Colony

/**

 * 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 4 IR emitters.

 * 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);

        DDRC |= _BV(BOM0)|_BV(BOM1)|_BV(BOM2)|_BV(BOM3);

        PORTC |= 0b11110000;

        DDRD |= _BV(DDD7);                        //sets bom carrier to write

        bom_mode = type;

        bom_on(type);

}

/** @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 = 1;

        case BOM1_5:

                OCR2A = 1;

        case RBOM:

                OCR2A = 127;

        default:

                OCR2A = 1;

        }

}

/** @brief Turns the LBOM off. **/

void bom_off(void){

        OCR2A = 0;

}

/** @brief Sets which emitters are in use. **/

void set_leds(int bit_field){

        DDRC |= (bit_field << 4);

}

/** @} **/ //end group