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Revision 1829

Added by John Sexton over 6 years ago

Removed the old hunter_prey_john folder in favor of the new more organized hunter_prey folder.

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demos/hunter_prey_john/behavior/Makefile
1
# this is a local makefile
2

  
3
# Relative path to the root directory (containing lib directory)
4
ifndef COLONYROOT
5
COLONYROOT := ..
6

  
7
# Target file name (without extension).
8
TARGET = main
9

  
10
# Uncomment this to use the wireless library
11
USE_WIRELESS = 1
12

  
13
# com1 = serial port. Use lpt1 to connect to parallel port.
14
AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)
15

  
16
else
17
COLONYROOT := ../$(COLONYROOT)
18
endif
19

  
20
include $(COLONYROOT)/Makefile
demos/hunter_prey_john/behavior/main.c
1
/*
2
 * Hunter-Prey main.c File - Implementation of Hunter-Prey behavior which
3
 * 		uses finite state machines to manage the behavior. A top level
4
 * 		state machine controls the high level behavior switches between
5
 * 		"hunter" and "prey" and manages the wireless communication. Two
6
 * 		additional state machines control the behavior of the robot when
7
 * 		it is in "prey" mode and when it is in "hunter" mode.
8
 *
9
 * Author: John Sexton, Colony Project, CMU Robotics Club
10
 */
11

  
12
#include <dragonfly_lib.h>
13
#include <wl_basic.h>
14
#include "hunter_prey.h"
15
#include "encoders.h"
16

  
17
#define WL_CHANNEL 					24
18

  
19
#define BACK_THRESHOLD 			-1000
20
#define TURN_DIST						1024
21
#define IR_DIST_THRESHOLD		150
22
#define WAIT_DELAY_MS				2000
23

  
24
/* State Macros */
25

  
26
/* Top Level FSM States */
27
#define TOP_INIT						0
28
#define TOP_HUNTER_HUNT			1
29
#define TOP_HUNTER_TAG			2
30
#define TOP_HUNTER_PURSUE		3
31
#define TOP_PREY_AVOID			4
32
#define TOP_HUNTER_WAIT			5
33
#define TOP_ERROR						6
34

  
35
/* Hunter FSM States */
36
#define HUNTER_SPIRAL				0
37
#define HUNTER_CHASE				1
38

  
39
/* Prey FSM States */
40
#define PREY_START_BACK			0
41
#define PREY_BACKING				1
42
#define PREY_TURN						2
43
#define PREY_AVOID					3
44

  
45

  
46
/* Function prototype declarations */
47
int hunter_FSM(int, int, int);
48
int prey_FSM(int);
49

  
50
/* Variables used to receive packets */
51
unsigned char* packet_data;
52
int data_length;
53

  
54
/*  Data buffer used to send packets */
55
char send_buffer[2];
56

  
57
int main(void)
58
{
59

  
60
    /* Initialize dragonfly board */
61
    dragonfly_init(ALL_ON);
62
		xbee_init();
63
		encoders_init();
64

  
65
    /* Initialize the basic wireless library */
66
    wl_basic_init_default();
67

  
68
    /* Set the XBee channel to assigned channel */
69
    wl_set_channel(WL_CHANNEL);
70

  
71

  
72
    /* ****** CODE HERE ******* */
73

  
74
		/* Initialize state machines */
75
		int state = TOP_INIT;
76
		int hunter_state = HUNTER_SPIRAL;
77
		int prey_state = PREY_AVOID;
78

  
79
		int frontIR = 0;
80
		int maxBOM = 0;
81
		int robotID = get_robotid();
82
		int oldTime = 0, curTime = 0;
83

  
84
		while (1) {
85

  
86
			/* Check if we've received a wireless packet */
87
			packet_data = wl_basic_do_default(&data_length);
88

  
89
			/* Top level state machines */
90
			switch(state) {
91

  
92
				case TOP_INIT:
93
					orbs_set_color(RED, GREEN);
94
					delay_ms(500);
95
					orbs_set_color(GREEN, RED);
96
					delay_ms(500);
97

  
98
					/* Allow user to pick the starting behavior */
99
					if (button1_read()) {
100
						state = TOP_PREY_AVOID;
101
						prey_state = PREY_AVOID;
102
					} else {
103
						state = TOP_HUNTER_HUNT;
104
						hunter_state = HUNTER_SPIRAL;
105
					}
106
					break;
107
				case TOP_HUNTER_HUNT:
108
					orbs_set_color(RED, RED);
109

  
110
					if (packet_data && data_length == 2
111
							&& packet_data[0] == HUNTER_PREY_ACTION_ACK) {
112
						/* If we've received an ACK, we need to wait */
113
						state = TOP_HUNTER_WAIT;
114
					} else {
115
						/* Record some sensor readings and check if we can TAG */
116
						bom_refresh(BOM_ALL);
117
						frontIR = range_read_distance(IR2);
118
						maxBOM = get_max_bom();
119
						if (hunter_prey_tagged(maxBOM, frontIR)) {
120
							state = TOP_HUNTER_TAG;
121
						} else {
122
							/* If we haven't tagged, then enter hunter FSM */
123
							hunter_state = hunter_FSM(hunter_state, maxBOM, frontIR);
124
						}
125
					}
126
					break;
127
				case TOP_HUNTER_TAG:
128
					orbs_set_color(RED, PURPLE);
129

  
130
					if (packet_data && data_length == 2
131
							&& packet_data[0] == HUNTER_PREY_ACTION_ACK) {
132
						/* If we've received an ACK, then someone beat us to the TAG and
133
 						 * we need to wait. */
134
						state = TOP_HUNTER_WAIT;
135
					} else {
136
						/* Prepare and send the TAG packet */
137
						send_buffer[0] = HUNTER_PREY_ACTION_TAG;
138
						send_buffer[1] = robotID;
139
						wl_basic_send_global_packet(42, send_buffer, 2);
140

  
141
						/* Record the time so we don't spam a TAG message on the network */
142
						oldTime = rtc_get();
143
						state = TOP_HUNTER_PURSUE;
144
					}
145
					break;
146
				case TOP_HUNTER_PURSUE:
147
					orbs_set_color(RED, BLUE);
148
					curTime = rtc_get();
149
					
150
					if (packet_data && data_length == 2
151
							&& packet_data[0] == HUNTER_PREY_ACTION_ACK) {
152
						/* Check if we've received a new wireless packet */
153

  
154
						if (packet_data[1] == robotID) {
155
							/* We've been ACKed, so we can now become the prey */
156
							state = TOP_PREY_AVOID;
157
							prey_state = PREY_START_BACK;
158
						} else {
159
							/* If we get an ACK with a different robotID, then someone beat us
160
							 * to the TAG, so we must wait */
161
							state = TOP_HUNTER_WAIT;
162
						}
163

  
164
					} else if (curTime - oldTime > 1) {
165
						/* If 1 second has ellapsed, return to normal hunting state (we can
166
						 * TAG again now) */
167
						state = TOP_HUNTER_HUNT;
168
					} else if (oldTime > curTime) {
169
						/* If for some reason the timer overflows, or the wireless library
170
						 * (which is also using the same timer) resets the timer,
171
						 * reinitialize the timer so that we don't wait too long for the
172
						 * timer to catch back up. */
173
						oldTime = curTime;
174
					} else {
175
						/* If no other behavioral changes need to be made, then continue
176
						 * with the hunter FSM where we left off */
177
						bom_refresh(BOM_ALL);
178
						frontIR = range_read_distance(IR2);
179
						maxBOM = get_max_bom();
180
						hunter_state = hunter_FSM(hunter_state, maxBOM, frontIR);
181
					}
182
					break;
183
				case TOP_PREY_AVOID:
184
					orbs_set_color(GREEN, GREEN);
185
					if (packet_data && data_length == 2
186
							&& packet_data[0] == HUNTER_PREY_ACTION_TAG) {
187
						/* Check if we've received a TAG yet. If so then send an ACK back */
188

  
189
						send_buffer[0] = HUNTER_PREY_ACTION_ACK;
190
						send_buffer[1] = packet_data[1];
191
						wl_basic_send_global_packet(42, send_buffer, 2);
192
						
193
						state = TOP_HUNTER_WAIT;
194
					} else {
195
						/* If we haven't received a TAG yet, continue with prey FSM */
196
						bom_on();
197
						prey_state = prey_FSM(prey_state);
198
					}					
199
					break;
200
				case TOP_HUNTER_WAIT:
201
					/* Set orb colors and wait to give the prey the 5 second head start */
202
					orbs_set_color(BLUE, BLUE);
203
					bom_off();
204
					motors_off();
205
					delay_ms(WAIT_DELAY_MS);
206
					state = TOP_HUNTER_HUNT;
207
					hunter_state = HUNTER_SPIRAL;
208
					break;
209
				case TOP_ERROR:
210
				default:
211
					orbs_set_color(PURPLE, PURPLE);
212
					state = TOP_ERROR;
213
					while(1);
214
					break;
215
			}
216

  
217
		}
218

  
219
    /* ****** END HERE ******* */
220

  
221
    while(1);
222

  
223
    return 0;
224

  
225
}
226

  
227

  
228
/*
229
 * prey_FSM - Prey finite state machine which starts by backing away, turning,
230
 * 		and then running and avoiding obstacles.
231
 *
232
 * Arguments:
233
 * 	prey_state - Current prey state.
234
 *
235
 * returns - The new state of the prey state machine.
236
 */
237

  
238
int prey_FSM(int prey_state) {
239

  
240
	/* Variable to store the front rangefinder readings */
241
	int rangeVals[3] = {0, 0, 0};
242

  
243
	switch (prey_state) {
244

  
245
		case PREY_START_BACK:
246
			motor_l_set(BACKWARD, 255);
247
			motor_r_set(BACKWARD, 255);
248
			encoder_rst_dx(LEFT);
249
			encoder_rst_dx(RIGHT);
250
			return PREY_BACKING;
251
			break;
252
		case PREY_BACKING:
253
			if (encoder_get_x(LEFT) < BACK_THRESHOLD
254
											|| encoder_get_x(RIGHT) < BACK_THRESHOLD) {
255
				motor_l_set(BACKWARD, 255);
256
				motor_r_set(FORWARD, 255);
257
				encoder_rst_dx(LEFT);
258
				encoder_rst_dx(RIGHT);
259
				return PREY_TURN;
260
			} else {
261
				return PREY_BACKING;
262
			}
263
			break;
264
		case PREY_TURN:
265
			if (encoder_get_x(LEFT) < -TURN_DIST
266
											|| encoder_get_x(RIGHT) > TURN_DIST) {
267
				return PREY_AVOID;				
268
			} else {
269
				return PREY_TURN;
270
			}
271
			break;
272
		case PREY_AVOID:
273
			rangeVals[0] = range_read_distance(IR1);
274
			rangeVals[1] = range_read_distance(IR2);
275
			rangeVals[2] = range_read_distance(IR3);
276

  
277
			/* Drive away if we detect obstacles using the rangefinders */
278
			if (rangeVals[1] > 0 && rangeVals[1] < IR_DIST_THRESHOLD) {
279
				if (rangeVals[0] < rangeVals[2]) {
280
					motor_l_set(FORWARD, 255);
281
					motor_r_set(BACKWARD, 255);
282
				} else {
283
					motor_l_set(BACKWARD, 255);
284
					motor_r_set(FORWARD, 255);
285
				}
286
				return PREY_AVOID;
287
			} else if (rangeVals[0] > 0 && rangeVals[0] < IR_DIST_THRESHOLD) {
288
				motor_l_set(FORWARD, 255);
289
				motor_r_set(FORWARD, 170);
290
				return PREY_AVOID;
291
			} else if (rangeVals[2] > 0 && rangeVals[2] < IR_DIST_THRESHOLD) {
292
				motor_l_set(FORWARD, 170);
293
				motor_r_set(FORWARD, 255);
294
				return PREY_AVOID;
295
			} else {			
296
				motor_l_set(FORWARD, 255);
297
				motor_r_set(FORWARD, 255);
298
				return PREY_AVOID;
299
			}
300
			break;
301
		default:
302
			return PREY_AVOID;
303
			break;
304

  
305
	}
306
	
307
	return prey_state;
308

  
309
}
310

  
311

  
312
/*
313
 * hunter_FSM - Hunter finite state machine which defaults to spiraling
314
 * 		outwards until the BOM can locate the prey. Once the BOM locates
315
 * 		the prey, chase the prey as fast as possible.
316
 *
317
 * Arguments:
318
 * 	hunter_state - Current hunter state.
319
 * 	maxBOM - Current maximum BOM value.
320
 * 	frontIR - Current front IR rangefinder reading value.
321
 *
322
 * returns - The new state of the hunter state machine.
323
 */
324

  
325
int hunter_FSM(int hunter_state, int maxBOM, int frontIR) {
326

  
327
	switch(hunter_state) {
328

  
329
		case HUNTER_SPIRAL:
330
			if (maxBOM != -1) {
331
				return HUNTER_CHASE;
332
			} else {
333
				motor_l_set(FORWARD, 170);
334
				motor_r_set(FORWARD, 190);
335
				return HUNTER_SPIRAL;
336
			}
337
			break;
338
		case HUNTER_CHASE:
339
						
340
			if (maxBOM == -1) {
341
				return HUNTER_CHASE;
342
			} else if (maxBOM == 4) {
343
				motor_l_set(FORWARD, 255);
344
				motor_r_set(FORWARD, 255);
345
				return HUNTER_CHASE;
346
			} else if (maxBOM == 3) {
347
				motor_l_set(FORWARD, 255);
348
				motor_r_set(FORWARD, 240);
349
				return HUNTER_CHASE;
350
			} else if (maxBOM == 5) {
351
				motor_l_set(FORWARD, 240);
352
				motor_r_set(FORWARD, 255);
353
				return HUNTER_CHASE;
354
			} else if (maxBOM < 3) {
355
				motor_l_set(FORWARD, 255);
356
				motor_r_set(FORWARD, 170);
357
				return HUNTER_CHASE;
358
			} else if (maxBOM > 5 && maxBOM <= 8) {
359
				motor_l_set(FORWARD, 170);
360
				motor_r_set(FORWARD, 255);
361
				return HUNTER_CHASE;
362
			} else if (maxBOM > 8 && maxBOM < 12) {
363
				motor_l_set(BACKWARD, 255);
364
				motor_r_set(FORWARD, 255);
365
				return HUNTER_CHASE;
366
			} else {
367
				motor_l_set(FORWARD, 255);
368
				motor_r_set(BACKWARD, 255);
369
				return HUNTER_CHASE;
370
			}
371
			break;
372
		default:
373
			return HUNTER_SPIRAL;
374
			break;
375

  
376
	}
377

  
378
	return hunter_state;
379

  
380
}
demos/hunter_prey_john/behavior/hunter_prey.c
1
#include "hunter_prey.h"
2
#include <dragonfly_lib.h>
3

  
4
#define TAG_TIME 3
5
#define TAG_RANGE 150
6

  
7
/**** This file should not be edited! ****/
8

  
9

  
10
/*
11
 * The criteria for tagging are the following:
12
 *   * The max bom is betweed 1 and 7
13
 *   * The front rangefinder reads less than TAG_RANGE
14
 *   * -1 values from the rangefinder are ignored
15
 *   * These conditions are met across TAG_TIME calls to this function
16
 */
17

  
18
unsigned char hunter_prey_tagged(int max_bom, int frontRange) {
19

  
20
  static int onTarget = 0;
21

  
22
  if(max_bom < 7 && max_bom > 1 && frontRange > 0 && frontRange < TAG_RANGE) {
23
    if(onTarget == 0) {
24
      onTarget = TAG_TIME;
25
      usb_puts("On target!\n");
26
    }
27
    else {
28
      if(--onTarget <= 0) {
29
	onTarget = 0;
30
	usb_puts("TAG!\n");
31
	return 1;
32
      }
33
    }
34
  }
35
  else{
36
    //don't reset onTarget because the robot got too close
37
    if(frontRange > 0)
38
      onTarget = 0;
39
  }
40

  
41
  return 0;
42

  
43
}
demos/hunter_prey_john/behavior/hunter_prey.h
1
#ifndef _HUNTER_PREY_H
2
#define _HUNTER_PREY_H
3

  
4
#include <inttypes.h>
5

  
6
/**** This file should not be edited! ****/
7

  
8
/*
9
 * The packet structure is 2 bytes
10
 * byte 0 is the action, which is one of the values below
11
 * byte 1 is the robot id
12
 */
13

  
14
#define HUNTER_PREY_ACTION_TAG 'T'
15
#define HUNTER_PREY_ACTION_ACK 'A'
16

  
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

  
27
/**
28
 * @file dragonfly_lib.h
29
 * @brief Contains other include files
30
 * 
31
 * Include this file for all the functionality of libdragonfly.
32
 *
33
 * @author Colony Project, CMU Robotics Club
34
 **/
35

  
36
#ifndef _DRAGONFLY_LIB_H_
37
#define _DRAGONFLY_LIB_H_
38

  
39
/**
40
 * @addtogroup dragonfly
41
 * @{
42
 **/
43

  
44
// Configuration definitions
45
/** @brief Initialize analog **/
46
#define ANALOG 0x01
47
/** @brief Initialize serial communications **/
48
#define SERIAL 0x02
49
/** @brief Initialize USB communications **/
50
#define USB    0x02
51
/** @brief Initialize communications **/
52
#define COMM   0x02
53
/** @brief Initialize the orb **/
54
#define ORB    0x04
55
/** @brief Initialize the motors **/
56
#define MOTORS 0x08
57
/** @brief Initialize I2C **/
58
#define I2C    0x20
59
/** @brief Initialize the buzzer **/
60
#define BUZZER 0x40
61
/** @brief Initialize the LCD screen **/
62
#define LCD    0x80
63
/** @brief Initialize the rangefinders **/
64
#define RANGE  0x0100
65
/** @brief Initialize the BOM **/
66
#define BOM  0x0200
67
/** @brief Initilize encoders **/
68
#define ENCODERS 0x400
69
/** @brief Initialize everything  **/
70
#define ALL_ON 0x07FF
71

  
72
/** @brief Initialize the board **/
73
void dragonfly_init(int config);
74

  
75
/** @} **/ //end addtogroup
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