
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* where "fix" rounds towards 0. If the BOM detectors were superimposed
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* onto a 2 dimensional Cartesian space, this effectively calculates the
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* x component of the emitter vector where emitter 0 corresponds to an
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* angle of 0 radians, 4 -> pi/2, 8 -> pi, ect.
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*/
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static signed int y_comp[16] = { |
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0,
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9,
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17,
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23,
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25,
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23,
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17,
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9,
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0,
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-9,
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-17,
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-23,
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-25,
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-23,
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-17,
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-9
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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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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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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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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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#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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#define BOM_VALUE_THRESHOLD 150 //200 |
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#define NUM_BOM_LEDS 16 |
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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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#define BOM_MODE _PIN_E2 //dio0 |
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#define BOM_STROBE _PIN_E3 //dio1 |
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#define BOM_DATA _PIN_A0 //servo0 |
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#define BOM_CLOCK _PIN_A1 //servo1 |
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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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* @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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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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* 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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* @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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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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* 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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//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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//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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//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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/**
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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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/**
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* Compares all the values in bom_val[] and returns the index to the lowest (max) value element.
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*
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* @pre must call bom refresh
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* @return index to the lowest (max) bom value element. -1 if no value is lower than
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* BOM_VALUE_THRESHOLD
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**/
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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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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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} |
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} |
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if(lowest_val < BOM_VALUE_THRESHOLD)
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return lowest_i;
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else
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return -1; |
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} |
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/**
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* Compute the net resultant BOM IR vector by scaling each IR unit vector by its intensity
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* and summing over all IR LEDs.
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*
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* @param v Pointer to Vector struct to be filled by this function with an x and y net vector
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* component.
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*
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* @param usrBOMvals Pointer to array which holds 16 raw BOM readings which can be used if user
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* has already collected BOM information instead of collecting a new data set from the BOM.
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*
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* @return Exit status - Zero for success; negative on error.
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**/
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int bom_get_vector(Vector* v, int* usrBOMvals) { |
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/* Store current BOM readings and use them as a weighting factor */
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int intensity[16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; |
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/* Arrays for storing the weighted x ("Rightness") and y ("Forwardness")
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* components. Calculated by multiplying the intensity by the x and y
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* component respectively (x and y components are stored in the tables
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* above). */
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int weighted_x_comp[16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; |
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int weighted_y_comp[16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; |
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/* Accumulators to sum up the net x ("Rightness") and y ("Forwardness")
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* components for the entire robot. */
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long net_x_comp = 0; |
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long net_y_comp = 0; |
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int i = 0; |
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/* BOM intensity is actually measured as more intense = closer to 0 */
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if (usrBOMvals) {
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/* Use BOM values collected by user */
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for (i = 0; i < 16; i++) { |
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intensity[i] = 255 - usrBOMvals[i];
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} |
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} else {
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/* Collect new set of BOM data */
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bom_refresh(BOM_ALL); |
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for (i = 0; i < 16; i++) { |
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intensity[i] = 255 - bom_get(i);
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} |
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} |
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/* Calculate weighted vector components and accumulate vector sum */
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for (i = 0; i < 16; i++) { |
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weighted_x_comp[i] = intensity[i] * x_comp[i]; |
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weighted_y_comp[i] = intensity[i] * y_comp[i]; |
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net_x_comp += weighted_x_comp[i]; |
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net_y_comp += weighted_y_comp[i]; |
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} |
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/* Fill the Vector struct */
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v->x = net_x_comp; |
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v->y = net_y_comp; |
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return 0; |
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} |
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/**
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* Compute the normalized net resultant BOM IR vector by scaling each IR unit vector by its
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* intensity and summing over all IR LEDs.
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*
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* @param v Pointer to Vector struct to be filled by this function with an x and y net vector
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* component.
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*
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* @param usrBOMvals Pointer to array which holds 16 raw BOM readings which can be used if user
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* has already collected BOM information instead of collecting a new data set from the BOM.
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*
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* @return Exit status - Zero for success; negative on error.
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**/
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int bom_get_norm_vector(Vector* v, int* usrBOMvals) { |
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/* Store current BOM readings and use them as a weighting factor */
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int intensity[16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; |
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/* Arrays for storing the weighted x ("Rightness") and y ("Forwardness")
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* components. Calculated by multiplying the intensity by the x and y
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* component respectively (x and y components are stored in the tables
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* above). */
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int weighted_x_comp[16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; |
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int weighted_y_comp[16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; |
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/* Accumulators to sum up the net x ("Rightness") and y ("Forwardness")
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* components for the entire robot. */
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long net_x_comp = 0; |
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long net_y_comp = 0; |
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/* Variables used to normalize the net component values */
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int total_intensity = 0; |
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int normalized_net_x_comp = 0; |
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int normalized_net_y_comp = 0; |
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int i = 0; |
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/* BOM intensity is actually measured as more intense = closer to 0 */
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if (usrBOMvals) {
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/* Use BOM values collected by user */
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for (i = 0; i < 16; i++) { |
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intensity[i] = 255 - usrBOMvals[i];
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} |
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} else {
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/* Collect new set of BOM data */
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bom_refresh(BOM_ALL); |
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for (i = 0; i < 16; i++) { |
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intensity[i] = 255 - bom_get(i);
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} |
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} |
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/* Calculate weighted vector components and accumulate vector sum */
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for (i = 0; i < 16; i++) { |
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weighted_x_comp[i] = intensity[i] * x_comp[i]; |
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weighted_y_comp[i] = intensity[i] * y_comp[i]; |
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net_x_comp += weighted_x_comp[i]; |
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net_y_comp += weighted_y_comp[i]; |
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total_intensity += intensity[i]; |
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} |
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/* Normalize the resultant vector components by the total intensity */
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if (total_intensity > 0) { |
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normalized_net_x_comp = net_x_comp / total_intensity; |
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normalized_net_y_comp = net_y_comp / total_intensity; |
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} |
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/* Fill the Vector struct */
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v->x = normalized_net_x_comp; |
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v->y = normalized_net_y_comp; |
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return 0; |
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|
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} |
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/**
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* Print a histogram which shows the current BOM intensity values for each of the 16 BOM IR
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* sensors. The function will attempt to send the histogram data over USB.
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*
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* @param curBOMvals Pointer to an array of the current BOM values (the array must have
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* length 16). Use this to print values you have already collected. Otherwise pass in NULL
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* and bom_refresh() will be called and the current BOM intensity values will be collected.
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* @return Exit status - Zero for success; negative on error.
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**/
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int bom_print_usb(int* usrBOMvals) { |
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int i, j, max = -1; |
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int curVals[16]; |
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int* prtValPtr;
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if (usrBOMvals) {
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/* Use BOM values collected by user */
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prtValPtr = usrBOMvals; |
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/* Find max BOM value from users values */
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for (i = 0; i < 16; i++) { |
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if (max < prtValPtr[i])
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max = prtValPtr[i]; |
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} |
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} else {
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/* Refresh and make sure the table is updated */
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bom_refresh(BOM_ALL); |
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/* Record values into an array */
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for (i = 0; i < 16; i++) { |
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curVals[i] = bom_get(i); |
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if (max < curVals[i])
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max = curVals[i]; |
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} |
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/* Use the current set of collected values */
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prtValPtr = curVals; |
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} |
468 |
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/* Display results */
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for (i = 0; i < 16; i++) { |
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usb_puti(i); |
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usb_puts(": ");
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usb_puti(prtValPtr[i]); |
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usb_putc('\t');
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for (j = 0; j < (int)((max - prtValPtr[i]) / 5); j++) { |
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usb_putc('#');
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} |
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usb_puts("\r\n");
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} |
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usb_puts("\r\n");
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return 0; |
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} |
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|
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/**
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* Computes the weighted average of all the bom readings to estimate the position (and distance) of another robot.
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*
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* @pre must call bom refresh
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* @param dist pointer to int in which to return the estimated distance to the other robot
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* @return estimated position of the max bom value element as a fixed point value analogous to 10 times the
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* index of the max bom value. -1 if no value is lower than BOM_VALUE_THRESHOLD.
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**/
|
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int bom_get_max10(int *dist) { |
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int i, max;
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long long mean = 0, sum = 0; |
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max = bom_get_max(); |
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if (max < 0) |
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{ |
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if (dist)
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504 |
{ |
505 |
*dist = -1;
|
506 |
} |
507 |
return -1; |
508 |
} |
509 |
/* Record values into an array */
|
510 |
for (i = 0; i < NUM_BOM_LEDS; i++) { |
511 |
int idx = ((i + (NUM_BOM_LEDS/2 - max) + NUM_BOM_LEDS) % NUM_BOM_LEDS) - (NUM_BOM_LEDS/2 - max); |
512 |
int val = 255 - bom_val[i]; |
513 |
mean += idx * val; |
514 |
sum += val; |
515 |
} |
516 |
mean = (mean * 10) / sum;
|
517 |
mean = (mean + NUM_BOM_LEDS*10) % (NUM_BOM_LEDS*10); |
518 |
|
519 |
if (dist)
|
520 |
{ |
521 |
*dist = 50 - sum/48; |
522 |
} |
523 |
|
524 |
return mean;
|
525 |
} |
526 |
|
527 |
/**
|
528 |
* Iterates through each bit in the bit_field. If the bit is set, the corresponding emitter will
|
529 |
* be enabled to turn on when bom_on() is called.
|
530 |
* bom_init must be called for this to work. Does nothing if a BOM1.0 is installed
|
531 |
*
|
532 |
* @param bit_field specifies which leds should be turned on when bom_on is called. Use BOM_ALL to turn on all bom leds.
|
533 |
* Ex. if 0x0005 is passed, leds 0 and 2 will be turned on.
|
534 |
**/
|
535 |
void bom_set_leds(int bit_field) { |
536 |
int i;
|
537 |
unsigned int mask = 1<<(NUM_BOM_LEDS-1); |
538 |
switch(bom_type) {
|
539 |
case BOM10:
|
540 |
//TODO: put an assert here to alert the user that this should not be called
|
541 |
break;
|
542 |
|
543 |
case BOM15:
|
544 |
for(i=NUM_BOM_LEDS; i>0; i--) |
545 |
{ |
546 |
//set the current bit, sending MSB first
|
547 |
digital_output(BOM_DATA, bit_field&mask); |
548 |
//then pulse the clock
|
549 |
digital_output(BOM_CLOCK, 1);
|
550 |
digital_output(BOM_CLOCK, 0);
|
551 |
mask = mask>>1;
|
552 |
} |
553 |
break;
|
554 |
|
555 |
case RBOM:
|
556 |
//add rbom code here
|
557 |
break;
|
558 |
} |
559 |
} |
560 |
|
561 |
|
562 |
/**
|
563 |
* (DEPRECATED) Returns the direction of the maximum BOM reading,
|
564 |
* as an integer in the range 0-15. 0 indicates to the
|
565 |
* robot's right, while the rest of the sensors are
|
566 |
* numbered counterclockwise. This is useful for determining
|
567 |
* the direction of a robot flashing its BOM, of only one
|
568 |
* robot is currently doing so. analog_init must be called
|
569 |
* before this function can be used.
|
570 |
*
|
571 |
* @return the direction of the maximum BOM reading
|
572 |
*
|
573 |
* @see analog_init
|
574 |
**/
|
575 |
int get_max_bom(void) { |
576 |
bom_refresh(BOM_ALL); |
577 |
return bom_get_max();
|
578 |
} |
579 |
|
580 |
/**
|
581 |
* Flashes the BOM. If using a BOM1.5, only the emitters that have been enabled using
|
582 |
* bom_set_leds will turn on.
|
583 |
*
|
584 |
* @see bom_off, bom_set_leds
|
585 |
**/
|
586 |
void bom_on(void) |
587 |
{ |
588 |
switch(bom_type) {
|
589 |
case BOM10:
|
590 |
digital_output(MONKL, 1);
|
591 |
break;
|
592 |
case BOM15:
|
593 |
digital_output(BOM_STROBE, 1);
|
594 |
break;
|
595 |
case RBOM:
|
596 |
break;
|
597 |
} |
598 |
} |
599 |
|
600 |
/**
|
601 |
* Turns off all bom leds.
|
602 |
*
|
603 |
* @see bom_on
|
604 |
**/
|
605 |
void bom_off(void) |
606 |
{ |
607 |
switch(bom_type) {
|
608 |
case BOM10:
|
609 |
digital_output(MONKL, 0);
|
610 |
break;
|
611 |
case BOM15:
|
612 |
digital_output(BOM_STROBE, 0);
|
613 |
break;
|
614 |
case RBOM:
|
615 |
break;
|
616 |
} |
617 |
} |
618 |
|
619 |
/** @} **/ //end group |
620 |
|
621 |
//select a detector to read
|
622 |
static void bom_select(char which) { |
623 |
if(bom_type == BOM10)
|
624 |
which = lookup[(int)which];
|
625 |
|
626 |
if (which&8) |
627 |
digital_output(select_pins[3], 1); |
628 |
else
|
629 |
digital_output(select_pins[3], 0); |
630 |
|
631 |
if (which&4) |
632 |
digital_output(select_pins[2], 1); |
633 |
else
|
634 |
digital_output(select_pins[2], 0); |
635 |
|
636 |
if (which&2) |
637 |
digital_output(select_pins[1], 1); |
638 |
else
|
639 |
digital_output(select_pins[1], 0); |
640 |
|
641 |
if (which&1) |
642 |
digital_output(select_pins[0], 1); |
643 |
else
|
644 |
digital_output(select_pins[0], 0); |
645 |
|
646 |
} |