Revision 890
Changed some odometry stuff. Interrupt is called now.
Still some problem that is not updating x and y data.
| trunk/code/behaviors/smart_run_around_fsm/Makefile | ||
|---|---|---|
| 14 | 14 |
# USE_WIRELESS = 1 |
| 15 | 15 |
|
| 16 | 16 |
# com1 = serial port. Use lpt1 to connect to parallel port. |
| 17 |
AVRDUDE_PORT = com4
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| 17 |
AVRDUDE_PORT = /dev/ttyUSB0
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|
| 18 | 18 |
# |
| 19 | 19 |
# |
| 20 | 20 |
################################### |
| trunk/code/projects/mapping/odometry/encoders.c | ||
|---|---|---|
| 1 | 1 |
#include "encoders.h" |
| 2 |
#include "dragonfly_lib.h" |
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| 2 | 3 |
#include "spi.h" |
| 3 |
#include <dragonfly_lib.h> |
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| 4 | 4 |
#include "ring_buffer.h" |
| 5 | 5 |
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| 6 | 6 |
unsigned short int left_data_buf; |
| trunk/code/projects/mapping/odometry/odometry.c | ||
|---|---|---|
| 25 | 25 |
void odometry_init(void){
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| 26 | 26 |
encoder_init(); |
| 27 | 27 |
odometry_reset(); |
| 28 |
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//CTC Mode. CLK / 1024 |
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| 30 |
TCCR2 = 0; // (Fully disconnected) |
|
| 31 |
TCCR2 = _BV(WGM21) | _BV(CS22) | _BV(CS20); //CLK/1024 , CTC Mode. |
|
| 32 |
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TIMSK |= _BV(OCIE2); |
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| 34 |
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OCR2 = ODOMETRY_CLK; |
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| 28 | 36 |
} |
| 29 | 37 |
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| 30 | 38 |
void odometry_reset(void){
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| 31 | 39 |
diff_x = 0; |
| 32 | 40 |
diff_y = 0; |
| 33 | 41 |
angle = 0.0; |
| 34 |
|
|
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//CTC Mode. CLK / 1024 |
|
| 36 |
TCCR2 = 0; // (Fully disconnected) |
|
| 37 |
TCCR2 = _BV(WGM32) | _BV(CS32) | _BV(CS30); //CLK/1024 , CTC Mode. |
|
| 38 |
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OCR2 = ODOMETRY_CLK; |
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| 40 | 42 |
} |
| 41 | 43 |
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| 42 | 44 |
void odometry_run(void){
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| 43 |
usb_puts("*");
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| 44 | 45 |
int v_l, v_r; |
| 45 | 46 |
float omega; |
| 46 | 47 |
int encoder_left, encoder_right; |
| trunk/code/projects/mapping/odometry/odometry.h | ||
|---|---|---|
| 3 | 3 |
#define __ODOMETRY_C__ |
| 4 | 4 |
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| 5 | 5 |
//Odometry resolution, *64 microseconds. |
| 6 |
#define ODOMETRY_CLK 160 //= approx. 10 ms |
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| 6 |
#define ODOMETRY_CLK 1600 //= approx. 10 ms
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| 7 | 7 |
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| 8 | 8 |
//Wheel = 2.613 in. |
| 9 | 9 |
//Circumference = 208.508133 mm |
| trunk/code/projects/mapping/odometry/Makefile | ||
|---|---|---|
| 4 | 4 |
|
| 5 | 5 |
# Relative path to the root directory (containing lib directory) |
| 6 | 6 |
ifndef COLONYROOT |
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COLONYROOT = ../../.. |
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| 7 |
COLONYROOT = ../../../..
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| 8 | 8 |
endif |
| 9 | 9 |
|
| 10 | 10 |
# Target file name (without extension). |
| ... | ... | |
| 14 | 14 |
USE_WIRELESS = 1 |
| 15 | 15 |
|
| 16 | 16 |
# com1 = serial port. Use lpt1 to connect to parallel port. |
| 17 |
AVRDUDE_PORT = /dev/tty.usbserial-A4001hAG
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AVRDUDE_PORT = /dev/ttyUSB0
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| 18 | 18 |
# |
| 19 | 19 |
# |
| 20 | 20 |
################################### |
| trunk/code/projects/libdragonfly/encoders.c | ||
|---|---|---|
| 1 | 1 |
#include "encoders.h" |
| 2 | 2 |
#include "spi.h" |
| 3 |
#include <dragonfly_lib.h>
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| 3 |
#include "dragonfly_lib.h"
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| 4 | 4 |
#include "ring_buffer.h" |
| 5 | 5 |
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| 6 | 6 |
unsigned int left_data_buf; |
| ... | ... | |
| 39 | 39 |
inline unsigned int right_data_array_bottom(void); |
| 40 | 40 |
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| 41 | 41 |
|
| 42 |
void encoder_recv_complete(){
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| 42 |
void encoder_recv_complete(void){
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| 43 | 43 |
encoder_buf_index = 0; |
| 44 | 44 |
data_ready++; |
| 45 | 45 |
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