Colony

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file bom.c

 * @brief Implementation for using the BOM

 *

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

 *

 * @author Colony Project, CMU Robotics Club

 **/

#include <dragonfly_lib.h>

#include "bom.h"

#include "dio.h"

#include "analog.h"

//constants

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

// internal function prototypes

void output_high(int which);

void output_low(int which);

/*

 Bk R Y (Analog)

---------

 Green

 Blue

 White

---------

 Blue

 White

*/

/*

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

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

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

also, _PIN_E2 is initialized to high for some reason,

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

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

*/

#define MONKI PF0         //analog (yellow)

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

#define MONKL _PIN_E2     //green

#define MONK1 _PIN_E3     //blue

#define MONK0 _PIN_E4     //white

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

#define MONK3 _PIN_E6     //blue

#define MONK2 _PIN_E7     //white

#define BOM_VALUE_THRESHOLD 200

/*

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

  */

#define BOM_MODE        _PIN_E2        //dio0

#define BOM_STROBE        _PIN_E3        //dio1

#define BOM_DATA        _PIN_A0 //servo0

#define BOM_CLOCK        _PIN_A1        //servo1

#define BOM_S0                _PIN_E6        //dio3

#define BOM_S1                _PIN_E7        //dio2

#define BOM_S2                _PIN_E4        //dio1

#define BOM_S3                _PIN_E5        //dio0

#define BOM_OUT                PF0                //analog(yellow)

//this is set to 1 if we are using a BOM1.5, and 0 otherwise

static char is_bom_15 = 0;

/**

 * @defgroup bom BOM (Bearing and Orientation Module)

 * @brief Functions for dealing with the BOM.

 *

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

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

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

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

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

 *

 * There are currently two versions of the BOM in operation: v1.0

 * and v1.5.  v1.5 includes new functionality such as addressable

 * emitters, and RSSI range measurement.  If a BOM1.5 is connected

 * to a robot, make sure to add a BOM1_5 flag to dragonfly_init().

 * 

 * Include bom.h to access these functions.

 *

 * @{

 **/

/**

 * Initializes a BOM1.5 to have all emitters on, and in normal mode.

 * With this initialization the BOM1.5 is functionally equivalent to

 * BOM1.0

 **/

void bom_15_init(void) {

        is_bom_15 = 1;

        bom_set_emitters(0xFFFF);

}

/**

 * Sets a BOM1.5 to RSSI mode.

 **/

void bom_RSSI_mode(void) {

        output_high(BOM_MODE);

}

/**

 * Sets a BOM1.5 to normal mode.

 **/

void bom_normal_mode(void) {

        output_low(BOM_MODE);

}

/**

 * Sets which emitters come on when a BOM1.5 is turned on.

 * The LSB of the pattern corresponds to emitter 0, and the 

 * MSB corresponds to emitter 15

 **/

void bom_set_emitters(int pattern) {

        int mask = 0x8000;

        for(; mask>0; mask=mask>>1)

        {

                //set the current bit

                digital_output(BOM_DATA, 1);

                //then pulse the clock

                delay_ms(1);

                output_high(BOM_CLOCK);

                delay_ms(1);

                output_low(BOM_CLOCK);

        }

}

/**

 * Returns the direction of the maximum BOM reading,

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

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

 * numbered counterclockwise. This is useful for determining

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

 * robot is currently doing so. analog_init must be called

 * before this function can be used.

 *

 * @return the direction of the maximum BOM reading

 *

 * @see analog_init

 **/

int get_max_bom(void) {

        int max_bom_temp = 0;

        int a, i, j, h;

    h = 255;

    for (j = 0; j < 16; j++)

    {

      i = lookup[j];

      if (i&8)

        output_high(is_bom_15?BOM_S3:MONK3);

      else

        output_low(is_bom_15?BOM_S3:MONK3);

      if (i&4)

        output_high(is_bom_15?BOM_S2:MONK2);

      else

        output_low(is_bom_15?BOM_S2:MONK2);

      if (i&2)

        output_high(is_bom_15?BOM_S1:MONK1);

      else

        output_low(is_bom_15?BOM_S1:MONK1);

      if (i&1)

        output_high(is_bom_15?BOM_S0:MONK0);

      else

        output_low(is_bom_15?BOM_S0:MONK0);

      a = analog8(is_bom_15?BOM_OUT:MONKI);

      if (a < h)

      {

        h = a;

        max_bom_temp = j;

      }

    }

        //threshold on the bom analog value.

        //defined in bom.h

        // if the analog value read is above the threshold, we cannot see a robot

        // (remember, low means higher intensity).

        if(h < BOM_VALUE_THRESHOLD) {

                return max_bom_temp;

        }

        else

                return -1;

}

/**

 * Flashes the BOM. analog_init must be called before this

 * function can be used.

 * 

 * @see bom_off, analog_init

 **/

void bom_on(void)

{

  output_high(is_bom_15?BOM_STROBE:MONKL);

}

/**

 * Stops flashing the BOM. analog_init must be called

 * before this function can be used.

 * 

 * @see bom_on, analog_init

 **/

void bom_off(void)

{

  output_low(is_bom_15?BOM_STROBE:MONKL);

}

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

void output_high(int which) {

        digital_output(which, 1);

}

void output_low(int which) {

        digital_output(which, 0);

}