root / trunk / code / projects / autonomous_recharging / charging_station / new station driver code / orb.c @ 617
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1 | 612 | emullini | /**
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2 | * Copyright (c) 2008 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | **/
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25 | |||
26 | /**
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27 | * @file orb.c
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28 | * @brief Orbs
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29 | *
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30 | * Implemenation for the orbs (tri-colored LEDs)
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31 | *
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32 | * @author Colony Project, CMU Robotics Club
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33 | **/
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34 | |||
35 | #include <avr/io.h> |
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36 | #include "orb.h" |
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37 | |||
38 | |||
39 | 616 | jsexton | int main (void){ |
40 | 617 | emullini | orb_init(); |
41 | set_orb(0, 0, 200); |
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42 | 616 | jsexton | while(1); |
43 | return 0; |
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44 | } |
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45 | |||
46 | 612 | emullini | /**
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47 | * @defgroup orbs Orbs
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48 | * @brief Functions for controlling the color of the orbs.
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49 | *
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50 | * Functions for controlling the color and lighting of the orbs.
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51 | *
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52 | * @{
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53 | **/
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54 | |||
55 | /**
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56 | * Initializes the PWM for Orb control. This must be called before
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57 | * the orbs are used for them to function.
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58 | **/
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59 | int orb_init (void) |
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60 | { |
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61 | /*data direction registers, blue, green (bit 7) and red (bit 5)*/
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62 | 617 | emullini | //DDRB = _BV(DDB4);
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63 | DDRB = 0b00010000;
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64 | |||
65 | //DDRD = _BV(DDD4)|_BV(DDD6);
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66 | DDRD = 0b01010000;
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67 | 612 | emullini | |
68 | |||
69 | /*blue is here. it goes on timer 0*/
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70 | /*timer counter control registers for timer 0*/
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71 | 617 | emullini | //TCCR0A = _BV(COM0B1)|_BV(COM0B0)|_BV(WGM01)|_BV(WGM00);
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72 | TCCR0A = 0b00110011;
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73 | |||
74 | //TCCR0B = _BV(CS00);
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75 | TCCR0B = 0b00000001;
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76 | 616 | jsexton | OCR0B = 0;
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77 | 612 | emullini | |
78 | /*green is here. it goes on timer 2*/
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79 | 617 | emullini | //TCCR2A = _BV(COM2B1)|_BV(COM2B0)|_BV(WGM21)|_BV(WGM20);
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80 | TCCR2A = 0b00110011;
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81 | |||
82 | //TCCR2B = _BV(CS20);
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83 | TCCR2B = 0b00000001;
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84 | 616 | jsexton | OCR2B = 0;
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85 | 612 | emullini | |
86 | |||
87 | /*red is here. it goes on timer 1 which counts to the value in ICR1 instead of 8 bits*/
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88 | 617 | emullini | //TCCR1A = _BV(COM1B1)|_BV(COM1B0)|_BV(WGM11);
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89 | TCCR1A = 0b00110001;
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90 | |||
91 | //TCCR1B = _BV(WGM13)|_BV(WGM12)|_BV(CS10);
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92 | TCCR1B = 0b00011001;
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93 | 612 | emullini | ICR1 = 0x9C40;
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94 | 616 | jsexton | OCR1B = 0;
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95 | 612 | emullini | |
96 | return 0; |
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97 | } |
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98 | |||
99 | /**
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100 | * Set both orbs to the color specified. orb_init must
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101 | * be called before this function may be used.
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102 | *
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103 | * @param red the red component of the color
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104 | * @param green the green component of the color
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105 | * @param blue the blue component of the color
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106 | *
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107 | * @see orb_init
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108 | **/
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109 | |||
110 | int set_orb(int red, int green, int blue){ |
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111 | /*blue is here. it goes on timer 0*/
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112 | blue = blue%256;
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113 | 616 | jsexton | OCR0B = blue; |
114 | 612 | emullini | |
115 | /*green is here. it goes on timer 2*/
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116 | green = green%256;
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117 | 616 | jsexton | OCR2B = green; |
118 | 612 | emullini | |
119 | |||
120 | /*red is here. it goes on timer 1*/
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121 | red = red%256;
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122 | red *= (int)(ICR1/256); |
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123 | 616 | jsexton | OCR1B = red; |
124 | 612 | emullini | |
125 | return 0; |
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126 | } |
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127 | |||
128 | /** @} **/ //end group |