/ - Diff - Colony - Robotics Club

     /**
      * Copyright (c) 2008 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 lbom.h
      * @brief Definitions for using the LBOM
+     *
      * This file contains definitions for using the Bearing and
      * Orientation Module (BOM) on the charge bay.
+     *
      * @author Colony Project, CMU Robotics Club
+     *
      **/
     #ifndef _LBOM_H
     #define _LBOM_H
     /**
      * @addtogroup lbom
      * @{
      **/
     /** @brief Sets up the LBOM to be used. **/
     void bom_init(char type);
     /** @brief Turns the LBOM on. **/
     void bom_on(void);
     /** @brief Turns the LBOM off. **/
     void bom_off(void);
     /** @brief Sets which LEDs are in use. **/
     void set_leds(int bit_field);
     /** @} **/
     #endif

     /**
      * Copyright (c) 2008 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 orb.c
      * @brief Orbs
+     *
      * Implemenation for the orbs (tri-colored LEDs)
+     *
      * @author Colony Project, CMU Robotics Club
      **/
     #include <avr/io.h>
     #include "orb.h"
     int main (void){
     orb_init();
     set_orb(0, 0, 200);
     while(1);
     return 0;
+    }
     /**
      * @defgroup orbs Orbs
      * @brief Functions for controlling the color of the orbs.
+     *
      * Functions for controlling the color and lighting of the orbs.
+     *
      * @{
      **/
     /**
      * Initializes the PWM for Orb control. This must be called before
      * the orbs are used for them to function.
      **/
     int orb_init (void)
+    {
     	/*data direction registers, blue, green (bit 6) and red (bit 4)*/
     	//DDRB = _BV(DDB4);
     	DDRB = 0b00010000;
     	//DDRD = _BV(DDD4)|_BV(DDD6);
     	DDRD = 0b01010000;
     	/*blue is here. it goes on timer 0*/
     	/*timer counter control registers for timer 0*/
     	//TCCR0A = _BV(COM0B1)|_BV(COM0B0)|_BV(WGM01)|_BV(WGM00);
     	TCCR0A = 0b00110011;
     	//TCCR0B = _BV(CS00);
     	TCCR0B = 0b00000001;
     	OCR0B = 0;
     	/*green is here. it goes on timer 2*/
     	//TCCR2A = _BV(COM2B1)|_BV(COM2B0)|_BV(WGM21)|_BV(WGM20);
     	TCCR2A = 0b00110011;
     	//TCCR2B = _BV(CS20);
     	TCCR2B = 0b00000001;
     	OCR2B = 0;
     	/*red is here. it goes on timer 1 which counts to the value in ICR1 instead of 8 bits*/
     	//TCCR1A = _BV(COM1B1)|_BV(COM1B0)|_BV(WGM11);
     	TCCR1A = 0b00110001;
     	//TCCR1B = _BV(WGM13)|_BV(WGM12)|_BV(CS10);
     	TCCR1B = 0b00011001;
     	ICR1 = 0x9C40;
     	OCR1B = 0;
     	return 0;
+    }
     /**
      * Set both orbs to the color specified. orb_init must
      * be called before this function may be used.
+     *
      * @param red the red component of the color
      * @param green the green component of the color
      * @param blue the blue component of the color
+     *
      * @see orb_init
      **/
     int set_orb(int red, int green, int blue){
     	/*blue is here. it goes on timer 0*/
     	blue = blue%256;
     	OCR0B = blue;
     	/*green is here. it goes on timer 2*/
     	green = green%256;
     	OCR2B = green;
     	/*red is here. it goes on timer 1*/
     	red = red%256;
     	red *= 0x9C40;
     	red = (int)(red/256);
     	OCR1B = red;
     	return 0;
+    }
     /** @} **/ //end group

     /**
      * Copyright (c) 2008 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 orb.h
      * @brief Contains declarations for managing the orbs.
+     *
      * Contains declarations for using the orbs and PWM.
+     *
      * @author Colony Project, CMU Robotics Club
      **/
      #ifndef _ORB_H_
      #define _ORB_H_
      /**
      * @addtogroup orbs
      * @{
      **/
      /** @brief Enables the orbs **/
      int orb_init(void);
      /** @brief Set both orbs to a specified color **/
      int set_orb (int red, int green, int blue);
      /** @brief Set orb1 to a specified color **/
      /** @} **/ //end addtogroup
      #endif

     /**
      * Copyright (c) 2008 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 lbom.c
      * @brief Implementation for using the LBOM
+     *
      * Contains functions for using the Bearing and Orientation Module (BOM)
      * on the charging station.
+     *
      * @author Colony Project, CMU Robotics Club
      **/
     #include <avr/io.h>
     #include "lbom.h"
     #define ALL_ON 0b1111
     #define BOM 0
     #define BOM1_5 1
     #define RBOM 2
     #define BOM0 DDC4
     #define BOM1 DDC5
     #define BOM2 DDC6
     #define BOM3 DDC7
     static char bom_mode;
     /**
      * @defgroup lbom LBOM (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.
+     *
      * @{
      **/
     /** @brief Sets up the LBOM to be used. **/
     void bom_init(char type){
     	set_leds(ALL_ON);
     	DDRD |= _BV(DDD7);			//sets bom carrier to write
     	bom_mode = type;
     	bom_on();
+    }
     /** @brief Turns the LBOM on. **/
     void bom_on(void){
     	//start timer 2 if not already started
     	TCCR2A = _BV(COM2A1)|_BV(COM2A0)|_BV(WGM21)|_BV(WGM20);
     	TCCR2B = _BV(CS20);
     	switch(bom_mode){
     	case BOM:
     		OCR2A = 255;
     	case BOM1_5:
     		OCR2A = 255;
     	case RBOM:
     		OCR2A = 127;
     	default:
     		OCR2A = 255;
+    	}
+    }
     /** @brief Turns the LBOM off. **/
     void bom_off(void){
     	OCR2A = 0;
+    }
     /** @brief Sets which LEDs are in use. **/
     void set_leds(int bit_field){
     	DDRC |= (bitfield << 4);
+    }
     /** @} **/ //end group

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