root / branches / autonomous_recharging / code / projects / libbayboard / orb.c @ 669
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/**
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* Copyright (c) 2008 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 orb.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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**/
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#include <avr/io.h> |
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#include "orb.h" |
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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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int orb_init (void) |
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{ |
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/*data direction registers, blue, green (bit 6) and red (bit 4)*/
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DDRB |= _BV(DDB4); |
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DDRD |= _BV(DDD4)|_BV(DDD6); |
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/*blue is here. it goes on timer 0*/
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/*timer counter control registers for timer 0*/
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TCCR0A = _BV(COM0B1)|_BV(COM0B0)|_BV(WGM01)|_BV(WGM00); |
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TCCR0B = _BV(CS00); |
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OCR0B = 0;
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/*green is here. it goes on timer 2*/
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TCCR2A = _BV(COM2B1)|_BV(COM2B0)|_BV(WGM21)|_BV(WGM20); |
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TCCR2B = _BV(CS20); |
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OCR2B = 0;
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/*red is here. it goes on timer 1 which counts to the value in ICR1 instead of 8 bits*/
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TCCR1A = _BV(COM1B1)|_BV(COM1B0)|_BV(WGM11); |
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TCCR1B = _BV(WGM13)|_BV(WGM12)|_BV(CS10); |
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ICR1 = 0x9C40;
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OCR1B = 0;
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return 0; |
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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 the red component of the color
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* @param green the green component of the color
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* @param blue 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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int set_orb(int red, int green, int blue){ |
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/*blue is here. it goes on timer 0*/
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if(blue==0){ |
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DDRB &= ~(_BV(DDB4)); |
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} |
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else{
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DDRB |= _BV(DDB4); |
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blue = blue%256;
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OCR0B = blue; |
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} |
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/*green is here. it goes on timer 2*/
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if(green==0){ |
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DDRD &= ~(_BV(DDD6)); |
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} |
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else{
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DDRD |= _BV(DDD6); |
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green = green%256;
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OCR2B = green; |
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} |
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/*red is here. it goes on timer 1*/
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red = red%256;
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red *= 0x9C40;
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red = (int)(red/256); |
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OCR1B = red; |
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return 0; |
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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 color use a pound-defined color
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*
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* @see orb_init
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**/
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int set_color(long color){ |
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int red = (color>>16)&BYTEMASK; |
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int green = (color>>8)&BYTEMASK; |
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int blue = color&BYTEMASK;
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return set_orb(red, green, blue);
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} |
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/** @} **/ //end group |