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"

//TODO: DELETE THIS

void printi(int i)

{

    char c3 = (i % 10) + '0';

    i /= 10;

    char c2 = (i % 10) + '0';

    i /= 10;

    char c1 = (i % 10) + '0';

    if (c1 == '0')

    {

        c1 = ' ';

        if (c2 == '0')

            c2 = ' ';

    }

    usb_putc(c1);

    usb_putc(c2);

    usb_putc(c3);

}

//constants

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

// internal function prototypes

static void output_high(which);

static void output_low(which);

static void bom_select(char which);

/*

 Bk R Y (Analog)

---------

 Green

 Blue

 White

---------

 Blue

 White

*/

/*

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

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

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

also, _PIN_E2 is initialized to high for some reason,

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

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

*/

#define MONKI PF0         //analog (yellow)

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

#define MONKL _PIN_E2     //green

#define MONK1 _PIN_E3     //blue

#define MONK0 _PIN_E4     //white

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

#define MONK3 _PIN_E6     //blue

#define MONK2 _PIN_E7     //white

#define BOM_VALUE_THRESHOLD 200

#define NUM_BOM_LEDS 16

/**

 * @defgroup bom BOM (Bearing and Orientation Module)

 * @brief Functions for dealing with the BOM.

 *

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

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

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

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

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

 *

 * Include bom.h to access these functions.

 *

 * @{

 **/

static unsigned int bom_val[NUM_BOM_LEDS];

static char bom_type = BOM;

/**

 * Initializes the BOM.

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

 *

 * @bugs INCOMPLETE - need to fill in init routine for BOM15

 * 

 * @see bom_refresh, bom_leds_on, bom_leds_off

 **/

void bom_init(char type) {

    bom_type = type;

    switch(bom_type) {

    case BOM:

        break;

    case BOM15:

        break;

    case RBOM:

        break;

    //default:

    }

}

/**

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

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

 *    must be called for this to work.

 *

 *

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

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

 *

 * @see bom_get

 **/

void bom_refresh(int bit_field) {

    int i;

    analog_stop_loop();

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

        if(bit_field & 0x1) {

            bom_select(lookup[i]);

            bom_val[i] = analog_get8(MONKI);

        }

        bit_field = bit_field >> 1;

    }

    analog_start_loop();

}

/**

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

 *

 * @param which which bom value to return

 *

 * @return the bom value

 *

 * see bom_refresh

 **/

int bom_get(char which) {

    return bom_val[which];

}

/** 

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

 *

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

 *    BOM_VALUE_THRESHOLD

 **/

int bom_get_max(void) {

    int i, lowest_val, lowest_i;

    lowest_val = 255;

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

        printi(bom_val[i]);

        usb_puts(" ");

        if(bom_val[i] < lowest_val) {

            lowest_val = bom_val[i];

            lowest_i = i;

        }

    }

    usb_puts("<<< BOM_GET_MAX\n\r");

    if(lowest_val < BOM_VALUE_THRESHOLD)

        return lowest_i;

    else

        return -1;

}

/**

 * Iterates through each bit in the bit_field. For each set bit, turns on the corresponding bom led.

 *    bom_init must be called for this to work. Only works with BOM_ALL if using the original bom.

 *

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

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

 **/

void bom_leds_on(int bit_field) {

    switch(bom_type) {

    case BOM:

        if(bit_field == BOM_ALL) {

            digital_output(MONKL, 1);

        }

        break;

    case BOM15:

        //add bom 1.5 code here

        break;

    case RBOM:

        //add rbom code here

        break;

    }

}

/**

 * Iterates through each bit in the bit_field. For each set bit, turns off the corresponding bom led.

 *    bom_init must be called for this to work. Only works with BOM_ALL if using the original bom.

 *

 * @param bit_field specifies which leds should be turned off.  Use BOM_ALL to turn off all bom leds.

 *    Ex. if 0x000B is passed, leds 0 and 3 will be turned off.

 **/

void bom_leds_off(int bit_field) {

    switch(bom_type) {

    case BOM:

        if(bit_field == BOM_ALL) {

            digital_output(MONKL, 0);

        }

        break;

    case BOM15:

        //add bom 1.5 code here

        break;

    case RBOM:

        //add rbom code here

        break;

    }

}

/**

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

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

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

 * numbered counterclockwise. This is useful for determining

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

 * robot is currently doing so. analog_init must be called

 * before this function can be used.

 *

 * @return the direction of the maximum BOM reading

 *

 * @see analog_init

 **/

int get_max_bom(void) {

        int max_bom_temp = 0;

        int a, i, j, h;

    h = 255;

        //Turn off the loop so that we can actually use analog8 correctly

        analog_stop_loop();

        //Iterate through through each LED

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

    {

      i = lookup[j];

      if (i&8)

        output_high(MONK3);

      else

        output_low(MONK3);

      if (i&4)

        output_high(MONK2);

      else

        output_low(MONK2);

      if (i&2)

        output_high(MONK1);

      else

        output_low(MONK1);

      if (i&1)

        output_high(MONK0);

      else

        output_low(MONK0);

      a = analog_get8(MONKI);

      printi(a);

      usb_puts(" ");

      if (a < h)

      {

        h = a;

        max_bom_temp = j;

      }

    }

        usb_puts("\n\r");

        //Restart loop now that we are done using analog8

        analog_start_loop();

        //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;

}

/**

 * (DEPRECATED) Turns on all bom leds.

 * 

 * @see bom_off

 **/

void bom_on(void)

{

  output_high(MONKL);

}

/**

 * (DEPRECATED) Turns off all bom leds.

 * 

 * @see bom_on

 **/

void bom_off(void)

{

  output_low(MONKL);

}

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

void output_high(int which) {

        digital_output(which, 1);

}

void output_low(int which) {

        digital_output(which, 0);

}

static void bom_select(char which) {

      if (which&8)

        digital_output(MONK3, 1);

      else

        digital_output(MONK3, 0);

      if (which&4)

        digital_output(MONK2, 1);

      else

        digital_output(MONK2, 0);

      if (which&2)

        digital_output(MONK1, 1);

      else

        digital_output(MONK1, 0);

      if (which&1)

        digital_output(MONK0, 1);

      else

        digital_output(MONK0, 0);

}