Revision 746
added andrew's ident code files
trunk/code/projects/object_manipulation/obj_detect_swarm/main.c.test | ||
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#include <dragonfly_lib.h> |
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//A6 |
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#define RED_LED PIN_ADC4 |
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//A8 |
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#define GREEN_LED PIN_ADC5 |
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//A7 |
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#define BLUE_LED PIN_ADC6 |
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int main(void) { |
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dragonfly_init(ALL_ON); |
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//range_init(); |
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int rgb[3] = {0,0,0}; |
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long int distance_red; |
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long int distance_green; |
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long int distance_blue; |
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int blue[3] = {255,245,249}; |
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int red[3] = {190,122,126}; |
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int green[3] = {118, 80, 86}; |
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//Turn each pin on in sequential order |
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analog_init(ADC_START); |
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while(1) |
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{ |
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digital_output(BLUE_LED, 1); |
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delay_ms(1); |
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analog_stop_loop(); |
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rgb[2] = analog8(AN9); |
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analog_start_loop(); |
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digital_output(BLUE_LED,0); |
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digital_output(RED_LED, 1); |
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delay_ms(1); |
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analog_stop_loop(); |
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rgb[0] = analog8(AN9); |
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analog_start_loop(); |
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digital_output(RED_LED, 0); |
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digital_output(GREEN_LED,1); |
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delay_ms(1); |
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analog_stop_loop(); |
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rgb[1] = analog8(AN9); |
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analog_start_loop(); |
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digital_output(GREEN_LED,0); |
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distance_red = 1; |
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distance_green = rgb[1] - rgb[0]; |
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distance_blue = rgb[2] - rgb[0]; |
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distance_blue = distance_blue * rgb[0]/255; |
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distance_green = distance_green * rgb[0]/255; |
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usb_puti(distance_red); |
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usb_puts("\t"); |
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usb_puti(distance_green; |
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usb_puts("\t"); |
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usb_puti(distance_blue); |
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usb_puts("\n"); |
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/* |
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distance_red = 0; |
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distance_green = 0; |
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distance_blue = 0; |
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{ |
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for(int i = 0; i < 3; i++) |
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{ |
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distance_red += (red[i]-rgb[i])*(red[i]-rgb[i]); |
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distance_green += (green[i]-rgb[i])*(green[i]-rgb[i]); |
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distance_blue += (blue[i]-rgb[i])*(blue[i]-rgb[i]); |
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} |
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if(distance_red < distance_blue) |
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{ |
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if(distance_red < distance_green) |
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{ |
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usb_puti(distance_red); |
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usb_puts(" BROWN\n"); |
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} |
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else |
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{ |
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usb_puti(distance_green); |
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usb_puts(" GREEN\n"); |
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} |
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} |
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else |
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{ |
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if(distance_blue < distance_green) |
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{ |
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usb_puti(distance_blue); |
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usb_puts(" ORANGE\n"); |
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} |
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else |
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{ |
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usb_puti(distance_green); |
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usb_puts(" GREEN\n"); |
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} |
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} |
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} |
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*/ |
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delay_ms(50); |
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} |
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} |
trunk/code/projects/object_manipulation/obj_detect_swarm/main.c.txt | ||
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#include <inttypes.h> |
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#include <avr/interrupt.h> |
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#include "serial.h" |
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#include "timer.h" |
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#include "analog.h" |
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#include <stdlib.h> |
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#include "delay.h" |
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#include "servo.h" |
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#include "motor.h" |
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#define __STDIO_FDEVOPEN_COMPAT_12 |
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#include <stdio.h> |
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extern int16_t error_global; |
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extern uint16_t mot_global; |
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/** @brief Main function - initializes and then runs a simple button controlled |
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* test. |
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*/ |
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int main(void) |
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{ |
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uint16_t angle; |
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uint16_t pyro_reading; |
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analog_init(); |
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servo_init(); |
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angle = 8000; |
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motor_init(); |
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timer_init(); |
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serial_init(BAUD9600); |
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// Make the LED an output |
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DDRG |= _BV(PG2); |
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DDRE |= _BV(PE6); |
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fdevopen(&serial_putchar, &serial_getchar, 0); |
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// Enable interrupts |
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sei(); |
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delay_ms(2000); |
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motor_set(1,255,1); |
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delay_ms(2000); |
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motor_set(1,0,1); |
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while (1) |
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{ |
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pyro_reading = analog8(1); |
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printf("Pyro = %3u\r\n", pyro_reading); |
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if (pyro_reading > 133) |
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{ |
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angle = angle - 500; |
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if (angle < 1000) |
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angle = 1000; |
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servo_set_angle(angle); |
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} |
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else if (pyro_reading < 100) |
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{ |
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angle = angle + 500; |
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if (angle > 15000) |
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angle = 15000; |
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servo_set_angle(angle); |
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} |
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//printf("Knob = %3u\t", analog8(6)); |
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//printf("Accel0 = %3u\t", analog8(1)); |
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//printf("Accel1 = %3u\t", analog8(2)); |
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//printf("Gyro = %3u\r\n", analog8(0)); |
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delay_ms(200); |
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} |
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} |
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