root / branches / autonomous_recharging / code / projects / libbayboard / lbom.c @ 725
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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 lbom.c
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* @brief Implementation for using the LBOM
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*
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* Contains functions for using the Bearing and Orientation Module (BOM)
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* on the charging station.
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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 "lbom.h" |
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#define ALL_ON 0b1111 |
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#define BOM 0 |
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#define BOM1_5 1 |
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#define RBOM 2 |
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#define BOM0 DDC4
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#define BOM1 DDC5
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#define BOM2 DDC6
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#define BOM3 DDC7
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static char bom_mode; |
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/**
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* @defgroup lbom LBOM (Bearing and Orientation Module)
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* @brief Functions for dealing with the BOM.
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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 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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* Include bom.h to access these functions.
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*
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* @{
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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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DDRC |= _BV(BOM0)|_BV(BOM1)|_BV(BOM2)|_BV(BOM3); |
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PORTC |= 0b11110000;
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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(type); |
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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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TCCR2B = _BV(CS20); |
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switch(bom_mode){
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case BOM:
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OCR2A = 1;
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case BOM1_5:
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OCR2A = 1;
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case RBOM:
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OCR2A = 127;
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default:
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OCR2A = 1;
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} |
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} |
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/** @brief Turns the LBOM off. **/
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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 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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/** @} **/ //end group |