Revision 1829
Removed the old hunter_prey_john folder in favor of the new more organized hunter_prey folder.
demos/hunter_prey_john/behavior/Makefile | ||
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# this is a local makefile |
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# Relative path to the root directory (containing lib directory) |
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ifndef COLONYROOT |
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COLONYROOT := .. |
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# Target file name (without extension). |
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TARGET = main |
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# Uncomment this to use the wireless library |
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USE_WIRELESS = 1 |
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# com1 = serial port. Use lpt1 to connect to parallel port. |
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AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi) |
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else |
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COLONYROOT := ../$(COLONYROOT) |
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endif |
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include $(COLONYROOT)/Makefile |
demos/hunter_prey_john/behavior/main.c | ||
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/* |
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* Hunter-Prey main.c File - Implementation of Hunter-Prey behavior which |
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* uses finite state machines to manage the behavior. A top level |
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* state machine controls the high level behavior switches between |
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* "hunter" and "prey" and manages the wireless communication. Two |
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* additional state machines control the behavior of the robot when |
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* it is in "prey" mode and when it is in "hunter" mode. |
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* |
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* Author: John Sexton, Colony Project, CMU Robotics Club |
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*/ |
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#include <dragonfly_lib.h> |
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#include <wl_basic.h> |
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#include "hunter_prey.h" |
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#include "encoders.h" |
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#define WL_CHANNEL 24 |
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#define BACK_THRESHOLD -1000 |
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#define TURN_DIST 1024 |
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#define IR_DIST_THRESHOLD 150 |
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#define WAIT_DELAY_MS 2000 |
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/* State Macros */ |
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/* Top Level FSM States */ |
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#define TOP_INIT 0 |
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#define TOP_HUNTER_HUNT 1 |
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#define TOP_HUNTER_TAG 2 |
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#define TOP_HUNTER_PURSUE 3 |
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#define TOP_PREY_AVOID 4 |
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#define TOP_HUNTER_WAIT 5 |
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#define TOP_ERROR 6 |
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/* Hunter FSM States */ |
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#define HUNTER_SPIRAL 0 |
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#define HUNTER_CHASE 1 |
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/* Prey FSM States */ |
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#define PREY_START_BACK 0 |
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#define PREY_BACKING 1 |
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#define PREY_TURN 2 |
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#define PREY_AVOID 3 |
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/* Function prototype declarations */ |
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int hunter_FSM(int, int, int); |
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int prey_FSM(int); |
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/* Variables used to receive packets */ |
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unsigned char* packet_data; |
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int data_length; |
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/* Data buffer used to send packets */ |
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char send_buffer[2]; |
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int main(void) |
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{ |
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/* Initialize dragonfly board */ |
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dragonfly_init(ALL_ON); |
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xbee_init(); |
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encoders_init(); |
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/* Initialize the basic wireless library */ |
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wl_basic_init_default(); |
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/* Set the XBee channel to assigned channel */ |
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wl_set_channel(WL_CHANNEL); |
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/* ****** CODE HERE ******* */ |
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/* Initialize state machines */ |
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int state = TOP_INIT; |
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int hunter_state = HUNTER_SPIRAL; |
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int prey_state = PREY_AVOID; |
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int frontIR = 0; |
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int maxBOM = 0; |
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int robotID = get_robotid(); |
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int oldTime = 0, curTime = 0; |
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while (1) { |
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/* Check if we've received a wireless packet */ |
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packet_data = wl_basic_do_default(&data_length); |
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/* Top level state machines */ |
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switch(state) { |
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case TOP_INIT: |
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orbs_set_color(RED, GREEN); |
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delay_ms(500); |
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orbs_set_color(GREEN, RED); |
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delay_ms(500); |
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/* Allow user to pick the starting behavior */ |
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if (button1_read()) { |
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state = TOP_PREY_AVOID; |
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prey_state = PREY_AVOID; |
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} else { |
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state = TOP_HUNTER_HUNT; |
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hunter_state = HUNTER_SPIRAL; |
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} |
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break; |
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case TOP_HUNTER_HUNT: |
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orbs_set_color(RED, RED); |
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if (packet_data && data_length == 2 |
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&& packet_data[0] == HUNTER_PREY_ACTION_ACK) { |
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/* If we've received an ACK, we need to wait */ |
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state = TOP_HUNTER_WAIT; |
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} else { |
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/* Record some sensor readings and check if we can TAG */ |
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bom_refresh(BOM_ALL); |
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frontIR = range_read_distance(IR2); |
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maxBOM = get_max_bom(); |
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if (hunter_prey_tagged(maxBOM, frontIR)) { |
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state = TOP_HUNTER_TAG; |
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} else { |
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/* If we haven't tagged, then enter hunter FSM */ |
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hunter_state = hunter_FSM(hunter_state, maxBOM, frontIR); |
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} |
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} |
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break; |
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case TOP_HUNTER_TAG: |
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orbs_set_color(RED, PURPLE); |
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if (packet_data && data_length == 2 |
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&& packet_data[0] == HUNTER_PREY_ACTION_ACK) { |
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/* If we've received an ACK, then someone beat us to the TAG and |
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* we need to wait. */ |
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state = TOP_HUNTER_WAIT; |
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} else { |
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/* Prepare and send the TAG packet */ |
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send_buffer[0] = HUNTER_PREY_ACTION_TAG; |
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send_buffer[1] = robotID; |
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wl_basic_send_global_packet(42, send_buffer, 2); |
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/* Record the time so we don't spam a TAG message on the network */ |
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oldTime = rtc_get(); |
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state = TOP_HUNTER_PURSUE; |
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} |
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break; |
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case TOP_HUNTER_PURSUE: |
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orbs_set_color(RED, BLUE); |
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curTime = rtc_get(); |
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if (packet_data && data_length == 2 |
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&& packet_data[0] == HUNTER_PREY_ACTION_ACK) { |
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/* Check if we've received a new wireless packet */ |
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if (packet_data[1] == robotID) { |
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/* We've been ACKed, so we can now become the prey */ |
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state = TOP_PREY_AVOID; |
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prey_state = PREY_START_BACK; |
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} else { |
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/* If we get an ACK with a different robotID, then someone beat us |
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* to the TAG, so we must wait */ |
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state = TOP_HUNTER_WAIT; |
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} |
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} else if (curTime - oldTime > 1) { |
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/* If 1 second has ellapsed, return to normal hunting state (we can |
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* TAG again now) */ |
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state = TOP_HUNTER_HUNT; |
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} else if (oldTime > curTime) { |
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/* If for some reason the timer overflows, or the wireless library |
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* (which is also using the same timer) resets the timer, |
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* reinitialize the timer so that we don't wait too long for the |
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* timer to catch back up. */ |
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oldTime = curTime; |
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} else { |
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/* If no other behavioral changes need to be made, then continue |
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* with the hunter FSM where we left off */ |
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bom_refresh(BOM_ALL); |
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frontIR = range_read_distance(IR2); |
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maxBOM = get_max_bom(); |
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hunter_state = hunter_FSM(hunter_state, maxBOM, frontIR); |
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} |
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break; |
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case TOP_PREY_AVOID: |
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orbs_set_color(GREEN, GREEN); |
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if (packet_data && data_length == 2 |
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&& packet_data[0] == HUNTER_PREY_ACTION_TAG) { |
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/* Check if we've received a TAG yet. If so then send an ACK back */ |
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send_buffer[0] = HUNTER_PREY_ACTION_ACK; |
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send_buffer[1] = packet_data[1]; |
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wl_basic_send_global_packet(42, send_buffer, 2); |
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state = TOP_HUNTER_WAIT; |
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} else { |
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/* If we haven't received a TAG yet, continue with prey FSM */ |
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bom_on(); |
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prey_state = prey_FSM(prey_state); |
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} |
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break; |
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case TOP_HUNTER_WAIT: |
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/* Set orb colors and wait to give the prey the 5 second head start */ |
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orbs_set_color(BLUE, BLUE); |
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bom_off(); |
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motors_off(); |
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delay_ms(WAIT_DELAY_MS); |
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state = TOP_HUNTER_HUNT; |
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hunter_state = HUNTER_SPIRAL; |
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break; |
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case TOP_ERROR: |
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default: |
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orbs_set_color(PURPLE, PURPLE); |
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state = TOP_ERROR; |
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while(1); |
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break; |
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} |
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} |
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/* ****** END HERE ******* */ |
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while(1); |
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return 0; |
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} |
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/* |
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* prey_FSM - Prey finite state machine which starts by backing away, turning, |
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* and then running and avoiding obstacles. |
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* |
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* Arguments: |
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* prey_state - Current prey state. |
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* |
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* returns - The new state of the prey state machine. |
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*/ |
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int prey_FSM(int prey_state) { |
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/* Variable to store the front rangefinder readings */ |
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int rangeVals[3] = {0, 0, 0}; |
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switch (prey_state) { |
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case PREY_START_BACK: |
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motor_l_set(BACKWARD, 255); |
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motor_r_set(BACKWARD, 255); |
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encoder_rst_dx(LEFT); |
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encoder_rst_dx(RIGHT); |
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return PREY_BACKING; |
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break; |
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case PREY_BACKING: |
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if (encoder_get_x(LEFT) < BACK_THRESHOLD |
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|| encoder_get_x(RIGHT) < BACK_THRESHOLD) { |
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motor_l_set(BACKWARD, 255); |
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motor_r_set(FORWARD, 255); |
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encoder_rst_dx(LEFT); |
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encoder_rst_dx(RIGHT); |
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return PREY_TURN; |
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} else { |
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return PREY_BACKING; |
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} |
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break; |
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case PREY_TURN: |
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if (encoder_get_x(LEFT) < -TURN_DIST |
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|| encoder_get_x(RIGHT) > TURN_DIST) { |
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return PREY_AVOID; |
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} else { |
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return PREY_TURN; |
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} |
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break; |
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case PREY_AVOID: |
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rangeVals[0] = range_read_distance(IR1); |
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rangeVals[1] = range_read_distance(IR2); |
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rangeVals[2] = range_read_distance(IR3); |
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/* Drive away if we detect obstacles using the rangefinders */ |
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if (rangeVals[1] > 0 && rangeVals[1] < IR_DIST_THRESHOLD) { |
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if (rangeVals[0] < rangeVals[2]) { |
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motor_l_set(FORWARD, 255); |
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motor_r_set(BACKWARD, 255); |
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} else { |
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motor_l_set(BACKWARD, 255); |
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motor_r_set(FORWARD, 255); |
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} |
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return PREY_AVOID; |
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} else if (rangeVals[0] > 0 && rangeVals[0] < IR_DIST_THRESHOLD) { |
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motor_l_set(FORWARD, 255); |
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motor_r_set(FORWARD, 170); |
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return PREY_AVOID; |
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} else if (rangeVals[2] > 0 && rangeVals[2] < IR_DIST_THRESHOLD) { |
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motor_l_set(FORWARD, 170); |
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motor_r_set(FORWARD, 255); |
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return PREY_AVOID; |
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} else { |
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motor_l_set(FORWARD, 255); |
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motor_r_set(FORWARD, 255); |
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return PREY_AVOID; |
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} |
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break; |
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default: |
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return PREY_AVOID; |
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break; |
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} |
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return prey_state; |
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} |
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/* |
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* hunter_FSM - Hunter finite state machine which defaults to spiraling |
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* outwards until the BOM can locate the prey. Once the BOM locates |
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* the prey, chase the prey as fast as possible. |
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* |
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* Arguments: |
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* hunter_state - Current hunter state. |
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* maxBOM - Current maximum BOM value. |
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* frontIR - Current front IR rangefinder reading value. |
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* |
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* returns - The new state of the hunter state machine. |
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*/ |
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int hunter_FSM(int hunter_state, int maxBOM, int frontIR) { |
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switch(hunter_state) { |
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case HUNTER_SPIRAL: |
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if (maxBOM != -1) { |
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return HUNTER_CHASE; |
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} else { |
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motor_l_set(FORWARD, 170); |
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motor_r_set(FORWARD, 190); |
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return HUNTER_SPIRAL; |
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} |
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break; |
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case HUNTER_CHASE: |
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|
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if (maxBOM == -1) { |
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return HUNTER_CHASE; |
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} else if (maxBOM == 4) { |
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motor_l_set(FORWARD, 255); |
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motor_r_set(FORWARD, 255); |
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return HUNTER_CHASE; |
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} else if (maxBOM == 3) { |
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motor_l_set(FORWARD, 255); |
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motor_r_set(FORWARD, 240); |
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return HUNTER_CHASE; |
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} else if (maxBOM == 5) { |
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motor_l_set(FORWARD, 240); |
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motor_r_set(FORWARD, 255); |
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return HUNTER_CHASE; |
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} else if (maxBOM < 3) { |
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motor_l_set(FORWARD, 255); |
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motor_r_set(FORWARD, 170); |
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return HUNTER_CHASE; |
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} else if (maxBOM > 5 && maxBOM <= 8) { |
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motor_l_set(FORWARD, 170); |
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motor_r_set(FORWARD, 255); |
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return HUNTER_CHASE; |
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} else if (maxBOM > 8 && maxBOM < 12) { |
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motor_l_set(BACKWARD, 255); |
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motor_r_set(FORWARD, 255); |
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return HUNTER_CHASE; |
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} else { |
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motor_l_set(FORWARD, 255); |
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motor_r_set(BACKWARD, 255); |
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return HUNTER_CHASE; |
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} |
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break; |
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default: |
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return HUNTER_SPIRAL; |
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break; |
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|
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} |
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return hunter_state; |
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|
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} |
demos/hunter_prey_john/behavior/hunter_prey.c | ||
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#include "hunter_prey.h" |
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#include <dragonfly_lib.h> |
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|
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#define TAG_TIME 3 |
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#define TAG_RANGE 150 |
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|
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7 |
/**** This file should not be edited! ****/ |
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8 |
|
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9 |
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/* |
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* The criteria for tagging are the following: |
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12 |
* * The max bom is betweed 1 and 7 |
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* * The front rangefinder reads less than TAG_RANGE |
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* * -1 values from the rangefinder are ignored |
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* * These conditions are met across TAG_TIME calls to this function |
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*/ |
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|
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18 |
unsigned char hunter_prey_tagged(int max_bom, int frontRange) { |
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19 |
|
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static int onTarget = 0; |
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|
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22 |
if(max_bom < 7 && max_bom > 1 && frontRange > 0 && frontRange < TAG_RANGE) { |
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if(onTarget == 0) { |
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onTarget = TAG_TIME; |
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25 |
usb_puts("On target!\n"); |
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} |
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else { |
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28 |
if(--onTarget <= 0) { |
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onTarget = 0; |
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usb_puts("TAG!\n"); |
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31 |
return 1; |
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} |
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} |
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} |
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else{ |
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36 |
//don't reset onTarget because the robot got too close |
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37 |
if(frontRange > 0) |
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onTarget = 0; |
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} |
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40 |
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return 0; |
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|
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} |
demos/hunter_prey_john/behavior/hunter_prey.h | ||
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1 |
#ifndef _HUNTER_PREY_H |
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2 |
#define _HUNTER_PREY_H |
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|
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4 |
#include <inttypes.h> |
|
5 |
|
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6 |
/**** This file should not be edited! ****/ |
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7 |
|
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8 |
/* |
|
9 |
* The packet structure is 2 bytes |
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10 |
* byte 0 is the action, which is one of the values below |
|
11 |
* byte 1 is the robot id |
|
12 |
*/ |
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13 |
|
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14 |
#define HUNTER_PREY_ACTION_TAG 'T' |
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15 |
#define HUNTER_PREY_ACTION_ACK 'A' |
|
16 |
|
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17 |
unsigned char hunter_prey_tagged(int max_bom, int front_rangefinder); |
|
18 |
|
|
19 |
#endif |
demos/hunter_prey_john/lib/include/libdragonfly/motor.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
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 |
**/ |
|
25 |
|
|
26 |
|
|
27 |
/** |
|
28 |
* @file motor.h |
|
29 |
* @brief Contains definitions for controlling the motors |
|
30 |
* |
|
31 |
* Contains definitions and functions for controlling |
|
32 |
* the motors. |
|
33 |
* |
|
34 |
* @author Colony Project, CMU Robotics Club |
|
35 |
* Based on Tom Lauwer's Firefly Library |
|
36 |
**/ |
|
37 |
|
|
38 |
#ifndef _MOTOR_H |
|
39 |
#define _MOTOR_H |
|
40 |
|
|
41 |
#include <avr/io.h> |
|
42 |
/** |
|
43 |
* @addtogroup motors |
|
44 |
* @{ |
|
45 |
**/ |
|
46 |
|
|
47 |
/** @brief make the motors go forwards **/ |
|
48 |
#define FORWARD 1 |
|
49 |
/** @brief make the motors go backwards **/ |
|
50 |
#define BACKWARD 0 |
|
51 |
|
|
52 |
/** @brief Initialize the motors **/ |
|
53 |
void motors_init(void); |
|
54 |
/** @brief Set speed and direction of motor1 |
|
55 |
* @deprecated use the left motor function instead. it's more intuitive and easier to read.**/ |
|
56 |
void motor1_set(int direction, int speed); |
|
57 |
/** @brief Set speed and direction of motor2 |
|
58 |
* @deprecated use the right motor function instead. it's more intuitive and easier to read.**/ |
|
59 |
void motor2_set(int direction, int speed); |
|
60 |
/** @brief Set speed and direction of left motor **/ |
|
61 |
void motor_l_set(int direction, int speed); |
|
62 |
/** @brief Set speed and direction of right motor **/ |
|
63 |
void motor_r_set(int direction, int speed); |
|
64 |
/** @brief Turn the motors off **/ |
|
65 |
void motors_off(void); |
|
66 |
|
|
67 |
/**@}**/ // end addtogroup |
|
68 |
|
|
69 |
#endif |
|
70 |
|
demos/hunter_prey_john/lib/include/libdragonfly/analog.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
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 |
**/ |
|
25 |
|
|
26 |
/** |
|
27 |
* |
|
28 |
* @file analog.h |
|
29 |
* @brief Contains functions and definitions for using the ADC |
|
30 |
* |
|
31 |
* Contains definitions and function prototypes for using the |
|
32 |
* ADC to detect analog signals on pins AN0 - AN7. |
|
33 |
* AN6 and AN7 are used for the wheel and battery. |
|
34 |
|
|
35 |
* The pins labeled E6 and E7 are external interrupt pins and are not related |
|
36 |
* to analog. |
|
37 |
|
|
38 |
* @author Colony Project, CMU Robotics Club, based on firefly |
|
39 |
* originally taken from fwr analog file (author: Tom Lauwers) |
|
40 |
* loop code written by Kevin Woo and James Kong |
|
41 |
*/ |
|
42 |
|
|
43 |
#ifndef _ANALOG_H |
|
44 |
#define _ANALOG_H |
|
45 |
|
|
46 |
#include <inttypes.h> |
|
47 |
|
|
48 |
/** |
|
49 |
* @addtogroup analog |
|
50 |
* @{ |
|
51 |
**/ |
|
52 |
|
|
53 |
/** @brief Analog port 0 **/ |
|
54 |
#define AN0 0x00 |
|
55 |
/** @brief Analog port 1 **/ |
|
56 |
#define AN1 0x01 |
|
57 |
/** @brief Analog port 2 **/ |
|
58 |
#define AN2 0x02 |
|
59 |
/** @brief Analog port 3 **/ |
|
60 |
#define AN3 0x03 |
|
61 |
/** @brief Analog port 4 **/ |
|
62 |
#define AN4 0x04 |
|
63 |
/** @brief Analog port 5 **/ |
|
64 |
#define AN5 0x05 |
|
65 |
/** @brief Analog port 6 **/ |
|
66 |
#define AN6 0x06 |
|
67 |
/** @brief Analog port 7 **/ |
|
68 |
#define AN7 0x07 |
|
69 |
/** @brief Analog port 8 **/ |
|
70 |
#define AN8 0x08 |
|
71 |
/** @brief Analog port 9 **/ |
|
72 |
#define AN9 0x09 |
|
73 |
/** @brief Analog port 10 **/ |
|
74 |
#define AN10 0x0A |
|
75 |
/** @brief Analog port 11 **/ |
|
76 |
#define AN11 0x0B |
|
77 |
/** @brief Analog port 12 **/ |
|
78 |
#define AN12 0x0C |
|
79 |
/** @brief Analog port 13 **/ |
|
80 |
#define AN13 0x0D |
|
81 |
/** @brief Analog port 14 **/ |
|
82 |
#define AN14 0x0E |
|
83 |
/** @brief Analog port 15 **/ |
|
84 |
#define AN15 0x0F |
|
85 |
|
|
86 |
/** @brief BOM_PORT analog port for BOM **/ |
|
87 |
#define BOM_PORT AN0 |
|
88 |
/** @brief EXT_MUX analog port **/ |
|
89 |
#define EXT_MUX AN7 |
|
90 |
/** @brief Analog port for the wheel **/ |
|
91 |
#define WHEEL_PORT AN10 |
|
92 |
/** @brief Analog port for the battery voltage detector **/ |
|
93 |
#define BATT_PORT AN11 |
|
94 |
|
|
95 |
/** @brief Analog loop status. ADC conversion running. **/ |
|
96 |
#define ADC_LOOP_RUNNING 1 |
|
97 |
/** @brief Analog loop status. No ADC conversion running.**/ |
|
98 |
#define ADC_LOOP_STOPPED 0 |
|
99 |
|
|
100 |
/** @brief Analog init parameter. Start the analog loop. **/ |
|
101 |
#define ADC_START 1 |
|
102 |
/** @brief Analog init parameter. Don't start the analog loop. **/ |
|
103 |
#define ADC_STOP 0 |
|
104 |
|
|
105 |
#define ADMUX_OPT 0x60 |
|
106 |
|
|
107 |
/** @brief Struct to hold the value of a particular analog port **/ |
|
108 |
typedef struct { |
|
109 |
uint8_t adc8; |
|
110 |
uint16_t adc10; |
|
111 |
} adc_t; |
|
112 |
|
|
113 |
|
|
114 |
/** @brief Initialize analog ports. Will start running a loop |
|
115 |
if start_conversion is ADC_START.**/ |
|
116 |
void analog_init(int start_conversion); |
|
117 |
/** @brief starts the analog loop. Doesn't do anything if the loop is already running. **/ |
|
118 |
void analog_start_loop(void); |
|
119 |
/** @brief Stops the analog loop. Doesn't do anything if the loop is already stopped. **/ |
|
120 |
void analog_stop_loop(void); |
|
121 |
/** @brief Returns the status of the analog loop. **/ |
|
122 |
int analog_loop_status(void); |
|
123 |
/** @brief Returns an 8-bit analog value from the look up table. Use this instead of analog_get8. **/ |
|
124 |
unsigned int analog8(int which); |
|
125 |
/** @brief Returns an 10-bit analog value from the look up table. Use this instead of analog_get10. **/ |
|
126 |
unsigned int analog10(int which); |
|
127 |
/** @brief Read the position of the wheel. **/ |
|
128 |
int wheel(void); |
|
129 |
/** @brief Read an 8-bit number from an analog port. Loop must be stopped for this to work. **/ |
|
130 |
unsigned int analog_get8(int which); |
|
131 |
/** @brief Read a 10-bit number from an analog port. Loop must be stopped for this to work. **/ |
|
132 |
unsigned int analog_get10(int which); |
|
133 |
|
|
134 |
|
|
135 |
/**@}**/ //end group |
|
136 |
|
|
137 |
#endif |
|
138 |
|
demos/hunter_prey_john/lib/include/libdragonfly/encoders.h | ||
---|---|---|
1 |
/** |
|
2 |
* |
|
3 |
* @file encoders.h |
|
4 |
* @brief Contains functions for reading encoder values. |
|
5 |
* |
|
6 |
* Contains high and low level functions for reading encoders |
|
7 |
* including reading out total distance covered, and |
|
8 |
* eventually velocity. |
|
9 |
* |
|
10 |
* @author Colony Project, CMU Robotics Club |
|
11 |
*/ |
|
12 |
|
|
13 |
/** |
|
14 |
* @addtogroup encoders |
|
15 |
* @{ |
|
16 |
**/ |
|
17 |
|
|
18 |
#ifndef __ENCODERS_H__ |
|
19 |
#define __ENCODERS_H__ |
|
20 |
|
|
21 |
|
|
22 |
#ifndef LEFT |
|
23 |
/** @brief Left wheel **/ |
|
24 |
#define LEFT 0 |
|
25 |
#endif |
|
26 |
#ifndef RIGHT |
|
27 |
/** @brief Right wheel **/ |
|
28 |
#define RIGHT 1 |
|
29 |
#endif |
|
30 |
|
|
31 |
/** @brief Max value of valid encoder reading. **/ |
|
32 |
#define ENCODER_MAX 1024 |
|
33 |
|
|
34 |
/** @brief Magnet misaligned - likely distance from encoder problem. **/ |
|
35 |
#define ENCODER_MAGNET_FAILURE 1025 |
|
36 |
/** @brief Encoder misaligned - likely on XY plane. **/ |
|
37 |
#define ENCODER_MISALIGNED 1027 |
|
38 |
/** @brief Not enough time has passed - encoders not initialized in hardware. **/ |
|
39 |
#define ENCODER_DATA_NOT_READY 1026 |
|
40 |
|
|
41 |
/** @brief delay_ms argument after a full read is complete **/ |
|
42 |
#define ENCODER_DELAY 20 |
|
43 |
|
|
44 |
//Data invalid flags (hardware failure): |
|
45 |
#define OCF _BV(4) |
|
46 |
#define COF _BV(3) |
|
47 |
|
|
48 |
//Data invalid alarm (May be invalid): |
|
49 |
#define LIN _BV(2) |
|
50 |
|
|
51 |
#define MagINCn _BV(1) |
|
52 |
#define MagDECn _BV(0) |
|
53 |
|
|
54 |
/** @brief Buffer size **/ |
|
55 |
#define BUFFER_SIZE 46 |
|
56 |
|
|
57 |
#define ERR_VEL 1024 |
|
58 |
|
|
59 |
/** @brief Initialize encoders. **/ |
|
60 |
void encoders_init(void); |
|
61 |
/** @brief Read instantaneous encoder value. **/ |
|
62 |
int encoder_read(char encoder); |
|
63 |
|
|
64 |
/** @brief Get total distance traveled. |
|
65 |
* @note Simply calls encoder_get_dx. |
|
66 |
**/ |
|
67 |
int encoder_get_x(char encoder); |
|
68 |
|
|
69 |
/** @brief Get instantaneous velocity. **/ |
|
70 |
int encoder_get_v(char encoder); |
|
71 |
|
|
72 |
/** @brief Get total distance traveled. **/ |
|
73 |
int encoder_get_dx(char encoder); |
|
74 |
/** @brief Reset distance counter. **/ |
|
75 |
void encoder_rst_dx(char encoder); |
|
76 |
/** @brief Get time count: The number of encoder reads that have occurred. **/ |
|
77 |
int encoder_get_tc(void); |
|
78 |
/** @brief Reset the time count. **/ |
|
79 |
void encoder_rst_tc(void); |
|
80 |
|
|
81 |
/** @brief Waits for the next n encoder reading, then returns. **/ |
|
82 |
void encoder_wait( int nReadings ); |
|
83 |
|
|
84 |
/**@}**/ //end group |
|
85 |
|
|
86 |
#endif |
demos/hunter_prey_john/lib/include/libdragonfly/lcd.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
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 |
**/ |
|
25 |
|
|
26 |
|
|
27 |
/** |
|
28 |
* @file lcd.h |
|
29 |
* @brief Contains definitions for dealing with the LCD screen. |
|
30 |
* |
|
31 |
* Contains definitions and functions for dealing with the |
|
32 |
* LCD screen. |
|
33 |
* |
|
34 |
* @author Colony Project, CMU Robotics Club |
|
35 |
**/ |
|
36 |
|
|
37 |
#ifndef _LCD_H_ |
|
38 |
#define _LCD_H_ |
|
39 |
|
|
40 |
/** |
|
41 |
* @addtogroup lcd |
|
42 |
* @{ |
|
43 |
**/ |
|
44 |
|
|
45 |
/** @brief Initialize the LCD screen **/ |
|
46 |
void lcd_init(void); |
|
47 |
/** @brief Clear the LCD screen **/ |
|
48 |
void lcd_clear_screen( void ); |
|
49 |
/** @brief Print a char to the LCD screen **/ |
|
50 |
void lcd_putc(char c); |
|
51 |
/** @brief Print a string to the LCD screen **/ |
|
52 |
void lcd_puts(char *s); |
|
53 |
/** @brief Print an int to the LCD screen **/ |
|
54 |
void lcd_puti(int value); |
|
55 |
/** @brief Set the current cursor position **/ |
|
56 |
void lcd_gotoxy(int x, int y); |
|
57 |
|
|
58 |
/** @} **/ |
|
59 |
|
|
60 |
#endif |
|
61 |
|
demos/hunter_prey_john/lib/include/libdragonfly/odometry.h | ||
---|---|---|
1 |
|
|
2 |
/** |
|
3 |
* @file odometry.h |
|
4 |
* @brief Code for estimating the robots pose. |
|
5 |
* |
|
6 |
* Offers simple position and orientation information. |
|
7 |
* |
|
8 |
* @author Colony Project, CMU Robotics Club |
|
9 |
**/ |
|
10 |
|
|
11 |
#ifndef __ODOMETRY_C__ |
|
12 |
#define __ODOMETRY_C__ |
|
13 |
|
|
14 |
/** |
|
15 |
* @addtogroup odometry |
|
16 |
* @{ |
|
17 |
**/ |
|
18 |
|
|
19 |
//Odometry resolution, *64 microseconds. |
|
20 |
#define ODOMETRY_CLK 255u |
|
21 |
#define TIME_SCALE 64 |
|
22 |
|
|
23 |
//Wheel = 2.613 in. |
|
24 |
//Circumference = 208.508133 mm |
|
25 |
//Distance per encoder click (circumference / 1024) = 203.621224 um. |
|
26 |
//Robot width = 5.3745 in. = 136.5123 mm |
|
27 |
|
|
28 |
#define ROBOT_WIDTH_UM 137000 //um |
|
29 |
#define CLICK_DISTANCE_UM 204 //um |
|
30 |
|
|
31 |
#define DISTANCE_SCALE 2.10526316 //Magic constant. |
|
32 |
#define ANGLE_SCALE 1.12823207 //Magic constant. |
|
33 |
|
|
34 |
/** @brief Retrieve the robots estimated x position*/ |
|
35 |
long odometry_dx(void); |
|
36 |
|
|
37 |
/** @brief Retrieve the robots estimated y position*/ |
|
38 |
long odometry_dy(void); |
|
39 |
|
|
40 |
/** @brief Retrieve the robots estimated orientation*/ |
|
41 |
double odometry_angle(void); |
|
42 |
|
|
43 |
/** @brief Initialize odometry. MUST be called before |
|
44 |
* the other functions work.**/ |
|
45 |
void odometry_init(void); |
|
46 |
|
|
47 |
/** @brief Reset position and orientation to the origin facing |
|
48 |
* the x axis.*/ |
|
49 |
void odometry_reset(void); |
|
50 |
|
|
51 |
/** @brief Report estimated velocity [mm/s].*/ |
|
52 |
long odometry_velocity(void); |
|
53 |
|
|
54 |
/**@}**/ //end group |
|
55 |
|
|
56 |
#endif |
demos/hunter_prey_john/lib/include/libdragonfly/move.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
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 |
**/ |
|
25 |
|
|
26 |
|
|
27 |
/** |
|
28 |
* @file move.h |
|
29 |
* @brief Contains definitions for controlling robot motion |
|
30 |
* |
|
31 |
* This file offers higher-level functions for robot motion. |
|
32 |
* |
|
33 |
* @author Colony Project, CMU Robotics Club |
|
34 |
**/ |
|
35 |
|
|
36 |
#ifndef _MOVE_H_ |
|
37 |
#define _MOVE_H_ |
|
38 |
|
|
39 |
/** |
|
40 |
* @addtogroup move |
|
41 |
* @{ |
|
42 |
**/ |
|
43 |
|
|
44 |
/** @brief Move forwards **/ |
|
45 |
#define FWD 0 |
|
46 |
/** @brief Move backwards **/ |
|
47 |
#define BCK 1 |
|
48 |
|
|
49 |
/** @brief A slow speed **/ |
|
50 |
#define SLOW_SPD 96 |
|
51 |
/** @brief Half of the full speed **/ |
|
52 |
#define HALF_SPD 128 |
|
53 |
/** @brief A normal speed **/ |
|
54 |
#define NRML_SPD 160 |
|
55 |
/** @brief A fast speed **/ |
|
56 |
#define FAST_SPD 192 |
|
57 |
/** @brief The maximum speed **/ |
|
58 |
#define FULL_SPD 255 |
|
59 |
|
|
60 |
/** @brief A slow turning speed **/ |
|
61 |
#define SLOW_TURN 64 |
|
62 |
/** @brief A medium turning speed **/ |
|
63 |
#define NRML_TURN 96 |
|
64 |
/** @brief A high turning speed **/ |
|
65 |
#define FAST_TURN 128 |
|
66 |
|
|
67 |
/** @brief Move the robot at the specified velocity **/ |
|
68 |
void move(int velocity, int omega); |
|
69 |
/** @brief Move the robot while avoiding obstacles **/ |
|
70 |
void move_avoid(int velocity, int omega, int strength); |
|
71 |
|
|
72 |
/** @} **/ |
|
73 |
|
|
74 |
#endif |
|
75 |
|
demos/hunter_prey_john/lib/include/libdragonfly/battery.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
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 |
**/ |
|
25 |
|
|
26 |
|
|
27 |
/** |
|
28 |
* @file battery.h |
|
29 |
* @brief Definitions for checking battery voltage. |
|
30 |
* |
|
31 |
* Contains definitions for checking the voltage of the |
|
32 |
* battery. |
|
33 |
* |
|
34 |
* @author Colony Project, CMU Robotics Club |
|
35 |
**/ |
|
36 |
|
|
37 |
#ifndef _BATTERY_H_ |
|
38 |
#define _BATTERY_H_ |
|
39 |
|
|
40 |
/** |
|
41 |
* @addtogroup battery |
|
42 |
* @{ |
|
43 |
**/ |
|
44 |
|
|
45 |
/** @brief Normal battery voltage. (6 V) **/ |
|
46 |
#define BATTERY_NORMALV 154 |
|
47 |
/** @brief Charging battery voltage. (7 V) **/ |
|
48 |
#define BATTERY_CHARINGV 179 |
|
49 |
/** @brief Low battery voltage. ( < 6 V) **/ |
|
50 |
#define BATTERY_LOWV 152 |
|
51 |
|
|
52 |
/** @brief Read the battery voltage. **/ |
|
53 |
int battery8(void); |
|
54 |
/** @brief Read the battery voltage in deciVolts. **/ |
|
55 |
int battery(void); |
|
56 |
/** @brief Check if the battery is low. **/ |
|
57 |
char battery_low(void); |
|
58 |
/** @brief Get an average battery voltage reading. **/ |
|
59 |
int battery8_avg(int n_samples); |
|
60 |
|
|
61 |
/** @} **/ //end addtogroup |
|
62 |
|
|
63 |
#endif |
|
64 |
|
demos/hunter_prey_john/lib/include/libdragonfly/dio.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
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 |
**/ |
|
25 |
|
|
26 |
|
|
27 |
/** |
|
28 |
* @file dio.h |
|
29 |
* @brief Definitions for digital input / output |
|
30 |
* |
|
31 |
* This file contains definitions and functions for dealing |
|
32 |
* with digital input and output. |
|
33 |
* |
|
34 |
* @author Colony Project, CMU Robotics Club |
|
35 |
* Based on Tom Lauwer's Firefly Library |
|
36 |
**/ |
|
37 |
|
|
38 |
#ifndef _DIO_H |
|
39 |
#define _DIO_H |
|
40 |
|
|
41 |
/* |
|
42 |
these are ALL the pins |
|
43 |
don't use unless you know what you're doing |
|
44 |
*/ |
|
45 |
|
|
46 |
/* |
|
47 |
DIO pins on new dragonfly boards are shown below: |
|
48 |
----------------------------------------------- |
|
49 |
| _PIN_E6 | _PIN_E7 | _PIN_D2 | _PIN_D3 | VCC | |
|
50 |
----------------------------------------------- |
|
51 |
| _PIN_E2 | _PIN_E3 | _PIN_E4 | _PIN_E5 | GND | |
|
52 |
----------------------------------------------- |
|
53 |
*/ |
|
54 |
|
|
55 |
/** @brief Port A **/ |
|
56 |
#define _PORT_A 1 |
|
57 |
/** @brief Port B **/ |
|
58 |
#define _PORT_B 2 |
|
59 |
/** @brief Port C **/ |
|
60 |
#define _PORT_C 3 |
|
61 |
/** @brief Port D **/ |
|
62 |
#define _PORT_D 4 |
|
63 |
/** @brief Port E **/ |
|
64 |
#define _PORT_E 5 |
|
65 |
/** @brief Port F **/ |
|
66 |
#define _PORT_F 6 |
|
67 |
/** @brief Port G **/ |
|
68 |
#define _PORT_G 7 |
|
69 |
|
|
70 |
/** @brief Pin A0 **/ |
|
71 |
#define _PIN_A0 8 |
|
72 |
/** @brief Pin A1 **/ |
|
73 |
#define _PIN_A1 9 |
|
74 |
/** @brief Pin A2 **/ |
|
75 |
#define _PIN_A2 10 |
|
76 |
/** @brief Pin A3 **/ |
|
77 |
#define _PIN_A3 11 |
|
78 |
/** @brief Pin A4 **/ |
|
79 |
#define _PIN_A4 12 |
|
80 |
/** @brief Pin A5 **/ |
|
81 |
#define _PIN_A5 13 |
|
82 |
/** @brief Pin A6 **/ |
|
83 |
#define _PIN_A6 14 |
|
84 |
/** @brief Pin A7 **/ |
|
85 |
#define _PIN_A7 15 |
|
86 |
|
|
87 |
/** @brief Pin B0 **/ |
|
88 |
#define _PIN_B0 16 |
|
89 |
/** @brief Pin B1 **/ |
|
90 |
#define _PIN_B1 17 |
|
91 |
/** @brief Pin B2 **/ |
|
92 |
#define _PIN_B2 18 |
|
93 |
/** @brief Pin B3 **/ |
|
94 |
#define _PIN_B3 19 |
|
95 |
/** @brief Pin B4 **/ |
|
96 |
#define _PIN_B4 20 |
|
97 |
/** @brief Pin B5 **/ |
|
98 |
#define _PIN_B5 21 |
|
99 |
/** @brief Pin B6 **/ |
|
100 |
#define _PIN_B6 22 |
|
101 |
/** @brief Pin B7 **/ |
|
102 |
#define _PIN_B7 23 |
|
103 |
|
|
104 |
/** @brief Pin C0 **/ |
|
105 |
#define _PIN_C0 24 |
|
106 |
/** @brief Pin C1 **/ |
|
107 |
#define _PIN_C1 25 |
|
108 |
/** @brief Pin C2 **/ |
|
109 |
#define _PIN_C2 26 |
|
110 |
/** @brief Pin C3 **/ |
|
111 |
#define _PIN_C3 27 |
|
112 |
/** @brief Pin C4 **/ |
|
113 |
#define _PIN_C4 28 |
|
114 |
/** @brief Pin C5 **/ |
|
115 |
#define _PIN_C5 29 |
|
116 |
/** @brief Pin C6 **/ |
|
117 |
#define _PIN_C6 30 |
|
118 |
/** @brief Pin C7 **/ |
|
119 |
#define _PIN_C7 31 |
|
120 |
|
|
121 |
/** @brief Pin D0 **/ |
|
122 |
#define _PIN_D0 32 // pin DIO6 on new dragonfly boards |
|
123 |
/** @brief Pin D1 **/ |
|
124 |
#define _PIN_D1 33 // pin DIO7 |
|
125 |
/** @brief Pin D2 **/ |
|
126 |
#define _PIN_D2 34 |
|
127 |
/** @brief Pin D3 **/ |
|
128 |
#define _PIN_D3 35 |
|
129 |
/** @brief Pin D4 **/ |
|
130 |
#define _PIN_D4 36 |
|
131 |
/** @brief Pin D5 **/ |
|
132 |
#define _PIN_D5 37 |
|
133 |
/** @brief Pin D6 **/ |
|
134 |
#define _PIN_D6 38 |
|
135 |
/** @brief Pin D7 **/ |
|
136 |
#define _PIN_D7 39 |
|
137 |
|
|
138 |
/** @brief Pin E0 **/ |
|
139 |
#define _PIN_E0 40 |
|
140 |
/** @brief Pin E1 **/ |
|
141 |
#define _PIN_E1 41 |
|
142 |
/** @brief Pin E2 **/ |
|
143 |
#define _PIN_E2 42 // pin DIO0 |
|
144 |
/** @brief Pin E3 **/ |
|
145 |
#define _PIN_E3 43 // pin DIO1 |
|
146 |
/** @brief Pin E4 **/ |
|
147 |
#define _PIN_E4 44 // pin DIO2 |
|
148 |
/** @brief Pin E5 **/ |
|
149 |
#define _PIN_E5 45 // pin DIO3 |
|
150 |
/** @brief Pin E6 **/ |
|
151 |
#define _PIN_E6 46 // pin DIO4 |
|
152 |
/** @brief Pin E7 **/ |
|
153 |
#define _PIN_E7 47 // pin DIO5 |
|
154 |
|
|
155 |
/** @brief Pin F0 **/ |
|
156 |
#define _PIN_F0 48 |
|
157 |
/** @brief Pin F1 **/ |
|
158 |
#define _PIN_F1 49 |
|
159 |
/** @brief Pin F2 **/ |
|
160 |
#define _PIN_F2 50 |
|
161 |
/** @brief Pin F3 **/ |
|
162 |
#define _PIN_F3 51 |
|
163 |
/** @brief Pin F4 **/ |
|
164 |
#define _PIN_F4 52 |
|
165 |
/** @brief Pin F5 **/ |
|
166 |
#define _PIN_F5 53 |
|
167 |
/** @brief Pin F6 **/ |
|
168 |
#define _PIN_F6 54 |
|
169 |
/** @brief Pin F7 **/ |
|
170 |
#define _PIN_F7 55 |
|
171 |
|
|
172 |
/** @brief Pin G0 **/ |
|
173 |
#define _PIN_G0 56 |
|
174 |
/** @brief Pin WR **/ |
|
175 |
#define _PIN_WR 56 |
|
176 |
/** @brief Pin G1 **/ |
|
177 |
#define _PIN_G1 57 |
|
178 |
/** @brief Pin RD **/ |
|
179 |
#define _PIN_RD 57 |
|
180 |
/** @brief Pin G2 **/ |
|
181 |
#define _PIN_G2 58 |
|
182 |
/** @brief Pin ALE **/ |
|
183 |
#define _PIN_ALE 58 |
|
184 |
/** @brief Pin G3 **/ |
|
185 |
#define _PIN_G3 59 |
|
186 |
/** @brief Pin TOSC2 **/ |
|
187 |
#define _PIN_TOSC2 59 |
|
188 |
/** @brief Pin G4 **/ |
|
189 |
#define _PIN_G4 60 |
|
190 |
/** @brief Pin TOSC1 **/ |
|
191 |
#define _PIN_TOSC1 60 |
|
192 |
//#define _PIN_G5 61 |
|
193 |
//#define _PIN_G6 62 |
|
194 |
//#define _PIN_G7 63 |
|
195 |
|
|
196 |
/* |
|
197 |
These are the header pins (the ones you can connect things to) |
|
198 |
Feel free to use these |
|
199 |
*/ |
|
200 |
|
|
201 |
/** |
|
202 |
* @addtogroup dio |
|
203 |
* @{ |
|
204 |
**/ |
|
205 |
/** @brief Pin A0 **/ |
|
206 |
#define PIN_A0 8 |
|
207 |
/** @brief Pin A1 **/ |
|
208 |
#define PIN_A1 9 |
|
209 |
/** @brief Pin A2 **/ |
|
210 |
#define PIN_A2 10 |
|
211 |
/** @brief Pin A3 **/ |
|
212 |
#define PIN_A3 11 |
|
213 |
/** @brief Pin A4 **/ |
|
214 |
#define PIN_A4 12 |
|
215 |
/** @brief Pin A5 **/ |
|
216 |
#define PIN_A5 13 |
|
217 |
/** @brief Pin A6 **/ |
|
218 |
#define PIN_A6 14 |
|
219 |
/** @brief Pin A7 **/ |
|
220 |
#define PIN_A7 15 |
|
221 |
|
|
222 |
/** @brief Pin SS **/ |
|
223 |
#define PIN_SS 16 |
|
224 |
/** @brief Pin SCK **/ |
|
225 |
#define PIN_SCK 17 |
|
226 |
/** @brief Pin MOSI **/ |
|
227 |
#define PIN_MOSI 18 |
|
228 |
/** @brief Pin MISO **/ |
|
229 |
#define PIN_MISO 19 |
|
230 |
/** @brief LCD Command Pin **/ |
|
231 |
#define PIN_LCD_COMMAND 20 |
|
232 |
|
|
233 |
/** @brief Pin C0 **/ |
|
234 |
#define PIN_C0 24 |
|
235 |
/** @brief Pin C1 **/ |
|
236 |
#define PIN_C1 25 |
|
237 |
/** @brief Pin C2 **/ |
|
238 |
#define PIN_C2 26 |
|
239 |
/** @brief Pin C3 **/ |
|
240 |
#define PIN_C3 27 |
|
241 |
/** @brief Pin C4 **/ |
|
242 |
#define PIN_C4 28 |
|
243 |
/** @brief Pin C5 **/ |
|
244 |
#define PIN_C5 29 |
|
245 |
/** @brief Pin C6 **/ |
|
246 |
#define PIN_C6 30 |
|
247 |
/** @brief Pin C7 **/ |
|
248 |
#define PIN_C7 31 |
|
249 |
|
|
250 |
/** @brief Pin SCL **/ |
|
251 |
#define PIN_SCL 32 |
|
252 |
/** @brief Pin SDA **/ |
|
253 |
#define PIN_SDA 33 |
|
254 |
|
|
255 |
/** @brief Pin RX0 **/ |
|
256 |
#define PIN_RX0 40 |
|
257 |
/** @brief Pin TX0 **/ |
|
258 |
#define PIN_TX0 41 |
|
259 |
/** @brief LCD Reset Pin **/ |
|
260 |
#define PIN_LCD_RESET 42 |
|
261 |
/** @brief Pin E6 **/ |
|
262 |
#define PIN_E6 46 |
|
263 |
/** @brief Pin EXT_DIO1 **/ |
|
264 |
#define PIN_EXT_DIO1 46 |
|
265 |
/** @brief Pin E7 **/ |
|
266 |
#define PIN_E7 47 |
|
267 |
/** @brief Pin EXT_DIO2 **/ |
|
268 |
#define PIN_EXT_DIO2 48 |
|
269 |
|
|
270 |
/** @brief Pin AN0 **/ |
|
271 |
#define PIN_AN0 48 |
|
272 |
/** @brief Pin ADC0 **/ |
|
273 |
#define PIN_ADC0 48 |
|
274 |
/** @brief Pin AN1 **/ |
|
275 |
#define PIN_AN1 49 |
|
276 |
/** @brief Pin ADC1 **/ |
|
277 |
#define PIN_ADC1 49 |
|
278 |
/** @brief Pin AN2 **/ |
|
279 |
#define PIN_AN2 50 |
|
280 |
/** @brief Pin ADC2 **/ |
|
281 |
#define PIN_ADC2 50 |
|
282 |
/** @brief Pin AN3 **/ |
|
283 |
#define PIN_AN3 51 |
|
284 |
/** @brief Pin ADC3 **/ |
|
285 |
#define PIN_ADC3 51 |
|
286 |
/** @brief Pin AN4 **/ |
|
287 |
#define PIN_AN4 52 |
|
288 |
/** @brief Pin ADC4 **/ |
|
289 |
#define PIN_ADC4 52 |
|
290 |
/** @brief Pin AN5 **/ |
|
291 |
#define PIN_AN5 53 |
|
292 |
/** @brief Pin ADC5 **/ |
|
293 |
#define PIN_ADC5 53 |
|
294 |
/** @brief Pin AN6 **/ |
|
295 |
#define PIN_AN6 54 |
|
296 |
/** @brief Pin ADC6 **/ |
|
297 |
#define PIN_ADC6 54 |
|
298 |
/** @brief Pin AN7 **/ |
|
299 |
#define PIN_AN7 55 |
|
300 |
/** @brief Pin ADC7 **/ |
|
301 |
#define PIN_ADC7 55 |
|
302 |
|
|
303 |
/** @brief Wheel Pin **/ |
|
304 |
#define PIN_WHEEL 54 |
|
305 |
/** @brief Battery Voltage Monitor Pin **/ |
|
306 |
#define PIN_BATT 55 |
|
307 |
|
|
308 |
/** @brief button1 Pin **/ |
|
309 |
#define PIN_BTN1 56 |
|
310 |
/** @brief button2 Pin **/ |
|
311 |
#define PIN_BTN2 57 |
|
312 |
|
|
313 |
/** @brief LED1 Pin **/ |
|
314 |
#define PIN_LED1 58 |
|
315 |
|
|
316 |
/* Buttons */ |
|
317 |
/** @brief Button Pin **/ |
|
318 |
#define PIN_BTN PING |
|
319 |
/** @brief button2 Pin **/ |
|
320 |
#define BTN2 PING1 |
|
321 |
/** @brief button1 Pin **/ |
|
322 |
#define BTN1 PING0 |
|
323 |
|
|
324 |
/** @brief Read a portpin. **/ |
|
325 |
int digital_input(int); |
|
326 |
/** @brief Output to a portpin. **/ |
|
327 |
void digital_output(int bit, int val); |
|
328 |
/** @brief Pullup a portpin. **/ |
|
329 |
void digital_pull_up(int); |
|
330 |
|
|
331 |
/** @brief Check if button1 is pressed. **/ |
|
332 |
int button1_read( void ); |
|
333 |
/** @brief Check if button1 is clicked. **/ |
|
334 |
int button1_click( void ); |
|
335 |
/** @brief Wait until button1 is pressed. **/ |
|
336 |
void button1_wait( void ); |
|
337 |
|
|
338 |
/** @brief Check if button2 is pressed. **/ |
|
339 |
int button2_read( void ); |
|
340 |
/** @brief Check if button2 is clicked. **/ |
|
341 |
int button2_click( void ); |
|
342 |
/** @brief Wait until button2 is pressed. **/ |
|
343 |
void button2_wait( void ); |
|
344 |
|
|
345 |
/** @} **/ // end addtogroup |
|
346 |
|
|
347 |
#endif |
|
348 |
|
demos/hunter_prey_john/lib/include/libdragonfly/dragonfly_lib.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
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 |
**/ |
|
25 |
|
|
26 |
|
|
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/** |
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* @file dragonfly_lib.h |
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* @brief Contains other include files |
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* |
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* Include this file for all the functionality of libdragonfly. |
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* |
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* @author Colony Project, CMU Robotics Club |
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**/ |
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#ifndef _DRAGONFLY_LIB_H_ |
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#define _DRAGONFLY_LIB_H_ |
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/** |
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* @addtogroup dragonfly |
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* @{ |
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**/ |
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// Configuration definitions |
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/** @brief Initialize analog **/ |
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#define ANALOG 0x01 |
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/** @brief Initialize serial communications **/ |
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#define SERIAL 0x02 |
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/** @brief Initialize USB communications **/ |
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#define USB 0x02 |
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/** @brief Initialize communications **/ |
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#define COMM 0x02 |
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/** @brief Initialize the orb **/ |
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#define ORB 0x04 |
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/** @brief Initialize the motors **/ |
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#define MOTORS 0x08 |
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/** @brief Initialize I2C **/ |
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#define I2C 0x20 |
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/** @brief Initialize the buzzer **/ |
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#define BUZZER 0x40 |
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/** @brief Initialize the LCD screen **/ |
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#define LCD 0x80 |
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/** @brief Initialize the rangefinders **/ |
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#define RANGE 0x0100 |
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/** @brief Initialize the BOM **/ |
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#define BOM 0x0200 |
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/** @brief Initilize encoders **/ |
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#define ENCODERS 0x400 |
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/** @brief Initialize everything **/ |
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#define ALL_ON 0x07FF |
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/** @brief Initialize the board **/ |
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void dragonfly_init(int config); |
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/** @} **/ //end addtogroup |
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