Revision 544
worked on lights driver, set up everything except a sort and a time-split calculating method
lights.c | ||
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/** |
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* Copyright (c) 2007 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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* files (the "Software"), to deal in the Software without |
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* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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/** |
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* @file ligths.c |
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* @brief Orbs |
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* |
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* Implemenation for the orbs (tri-colored LEDs) |
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* |
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* @author Colony Project, CMU Robotics Club |
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* @bug Colors are incorrect, seems to not work with wireless library |
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**/ |
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/* |
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lights.c |
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Controls orb1 and orb2. Also contains the framework for a software PWM that may be used for servos in the future. |
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author: CMU Robotics Club, Colony Project |
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Change Log: |
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2.4.07 - Aaron |
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Revamped orb code so it works. Need to check interaction with rtc, and tweak some colors. |
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2.1.07 - James |
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Modified sort_buffer() to prune for repeats. PWM now uses orb_buf_size for the number of orb values in orb_time_arr[]. |
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Changed sorting algorithm used in sort_buffer() to selection sort (faster). And it works now. |
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1.25.07 - KWoo |
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Deleted old FF+ code to make it cleaner. Commented code. This all works. Note however that if you ever plan to use the |
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software PWM (which is this) you will need to change the implementation of orb_enable() and orb_disable() to not |
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shutdown the PWM. |
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*/ |
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#include "lights.h" |
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#include "dragonfly_lib.h" |
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#include <avr/interrupt.h> |
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#define ORB_DDR DDRC |
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//Orb Pins |
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#define ORB1_RED 0x00
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#define ORB1_GREEN 0x01
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#define ORB1_BLUE 0x02
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#define ORB2_RED 0x04
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#define ORB2_GREEN 0x05
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#define ORB2_BLUE 0x06
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#define ORB1_RED 0x01
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#define ORB1_GREEN 0x02
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#define ORB1_BLUE 0x04
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#define ORB2_RED 0x10
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#define ORB2_GREEN 0x20
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#define ORB2_BLUE 0x40
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//this used to be 8 but i changed it. i suspect it was 8 cuz of the led pins + 2 enc pins, but not sure |
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#define ORB_COUNT 6 //please dont change this, or bad things might happen, number of orb pins off port, this should more accurately be called LED_COUNT i think |
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#define ORB_COUNT 8 //please dont change this, or bad things might happen |
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// an orb node |
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struct ORB_NODE { |
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uint8_t num; |
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uint16_t angle; |
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}; |
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//the change in an orb |
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struct ORB_CHANGE { |
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uint16_t port_val; |
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uint16_t split_time_period;
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}; |
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int time_split; // this will store the amount of time the timer needs to be set to from previous pin
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} ORB_NODE;
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// the status of an orb
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// the status of the orbs
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struct ORB_STATUS_STRUCT { |
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struct ORB_NODE orbs[ORB_COUNT]; |
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uint16_t orb_angles[ORB_COUNT]; |
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struct ORB_CHANGE changes[ORB_COUNT+1]; |
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int changes[ORB_COUNT]; // when an orb changes, its number will go from 0 to 1 |
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uint8_t change_count; |
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uint8_t new_angles; |
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uint8_t current_orb; |
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} ORB_STATUS; |
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void orb_sort(void); |
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void orb_setup_pulse(void); |
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struct ORB_CHANGED_ORBS { |
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int orb_number; |
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uint16_t new_angle; |
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} ORB_CHANGED_ORBS; |
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struct ORB_CHANGED_ORBS_STRUCT { |
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struct ORB_CHANGED_ORBS changed_orbs[ORB_COUNT]; |
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} ORB_CHANGED_ORBS_STRUCT; |
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struct ORB_ORDER { // 0 will store number of first orb to turn off, 1 of second, etc. |
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int order[ORB_COUNT]; |
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} ORB_ORDER; |
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void sort_orbs(void); // this function will copy new values into angle values |
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void calc_split_times(void); // this function will calculate split times and place them in the appropriate orbs |
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// use compare C to reset every pulse + check new times |
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SIGNAL (SIG_OUTPUT_COMPARE3C){ |
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//pull the correct ones down |
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ORBPORT &= (~ORBMASK)|(ORB_STATUS.changes[ORB_STATUS.current_orb].port_val); |
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ORB_STATUS.current_orb=0; // reset the orb we're looking at |
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++ORB_STATUS.current_orb; //now look at next orb transition |
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if(ORB_STATUS.change_count>0) |
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{ |
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sort_orbs(); |
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calc_split_times(); |
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} |
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// now that we've done everything, turn on all the lights |
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ORB_PORT |= ORBMASK; |
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// reset the time |
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OCR3C = TCNT3+ORB_RESET; |
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// turn ocr3a back on and set the time for the lights off counter |
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ETIMSK |= _BV(OCIE3A); //turn on oc3a interrupt |
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OCR3A = TCNT3+ORB_STATUS.orbs[0].time_split; //set time |
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} |
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if (ORB_STATUS.current_orb < ORB_STATUS.change_count) { //if it isnt the end... |
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// use compare A for turning lights off |
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SIGNAL (SIG_OUTPUT_COMPARE3A){ |
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//pull the correct ones down |
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ORBPORT &= ~(ORB_STATUS.orbs[ORB_ORDER.order[ORB_STATUS.current_orb]].port_val); |
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int num_updated_orbs = 1; |
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// HERE, YOU ALSO NEED TO CHECK IF ANY OTHER ORBS HAVE THE SAME TIME!!!!!!!!!!!!!!!!@#!#!@#!@#!@#, update num updated |
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ORB_STATUS.current_orb+=num_updated_orbs; //now look at next orb transition |
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if (ORB_STATUS.current_orb < ORB_COUNT) { //if it isnt the end... |
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//setup timer for next pull down |
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OCR3C = TCNT3+ORB_STATUS.changes[ORB_STATUS.current_orb].split_time_period;
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OCR3C = TCNT3+ORB_STATUS.orbs[ORB_STATUS.current_orb].time_split;
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} |
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else { //we are done with these pulses |
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orb_setup_pulse(); |
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} |
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//turn off this timer until it is reset |
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ETIMSK &= ~(_BV(OCIE3A)); |
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} |
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} |
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void orb_init() |
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{ |
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uint8_t mysreg; |
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int i; |
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ORBDDR |= ORBMASK; //make all the pins output ports |
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mysreg=SREG; |
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cli(); //turn off interrupts for now |
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//we're looking at the 1st orb |
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ORB_STATUS.current_orb=0; |
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//store values |
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for (i = 0; i < ORB_COUNT; ++i) { |
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ORB_STATUS.orbs[i].num = i; |
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//i'm not sure why he starts at 1023, so i'm making it 0 for now |
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ORB_STATUS.orbs[i].angle = 0; //1023; //127 is a pretty stupid start angle, but oh well |
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ORB_STATUS.changes[i]=1; // each orb has been "changed" |
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} |
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ORB_STATUS.orbs[0].port_val=ORB1_RED; |
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ORB_STATUS.orbs[1].port_val=ORB1_GREEN; |
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ORB_STATUS.orbs[2].port_val=ORB1_BLUE; |
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ORB_STATUS.orbs[3].port_val=ORB2_RED; |
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ORB_STATUS.orbs[4].port_val=ORB2_GREEN; |
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ORB_STATUS.orbs[5].port_val=ORB2_BLUE; |
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//init timer3 |
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TCCR3A = 0; // sets normal operation |
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TCCR3B = _BV(CS31); //set a prescale of 8 |
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TCCR3C = 0; // sets normal operation |
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ETIMSK |= _BV(OCIE3C); //turn on oc3c interrupt |
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ETIMSK |= _BV(OCIE3A); //turn on oc3a interrupt |
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OCR3C = TCNT3+ORB_RESET; // WHAT HAPPENS IF THE TIMER IS ON FOR A VERY LONG TIME; OVERFLOW? |
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OCR3A = TCNT3+ORB_RESET; |
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SREG=mysreg; |
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} |
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//sets a channel to a value |
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void orb_set_angle(int orb, int angle) { |
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uint8_t mysreg; |
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orb=orb&0x07; //only have 8 |
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angle=angle&0xff; //only accept 0-255 |
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angle=255-angle; //inverse intensity |
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/* |
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angle=angle<<2; //scale up so that we dont run it too often |
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angle+=3; //0 values dont really work |
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if (ORB_STATUS.orb_angles[orb] != angle) { //if the angle has changed |
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*/ |
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// check if the angle is different, if it is, update our status |
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if(angle!=ORB_STATUS.orbs[orb].angle) |
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{ |
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ORB_STATUS.new_angles++; |
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ORB_STATUS.changes[orb]=1; |
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} |
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mysreg=SREG; |
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cli(); |
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ORB_CHANGED_ORBS_STRUCT.changed_orbs[orb].new_angle=angle; |
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// ORB_STATUS.orbs[orb].angle = angle; //update angle |
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SREG = mysreg; |
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// dont see why you need to track changes, so might as well just change it |
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/* |
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mysreg=SREG; |
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cli(); |
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ORB_STATUS.orb_angles[orb] = angle; //update angle |
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SREG = mysreg; |
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*/ |
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/* |
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if (ORB_STATUS.orb_angles[orb] != angle) { //if the angle has changed |
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mysreg=SREG; |
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cli(); //disable interrupts |
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ORB_STATUS.orb_angles[orb] = angle; //update angle |
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ORB_STATUS.new_angles = 1; |
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SREG=mysreg; //put interrupt status back |
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} |
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*/ |
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} |
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void orb_sort(void) { |
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int done = 0, i; |
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while (! done) { |
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done = 1; |
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for (i = 0; i < ORB_COUNT - 1; ++i) { //loop through all |
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//if they are out of order, swap them |
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if (ORB_STATUS.orbs[i].angle > ORB_STATUS.orbs[i+1].angle) { |
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ORB_STATUS.orbs[i].angle ^= ORB_STATUS.orbs[i+1].angle; |
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ORB_STATUS.orbs[i+1].angle ^= ORB_STATUS.orbs[i].angle; |
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ORB_STATUS.orbs[i].angle ^= ORB_STATUS.orbs[i+1].angle; |
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ORB_STATUS.orbs[i].num ^= ORB_STATUS.orbs[i+1].num; |
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ORB_STATUS.orbs[i+1].num ^= ORB_STATUS.orbs[i].num; |
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ORB_STATUS.orbs[i].num ^= ORB_STATUS.orbs[i+1].num; |
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done = 0; |
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} |
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} |
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} |
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} |
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//calculate the split times |
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void orb_setup_pulse(void) { |
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int i; |
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uint16_t my_port; |
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uint16_t sum = 0; |
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uint16_t split_time; |
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my_port = 0xff; //all on |
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if (ORB_STATUS.new_angles) { |
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ORB_STATUS.change_count = 0; |
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for (i = 0; i < ORB_COUNT; ++i) { //get the new values |
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ORB_STATUS.orbs[i].angle = ORB_STATUS.orb_angles[ORB_STATUS.orbs[i].num]; |
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} |
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orb_sort(); //sort them |
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ORB_STATUS.new_angles = 0; |
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for (i = 0; i < ORB_COUNT; ++i) { //calculate split times |
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split_time = ORB_STATUS.orbs[i].angle - sum; |
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my_port &= ~_BV(ORB_STATUS.orbs[i].num); |
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for (; i < ORB_COUNT - 1 && ORB_STATUS.orbs[i].angle == ORB_STATUS.orbs[i+1].angle; ++i) { |
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my_port &= ~_BV(ORB_STATUS.orbs[i+1].num); //look for doups |
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} |
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ORB_STATUS.changes[ORB_STATUS.change_count].port_val = my_port; //which pins are low |
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ORB_STATUS.changes[ORB_STATUS.change_count].split_time_period = split_time; |
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++ORB_STATUS.change_count; |
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sum += split_time; |
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} |
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ORB_STATUS.changes[ORB_STATUS.change_count].port_val = my_port; |
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ORB_STATUS.changes[ORB_STATUS.change_count].split_time_period = ORB_RESET - sum; //get a constant period |
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++ORB_STATUS.change_count; |
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} |
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ORB_STATUS.current_orb = 0; |
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ORBPORT |= ORBMASK; //start with all high |
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OCR3C = TCNT3 + ORB_STATUS.changes[0].split_time_period; //wait for first split |
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} |
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/** |
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* @defgroup orbs Orbs |
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* @brief Functions for controlling the color of the orbs. |
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* |
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* Functions for controlling the color and lighting of the orbs. |
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* |
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* @{ |
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**/ |
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/** |
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* Initializes the PWM for Orb control. This must be called before |
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* the orbs are used for them to function. |
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**/ |
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void orb_init() |
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{ |
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int i; |
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uint8_t mysreg; |
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ORBDDR |= ORBMASK; //all outputs |
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mysreg=SREG; |
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cli(); //turn off interrupts for now |
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//init everything |
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for (i = 0; i < ORB_COUNT; ++i) { |
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ORB_STATUS.orbs[i].num = i; |
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ORB_STATUS.orbs[i].angle = 1023; //127 is a pretty stupid start angle, but oh well |
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ORB_STATUS.orb_angles[i] = 1023; |
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} |
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ORB_STATUS.new_angles = 1; |
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ORB_STATUS.change_count = 0; |
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//init timer3 |
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TCCR3A = 0; |
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TCCR3B = _BV(CS31); //prescale = 8 |
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TCCR3C = 0; |
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ETIMSK |= _BV(OCIE3C); //turn on oc3c interrupt |
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OCR3C = TCNT3+ORB_RESET; |
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SREG=mysreg; |
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} |
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/** |
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* Set both orbs to the color specified. orb_init must |
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* be called before this function may be used. |
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* |
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* @param red_led the red component of the color |
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* @param green_led the green component of the color |
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* @param blue_led the blue component of the color |
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* |
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* @see orb_init |
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**/ |
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void orb_set(unsigned char red_led, unsigned char green_led, unsigned char blue_led) { |
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orb1_set(red_led,green_led,blue_led); |
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orb2_set(red_led,green_led,blue_led); |
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} |
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/** |
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* Set orb1 to the color specified. orb_init must |
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* be called before this function may be used. |
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* |
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* @param red_led the red component of the color |
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* @param green_led the green component of the color |
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* @param blue_led the blue component of the color |
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* |
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* @see orb_init |
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**/ |
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void orb1_set(unsigned char red_led, unsigned char green_led, unsigned char blue_led) { |
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orb_set_angle(0,red_led); |
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orb_set_angle(1,green_led); |
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orb_set_angle(2,blue_led); |
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} |
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/** |
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* Set orb2 to the color specified. orb_init must |
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* be called before this function may be used. |
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* |
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* @param red_led the red component of the color |
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* @param green_led the green component of the color |
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* @param blue_led the blue component of the color |
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* |
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* @see orb_init |
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**/ |
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void orb2_set(unsigned char red_led, unsigned char green_led, unsigned char blue_led) { |
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orb_set_angle(4,red_led); |
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orb_set_angle(5,green_led); |
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orb_set_angle(6,blue_led); |
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} |
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/** |
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* Set both orbs to the specified color. This function |
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318 |
* is intended to be used with the predefined |
|
319 |
* colors. orb_init must be called before this |
|
320 |
* function may be used. |
|
321 |
* |
|
322 |
* @param col the color to set the orbs to |
|
323 |
* |
|
324 |
* @see orb_init |
|
325 |
**/ |
|
326 |
void orb_set_color(int col) |
|
185 |
void orb1_set(unsigned char red, unsigned char green, unsigned char blue) |
|
327 | 186 |
{ |
328 |
int red, green, blue; |
|
329 |
|
|
330 |
red = ((col & 0xE0) >> 5) * 36; |
|
331 |
green = ((col & 0x1C) >> 2) * 36; |
|
332 |
blue = (col & 0x03) * 85; |
|
333 |
|
|
334 |
orb_set(red, green, blue); |
|
187 |
orb_set_angle(0,red); |
|
188 |
orb_set_angle(1,green); |
|
189 |
orb_set_angle(2,blue); |
|
335 | 190 |
} |
336 | 191 |
|
337 |
/** |
|
338 |
* Set orb1 to the specified color. This function |
|
339 |
* is intended to be used with the predefined |
|
340 |
* colors. orb_init must be called before this |
|
341 |
* function may be used. |
|
342 |
* |
|
343 |
* @param col the color to set the orbs to |
|
344 |
* |
|
345 |
* @see orb_init |
|
346 |
**/ |
|
347 |
void orb1_set_color(int col) |
|
192 |
void orb2_set(unsigned char red, unsigned char green, unsigned char blue) |
|
348 | 193 |
{ |
349 |
int red, green, blue; |
|
350 |
|
|
351 |
red = ((col & 0xE0) >> 5) * 36; |
|
352 |
green = ((col & 0x1C) >> 2) * 36; |
|
353 |
blue = (col & 0x03) * 85; |
|
354 |
|
|
355 |
orb1_set(red, green, blue); |
|
194 |
orb_set_angle(3,red); |
|
195 |
orb_set_angle(4,green); |
|
196 |
orb_set_angle(5,blue); |
|
356 | 197 |
} |
357 | 198 |
|
358 |
/** |
|
359 |
* Set orb2 to the specified color. This function |
|
360 |
* is intended to be used with the predefined |
|
361 |
* colors. orb_init must be called before this |
|
362 |
* function may be used. |
|
363 |
* |
|
364 |
* @param col the color to set the orbs to |
|
365 |
* |
|
366 |
* @see orb_init |
|
367 |
**/ |
|
368 |
void orb2_set_color(int col) |
|
369 |
{ |
|
370 |
int red, green, blue; |
|
371 | 199 |
|
372 |
red = ((col & 0xE0) >> 5) * 36; |
|
373 |
green = ((col & 0x1C) >> 2) * 36; |
|
374 |
blue = (col & 0x03) * 85; |
|
375 |
|
|
376 |
orb2_set(red, green, blue); |
|
377 |
} |
|
378 |
|
|
379 |
//DOES THIS WORK? |
|
380 |
// Disables the timer1 interrupt, disabling the Orb's color fading capabilities |
|
381 |
// You can still turn the red, green, and blue leds on and off with set_orb_dio |
|
382 |
/* If we use the PWM for anything else besides the ORB, this implementation needs to be done better */ |
|
383 |
/** |
|
384 |
* Disables the orb color fading capabilities |
|
385 |
* by disabling the timer1 interrupt. |
|
386 |
* |
|
387 |
* @see orb_init |
|
388 |
**/ |
|
389 |
void orb_disable() |
|
390 |
{ |
|
391 |
TCCR3B &= 0; //Turn off everything |
|
392 |
ORB_PORT |= _BV(ORB1_RED); |
|
393 |
ORB_PORT |= _BV(ORB1_GREEN); |
|
394 |
ORB_PORT |= _BV(ORB1_BLUE); |
|
395 |
ORB_PORT |= _BV(ORB2_RED); |
|
396 |
ORB_PORT |= _BV(ORB2_GREEN); |
|
397 |
ORB_PORT |= _BV(ORB2_BLUE); |
|
398 |
} |
|
399 |
|
|
400 |
//DOES THIS WORK? |
|
401 |
// Enables the timer1 interrupt, enabling the Orb's color fading capabilities |
|
402 |
/** |
|
403 |
* Enables the orb's color fading capabilities. |
|
404 |
* |
|
405 |
* @see orb_init |
|
406 |
**/ |
|
407 |
void orb_enable() |
|
408 |
{ |
|
409 |
// TCCR0 |= _BV(COM01) | _BV(COM00) | _BV(WGM00) | _BV(CS01); //Toggle OC Pin on match, FAST PWM Mode, clock/8 |
|
410 |
TCCR3B =_BV(CS31); |
|
411 |
} |
|
412 |
|
|
413 |
/** @} **/ //end group |
|
414 |
|
|
200 |
/* |
|
201 |
PORTC = 0bFF; //turns on all lights |
|
202 |
PORTC &= ~0x08; //turns off light in 4th bit (enc_cs) |
|
203 |
*/ |
Also available in: Unified diff