Project

General

Profile

Revision 833

Added by Evan Mullinix over 15 years ago

View differences:

branches/autonomous_recharging/code/projects/libbayboard/homing.c
1 
/**
2 
 * Copyright (c) 2008 Colony Project
3 
 *
4 
 * Permission is hereby granted, free of charge, to any person
5 
 * obtaining a copy of this software and associated documentation
6 
 * files (the "Software"), to deal in the Software without
7 
 * restriction, including without limitation the rights to use,
8 
 * copy, modify, merge, publish, distribute, sublicense, and/or sell
9 
 * copies of the Software, and to permit persons to whom the
10 
 * Software is furnished to do so, subject to the following
11 
 * conditions:
12 
 *
13 
 * The above copyright notice and this permission notice shall be
14 
 * included in all copies or substantial portions of the Software.
15 
 *
16 
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17 
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
18 
 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19 
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20 
 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
21 
 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
22 
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
23 
 * OTHER DEALINGS IN THE SOFTWARE.
24 
 **/
25
26 
 /**
27 
 * @file homing.c
28 
 * @brief Contains declarations for managing the orbs.
29 
 *
30 
 * Contains declarations for using the orbs and PWM.
31 
 *
32 
 * @author Colony Project, CMU Robotics Club
33 
 **/
1 34 
//carrier for beacons is on blue timer
2 35 
//manually defined ISRs
3 36 
//high frequency = 200Hz
......
10 43 

  		




  11
  44
  
    
int state = 0;


  		




  12
  45
  
    

  		




  13
  
  
    
IR_init(){


  		




  
  46
  
    
void IR_init(void){


  		




  14
  47
  
    
  


  		




  15
  48
  
    
  DDRA |= _BV(DDA0)|_BV(DDA1);


  		




  16
  49
  
    
  DDRB |= _BV(DDB3);


  		




  ......




  21
  54
  
    

  		




  22
  55
  
    
  TCCR0A |= _BV(COM0A1)|_BV(COM0A0)|_BV(WGM01)|_BV(WGM00);


  		




  23
  56
  
    
  TCCR0B |= _BV(CS00);


  		




  24
  
  
    
  OCR0A = 128;


  		




  
  57
  
    
  OCR0A = 0x80;


  		




  25
  58
  
    

  		




  26
  59
  
    
  TCCR1A |= _BV(COM1B1)|_BV(COM1B0)|_BV(WGM11);	


  		




  27
  60
  
    
  TCCR1B |= _BV(WGM13)|_BV(WGM12)|_BV(CS10);


  		












  

    
      branches/autonomous_recharging/code/projects/libbayboard/homing.h
    
  





  
  1
  
    
/**


  		




  
  2
  
    
 * Copyright (c) 2008 Colony Project


  		




  
  3
  
    
 * 


  		




  
  4
  
    
 * Permission is hereby granted, free of charge, to any person


  		




  
  5
  
    
 * obtaining a copy of this software and associated documentation


  		




  
  6
  
    
 * files (the "Software"), to deal in the Software without


  		




  
  7
  
    
 * restriction, including without limitation the rights to use,


  		




  
  8
  
    
 * copy, modify, merge, publish, distribute, sublicense, and/or sell


  		




  
  9
  
    
 * copies of the Software, and to permit persons to whom the


  		




  
  10
  
    
 * Software is furnished to do so, subject to the following


  		




  
  11
  
    
 * conditions:


  		




  
  12
  
    
 * 


  		




  
  13
  
    
 * The above copyright notice and this permission notice shall be


  		




  
  14
  
    
 * included in all copies or substantial portions of the Software.


  		




  
  15
  
    
 * 


  		




  
  16
  
    
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,


  		




  
  17
  
    
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES


  		




  
  18
  
    
 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND


  		




  
  19
  
    
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT


  		




  
  20
  
    
 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,


  		




  
  21
  
    
 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING


  		




  
  22
  
    
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR


  		




  
  23
  
    
 * OTHER DEALINGS IN THE SOFTWARE.


  		




  
  24
  
    
 **/


  		




  
  25
  
    
 


  		




  
  26
  
    
 /**


  		




  
  27
  
    
 * @file homing.h


  		




  
  28
  
    
 * @brief Contains declarations for managing the orbs.


  		




  
  29
  
    
 *


  		




  
  30
  
    
 * Contains declarations for using the orbs and PWM.


  		




  
  31
  
    
 *


  		




  
  32
  
    
 * @author Colony Project, CMU Robotics Club


  		




  
  33
  
    
 **/


  		




  
  34
  
    
 


  		




  
  35
  
    
void IR_init(void);


  		












Also available in:  Unified diff