Revision 709
lbom library doesn't work
| branches/autonomous_recharging/code/projects/libbayboard/lbom.c | ||
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* |
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* The Bearing and Orientation Module / Barrel of Monkeys / BOM |
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* is a custom sensor designed and built by the Colony Project. |
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* It consists of a ring of 16 IR emitters and 16 IR detectors.
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* It consists of 4 IR emitters.
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* The BOM is most often use to determine the direction of other |
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* robots. This module contains functions for controlling the BOM. |
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* |
| ... | ... | |
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/** @brief Sets up the LBOM to be used. **/ |
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void bom_init(char type){
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set_leds(ALL_ON); |
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DDRD |= _BV(DDD7); //sets bom carrier to write |
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//set_leds(ALL_ON); |
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DDRC |= _BV(BOM0)|_BV(BOM1)|_BV(BOM2)|_BV(BOM3); |
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//DDRD |= _BV(DDD7); //sets bom carrier to write |
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bom_mode = type; |
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bom_on(); |
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} |
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/** @brief Turns the LBOM on. **/ |
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void bom_on(void){
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//start timer 2 if not already started |
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TCCR2A = _BV(COM2A1)|_BV(COM2A0)|_BV(WGM21)|_BV(WGM20);
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TCCR2A = _BV(COM2A1)|_BV(WGM21)|_BV(WGM20); |
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TCCR2B = _BV(CS20); |
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switch(bom_mode){
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case BOM: |
| ... | ... | |
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void bom_off(void){
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OCR2A = 0; |
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} |
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/** @brief Sets which LEDs are in use. **/
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/** @brief Sets which emitters are in use. **/
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void set_leds(int bit_field){
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DDRC |= (bit_field << 4); |
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} |
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