Revision 766
added I term to current control, had weird issues with battery #4 where the current reading dops down to 26 for some reason. After this happens, unloaded voltage on bat (through multimeter) reads >6, even though it seemed discharged before. I am doubting it was fully discharged, maybe the 5 minutes actually forced too much current in?
serial.c | ||
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/* |
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serial.c - Functions for using the RS232 serial port |
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authors: Robotics Club, Colony Project, pkv |
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much code taken from FWR's library, author: Tom Lauwers |
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*/ |
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/** |
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* Copyright (c) 2007 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 serial.c |
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* @brief Serial Input and Output |
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* |
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* Implementation of functions for serial input and output. |
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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 <stdio.h> |
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#include "serial.h" |
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**/ |
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int usb_getc(void) |
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{ |
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// Wait for the receive buffer to be filled
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loop_until_bit_is_set(UCSR0A, RXC0);
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// Wait for the receive buffer to be filled
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loop_until_bit_is_set(UCSR0A, RXC0);
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// Read the receive buffer |
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return UDR0; |
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