Colony

/**

 * Copyright (c) 2007 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 bom.c

 * @brief Implementation for using the BOM

 *

 * Contains functions for using the Bearing and Orientation Module (BOM)

 *

 * @author Colony Project, CMU Robotics Club

 **/

#include <dragonfly_lib.h>

#include "bom.h"

#include "dio.h"

#include "analog.h"

//constants

static const char lookup[16] = {7,6,5,0xe,1,4,3,2,0xf,0,0xd,8,0xc,0xb,9,0xa};

// internal function prototypes

static void bom_select(char which);

/*

 Bk R Y (Analog)

---------

 Green

 Blue

 White

---------

 Blue

 White

*/

/*

the analog pin definitions from dio.h DO NOT work here,

so we must use PF0 from avrgcc (as opposed to _PIN_F0).

BUT the dio pin definitions from dio.h must be used (no PE...).

also, _PIN_E2 is initialized to high for some reason,

which turns the BOM on when the robot is turned on.

WORK-AROUND: call digital_output(_PIN_E2,0) at some point.

*/

#define MONKI PF0         //analog (yellow)

//------------------------//

#define MONKL _PIN_E2     //green

#define MONK1 _PIN_E3     //blue

#define MONK0 _PIN_E4     //white

//------------------------//

#define MONK3 _PIN_E6     //blue

#define MONK2 _PIN_E7     //white

#define BOM_VALUE_THRESHOLD 200

#define NUM_BOM_LEDS 16

/**

 * @defgroup bom BOM (Bearing and Orientation Module)

 * @brief Functions for dealing with the BOM.

 *

 * The Bearing and Orientation Module / Barrel of Monkeys / BOM

 * is a custom sensor designed and built by the Colony Project.

 * It consists of a ring of 16 IR emitters and 16 IR detectors.

 * The BOM is most often use to determine the direction of other

 * robots. This module contains functions for controlling the BOM.

 *

 * Include bom.h to access these functions.

 *

 * @{

/**

 * Initializes the BOM.

 * Call bom_init before reading bom values or turning bom leds.

 *

 * @bugs INCOMPLETE - need to fill in init routine for BOM15

 * 

 * @see bom_refresh, bom_leds_on, bom_leds_off

 **/

/**

 * Iterates through each bit in the bit_field. For each set bit, sets the corresponding bom select bits

 *    and updates the corresponding bom value with an analog_get8 reading.  analog_init and bom_init

 *    must be called for this to work.

 *

 *

 * @param bit_field specifies which elements in bom_val[] should be updated. Use BOM_ALL to refresh all values.

 *    Ex. if 0x0003 is passed, bom_val[0] and bom_val[1] will be updated.

 *

 * @see bom_get

 **/

/**

 * Gets the bom reading from bom_val[which].  Call bom_refresh beforehand to read new bom values.

 *

 * @param which which bom value to return

 *

 * @return the bom value

 *

 * @see bom_refresh

 **/

/** 

 * Compares all the values in bom_val[] and returns the index to the lowest (max) value element.

 * Returns the direction of the maximum BOM reading,as an integer in the range 0-15. 0 indicates

 * to the robot's right, while the rest of the sensors are numbered counterclockwise.

 * 

 * @return index to the lowest (max) bom value element.  -1 if no value is lower than

 *    BOM_VALUE_THRESHOLD

 **/

    lowest_val = 255;

    for(i = 0; i < NUM_BOM_LEDS; i++) {

/**

 * Iterates through each bit in the bit_field. For each set bit, turns on the corresponding bom led.

 *    bom_init must be called for this to work. Only works with BOM_ALL if using the original bom.

 *

 * @param bit_field specifies which leds should be turned on.  Use BOM_ALL to turn on all bom leds.

 *    Ex. if 0x0005 is passed, leds 0 and 2 will be turned on.

 **/

    }

/**

 * Iterates through each bit in the bit_field. For each set bit, turns off the corresponding bom led.

 *    bom_init must be called for this to work. Only works with BOM_ALL if using the original bom.

 *

 * @param bit_field specifies which leds should be turned off.  Use BOM_ALL to turn off all bom leds.

 *    Ex. if 0x000B is passed, leds 0 and 3 will be turned off.

 **/

    }

/**

 * (DEPRECATED) Wrapper function for new BOM code.  Refreshes buffer and returns the max bom value.

 *

 * @return the direction of the maximum BOM reading

 *

 * @see bom_refresh, bom_get_max

 **/

int get_max_bom(void) {

    bom_refresh(BOM_ALL);

    return bom_get_max();

}

/**

 * (DEPRECATED) Turns on all bom leds.

 * 

 * @see bom_off

 **/

void bom_on(void)

{

  bom_leds_on(BOM_ALL);

}

/**

 * (DEPRECATED) Turns off all bom leds.

 * 

 * @see bom_on

 **/

void bom_off(void)

{

    bom_leds_off(BOM_ALL);

}

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

+

      if (which&8)

        digital_output(MONK3, 1);

      else

        digital_output(MONK3, 0);

      if (which&4)

        digital_output(MONK2, 1);

      else

        digital_output(MONK2, 0);

      if (which&2)

        digital_output(MONK1, 1);

      else

        digital_output(MONK1, 0);

      if (which&1)

        digital_output(MONK0, 1);

      else