root / branches / autonomous_recharging / code / projects / libbayboard / orb.c @ 649
History | View | Annotate | Download (3.14 KB)
1 |
/**
|
---|---|
2 |
* Copyright (c) 2008 Colony Project
|
3 |
*
|
4 |
* Permission is hereby granted, free of charge, to any person
|
5 |
* obtaining a copy of this software and associated documentation
|
6 |
* files (the "Software"), to deal in the Software without
|
7 |
* restriction, including without limitation the rights to use,
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell
|
9 |
* copies of the Software, and to permit persons to whom the
|
10 |
* Software is furnished to do so, subject to the following
|
11 |
* conditions:
|
12 |
*
|
13 |
* The above copyright notice and this permission notice shall be
|
14 |
* included in all copies or substantial portions of the Software.
|
15 |
*
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
23 |
* OTHER DEALINGS IN THE SOFTWARE.
|
24 |
**/
|
25 |
|
26 |
/**
|
27 |
* @file orb.c
|
28 |
* @brief Orbs
|
29 |
*
|
30 |
* Implemenation for the orbs (tri-colored LEDs)
|
31 |
*
|
32 |
* @author Colony Project, CMU Robotics Club
|
33 |
**/
|
34 |
|
35 |
#include <avr/io.h> |
36 |
#include "orb.h" |
37 |
|
38 |
/**
|
39 |
* @defgroup orbs Orbs
|
40 |
* @brief Functions for controlling the color of the orbs.
|
41 |
*
|
42 |
* Functions for controlling the color and lighting of the orbs.
|
43 |
*
|
44 |
* @{
|
45 |
**/
|
46 |
|
47 |
/**
|
48 |
* Initializes the PWM for Orb control. This must be called before
|
49 |
* the orbs are used for them to function.
|
50 |
**/
|
51 |
int orb_init (void) |
52 |
{ |
53 |
/*data direction registers, blue, green (bit 6) and red (bit 4)*/
|
54 |
//DDRB = _BV(DDB4);
|
55 |
DDRB = 0b00010000;
|
56 |
|
57 |
//DDRD = _BV(DDD4)|_BV(DDD6);
|
58 |
DDRD = 0b01010000;
|
59 |
|
60 |
|
61 |
/*blue is here. it goes on timer 0*/
|
62 |
/*timer counter control registers for timer 0*/
|
63 |
//TCCR0A = _BV(COM0B1)|_BV(COM0B0)|_BV(WGM01)|_BV(WGM00);
|
64 |
TCCR0A = 0b00110011;
|
65 |
|
66 |
//TCCR0B = _BV(CS00);
|
67 |
TCCR0B = 0b00000001;
|
68 |
OCR0B = 0;
|
69 |
|
70 |
/*green is here. it goes on timer 2*/
|
71 |
//TCCR2A = _BV(COM2B1)|_BV(COM2B0)|_BV(WGM21)|_BV(WGM20);
|
72 |
TCCR2A = 0b00110011;
|
73 |
|
74 |
//TCCR2B = _BV(CS20);
|
75 |
TCCR2B = 0b00000001;
|
76 |
OCR2B = 0;
|
77 |
|
78 |
|
79 |
/*red is here. it goes on timer 1 which counts to the value in ICR1 instead of 8 bits*/
|
80 |
//TCCR1A = _BV(COM1B1)|_BV(COM1B0)|_BV(WGM11);
|
81 |
TCCR1A = 0b00110001;
|
82 |
|
83 |
//TCCR1B = _BV(WGM13)|_BV(WGM12)|_BV(CS10);
|
84 |
TCCR1B = 0b00011001;
|
85 |
ICR1 = 0x9C40;
|
86 |
OCR1B = 0;
|
87 |
|
88 |
return 0; |
89 |
} |
90 |
|
91 |
/**
|
92 |
* Set both orbs to the color specified. orb_init must
|
93 |
* be called before this function may be used.
|
94 |
*
|
95 |
* @param red the red component of the color
|
96 |
* @param green the green component of the color
|
97 |
* @param blue the blue component of the color
|
98 |
*
|
99 |
* @see orb_init
|
100 |
**/
|
101 |
|
102 |
int set_orb(int red, int green, int blue){ |
103 |
/*blue is here. it goes on timer 0*/
|
104 |
blue = blue%256;
|
105 |
OCR0B = blue; |
106 |
|
107 |
/*green is here. it goes on timer 2*/
|
108 |
green = green%256;
|
109 |
OCR2B = green; |
110 |
|
111 |
|
112 |
/*red is here. it goes on timer 1*/
|
113 |
red = red%256;
|
114 |
red *= 0x9C40;
|
115 |
red = (int)(red/256); |
116 |
OCR1B = red; |
117 |
|
118 |
return 0; |
119 |
} |
120 |
|
121 |
/** @} **/ //end group |