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 orb.c

 * @brief Orbs

 *

 * Implemenation for the orbs (tri-colored LEDs)

 *

 * @author Colony Project, CMU Robotics Club

 **/

#include <avr/io.h>

#include "orb.h"

#include "serial.h"

/**

 * @defgroup orbs Orbs

 * @brief Functions for controlling the color of the orbs.

 *

 * Functions for controlling the color and lighting of the orbs.

 *

 * @{

 **/

/**

 * Initializes the PWM for Orb control. This must be called before

 * the orbs are used for them to function.

 **/

void orb_init (void)

{

        /*data direction registers, blue, green (bit 6) and red (bit 4)*/

        DDRB |= _BV(DDB4);

        DDRD |= _BV(DDD4)|_BV(DDD6);

        /*blue is here. it goes on timer 0*/

        /*timer counter control registers for timer 0*/

        TCCR0A |= _BV(COM0B1)|_BV(COM0B0)|_BV(WGM01)|_BV(WGM00);

        TCCR0B |= _BV(CS00);

        OCR0B = 0;

        /*green is here. it goes on timer 2*/

        TCCR2A |= _BV(COM2B1)|_BV(COM2B0)|_BV(WGM21)|_BV(WGM20);

        TCCR2B |= _BV(CS20);

        OCR2B = 0;

        /*red is here. it goes on timer 1 which counts to the value in ICR1 instead of 8 bits*/

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

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

        ICR1 = 0x9C40;

        OCR1B = 0;

        set_orb(0, 0, 0);

}

/**

 * Set both orbs to the color specified. orb_init must

 * be called before this function may be used.

 *

 * @param red the red component of the color

 * @param green the green component of the color

 * @param blue the blue component of the color

 *

 * @see orb_init

 **/

void set_orb(int red, int green, int blue){

        /*blue is here. it goes on timer 0*/

        if(blue==0){

                DDRB &= ~(_BV(DDB4));

        }

        else{

                DDRB |= _BV(DDB4);

                blue = blue%256;

                OCR0B = blue;

        }

        /*green is here. it goes on timer 2*/

        if(green==0){

                DDRD &= ~(_BV(DDD6));

        }

        else{

                DDRD |= _BV(DDD6);

                green = green%256;

                OCR2B = green;

        }

        /*red is here. it goes on timer 1*/

        red = red%256;

        red = red*157;

        OCR1B = red;

}

/**

 * Set both orbs to the color specified. orb_init must

 * be called before this function may be used.

 *

 * @param color use a pound-defined color

 *

 * @see orb_init

 **/

 void set_color(long color){

        int red = (color>>16)&BYTEMASK;

        int green = (color>>8)&BYTEMASK;

        int blue = color&BYTEMASK;

        set_orb(red, green, blue);

 }

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