Revision 452
recompiled library with new analog and bom code. still need to make updated documentation.
bom.c | ||
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38 | 38 |
#include "dio.h" |
39 | 39 |
#include "analog.h" |
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|
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//TODO: DELETE THIS |
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void printi(int i) |
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{ |
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char c3 = (i % 10) + '0'; |
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i /= 10; |
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char c2 = (i % 10) + '0'; |
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i /= 10; |
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char c1 = (i % 10) + '0'; |
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if (c1 == '0') |
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{ |
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c1 = ' '; |
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if (c2 == '0') |
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c2 = ' '; |
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} |
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usb_putc(c1); |
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usb_putc(c2); |
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usb_putc(c3); |
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} |
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//constants |
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const int lookup[16] = {7,6,5,0xe,1,4,3,2,0xf,0,0xd,8,0xc,0xb,9,0xa};
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static const char lookup[16] = {7,6,5,0xe,1,4,3,2,0xf,0,0xd,8,0xc,0xb,9,0xa};
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// internal function prototypes |
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void output_high(int which); |
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void output_low(int which); |
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static void bom_select(char which); |
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/* |
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Bk R Y (Analog) |
... | ... | |
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#define MONK3 _PIN_E6 //blue |
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#define MONK2 _PIN_E7 //white |
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#define BOM_VALUE_THRESHOLD 200 |
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#define BOM_VALUE_THRESHOLD 200 |
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#define NUM_BOM_LEDS 16 |
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/** |
... | ... | |
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* Include bom.h to access these functions. |
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* |
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* @{ |
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**/ |
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**/ |
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|
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static unsigned int bom_val[NUM_BOM_LEDS]; |
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static char bom_type = BOM; |
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/** |
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* Initializes the BOM. |
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* Call bom_init before reading bom values or turning bom leds. |
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* |
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* @bugs INCOMPLETE - need to fill in init routine for BOM15 |
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* |
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* @see bom_refresh, bom_leds_on, bom_leds_off |
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**/ |
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void bom_init(char type) { |
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bom_type = type; |
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switch(bom_type) { |
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case BOM: |
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break; |
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case BOM15: |
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break; |
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case RBOM: |
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break; |
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//default: |
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} |
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} |
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|
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/** |
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* Iterates through each bit in the bit_field. For each set bit, sets the corresponding bom select bits |
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* and updates the corresponding bom value with an analog_get8 reading. analog_init and bom_init |
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* must be called for this to work. |
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* |
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* |
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* @param bit_field specifies which elements in bom_val[] should be updated. Use BOM_ALL to refresh all values. |
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* Ex. if 0x0003 is passed, bom_val[0] and bom_val[1] will be updated. |
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* |
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* @see bom_get |
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**/ |
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void bom_refresh(int bit_field) { |
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int i; |
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analog_stop_loop(); |
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for(i = 0; i < NUM_BOM_LEDS; i++) { |
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if(bit_field & 0x1) { |
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bom_select(lookup[i]); |
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bom_val[i] = analog_get8(MONKI); |
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} |
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bit_field = bit_field >> 1; |
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} |
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analog_start_loop(); |
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} |
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/** |
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* Gets the bom reading from bom_val[which]. Call bom_refresh beforehand to read new bom values. |
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* |
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* @param which which bom value to return |
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* |
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* @return the bom value |
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* |
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* see bom_refresh |
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**/ |
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int bom_get(int which) { |
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return bom_val[which]; |
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} |
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/** |
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* Compares all the values in bom_val[] and returns the index to the lowest (max) value element. |
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* |
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* @return index to the lowest (max) bom value element. -1 if no value is lower than |
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* BOM_VALUE_THRESHOLD |
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**/ |
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int bom_get_max(void) { |
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int i, lowest_val, lowest_i; |
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lowest_i = -1; |
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lowest_val = 255; |
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for(i = 0; i < NUM_BOM_LEDS; i++) { |
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printi(bom_val[i]); |
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usb_puts(" "); |
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if(bom_val[i] < lowest_val) { |
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lowest_val = bom_val[i]; |
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lowest_i = i; |
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} |
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} |
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usb_puts("<< BOM_GET_MAX\n\r"); |
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if(lowest_val < BOM_VALUE_THRESHOLD) |
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return lowest_i; |
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else |
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return -1; |
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} |
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/** |
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* Iterates through each bit in the bit_field. For each set bit, turns on the corresponding bom led. |
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* bom_init must be called for this to work. Only works with BOM_ALL if using the original bom. |
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* |
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* @param bit_field specifies which leds should be turned on. Use BOM_ALL to turn on all bom leds. |
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* Ex. if 0x0005 is passed, leds 0 and 2 will be turned on. |
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**/ |
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void bom_leds_on(int bit_field) { |
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switch(bom_type) { |
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case BOM: |
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if(bit_field == BOM_ALL) { |
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digital_output(MONKL, 1); |
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} |
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break; |
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case BOM15: |
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//add bom 1.5 code here |
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break; |
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case RBOM: |
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//add rbom code here |
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break; |
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} |
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} |
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/** |
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* Iterates through each bit in the bit_field. For each set bit, turns off the corresponding bom led. |
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* bom_init must be called for this to work. Only works with BOM_ALL if using the original bom. |
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* |
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* @param bit_field specifies which leds should be turned off. Use BOM_ALL to turn off all bom leds. |
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* Ex. if 0x000B is passed, leds 0 and 3 will be turned off. |
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**/ |
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void bom_leds_off(int bit_field) { |
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switch(bom_type) { |
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case BOM: |
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if(bit_field == BOM_ALL) { |
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digital_output(MONKL, 0); |
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} |
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break; |
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case BOM15: |
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//add bom 1.5 code here |
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break; |
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case RBOM: |
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//add rbom code here |
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break; |
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} |
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} |
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/** |
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* Returns the direction of the maximum BOM reading, |
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* (DEPRECATED) Returns the direction of the maximum BOM reading,
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* as an integer in the range 0-15. 0 indicates to the |
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* robot's right, while the rest of the sensors are |
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* numbered counterclockwise. This is useful for determining |
... | ... | |
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* @see analog_init |
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**/ |
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int get_max_bom(void) { |
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int max_bom_temp = 0; |
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int a, i, j, h; |
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h = 255; |
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//Turn off the loop so that we can actually use analog8 correctly |
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analog_stop_loop(); |
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//Iterate through through each LED |
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for (j = 0; j < 16; j++) |
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{ |
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i = lookup[j]; |
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if (i&8) |
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output_high(MONK3); |
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else |
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output_low(MONK3); |
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if (i&4) |
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output_high(MONK2); |
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else |
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output_low(MONK2); |
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if (i&2) |
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output_high(MONK1); |
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else |
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output_low(MONK1); |
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if (i&1) |
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output_high(MONK0); |
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else |
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output_low(MONK0); |
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a = analog_get8(MONKI); |
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if (a < h) |
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{ |
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h = a; |
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max_bom_temp = j; |
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} |
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} |
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//Restart loop now that we are done using analog8 |
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analog_start_loop(); |
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//threshold on the bom analog value. |
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//defined in bom.h |
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// if the analog value read is above the threshold, we cannot see a robot |
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// (remember, low means higher intensity). |
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if(h < BOM_VALUE_THRESHOLD) { |
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return max_bom_temp; |
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} |
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else |
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return -1; |
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bom_refresh(BOM_ALL); |
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return bom_get_max(); |
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} |
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/** |
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* Flashes the BOM. analog_init must be called before this |
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* function can be used. |
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* (DEPRECATED) Turns on all bom leds. |
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* |
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* @see bom_off, analog_init
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* @see bom_off |
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**/ |
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void bom_on(void) |
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{ |
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output_high(MONKL);
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bom_leds_on(BOM_ALL);
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} |
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/** |
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* Stops flashing the BOM. analog_init must be called |
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* before this function can be used. |
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* (DEPRECATED) Turns off all bom leds. |
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* |
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* @see bom_on, analog_init
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* @see bom_on |
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**/ |
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void bom_off(void) |
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{ |
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output_low(MONKL);
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bom_leds_off(BOM_ALL);
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} |
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/** @} **/ //end group |
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+static void bom_select(char which) { |
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if (which&8) |
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digital_output(MONK3, 1); |
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else |
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digital_output(MONK3, 0); |
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void output_high(int which) { |
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digital_output(which, 1); |
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} |
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if (which&4) |
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digital_output(MONK2, 1); |
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else |
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digital_output(MONK2, 0); |
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void output_low(int which) { |
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digital_output(which, 0); |
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} |
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if (which&2) |
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digital_output(MONK1, 1); |
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else |
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digital_output(MONK1, 0); |
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if (which&1) |
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digital_output(MONK0, 1); |
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else |
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digital_output(MONK0, 0); |
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} |
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