Colony » Colony Scout

#include "twi.h"

#include "motor.h"

#include "servo.h"

#include "sol.h"

#include <avr/io.h>

#include <avr/interrupt.h>

#include <util/delay.h>

#define TRACKING_ID 0x43

#define SERIAL_NUMBER 0x12

// indicies for paintboard internal data

#define PAINT_TRACKING_ID       0 // ro

#define PAINT_SERIAL_NUMBER     1 // ro

#define PAINT_MOTOR_A           2 // r/w

#define PAINT_MOTOR_B           3 // r/w

#define PAINT_SERVO_A           4 // r/w

#define PAINT_SERVO_B           5 // r/w

#define PAINT_12V_1             6 // r/w

#define PAINT_12V_2             7 // r/w

#define PAINT_12V_3             8 // r/w

#define PAINT_12V_4             9 // r/w

#define PAINT_INPUT_1           10 //ro

#define PAINT_INPUT_2           11 //ro

#define PAINT_INPUT_3           12 //ro

#define PAINT_DATA_LEN         13

#define METAL_DETECT           PD5

uint8_t internal_index = 0;

uint8_t internal_data[PAINT_DATA_LEN] = {

  TRACKING_ID,

  SERIAL_NUMBER,

  0,

  0,

  0,

  0,

  0,

  0,

  0,

  0,

  0,

  0,

  0

};

void slave_rx(uint8_t* data, int len)

{

  uint8_t value;

  if (len > 0 && data[0] < PAINT_DATA_LEN)

  {

    internal_index = data[0];

    if (len > 1 && internal_index > 1)

    {

      value = data[1];

      internal_data[internal_index] = value;

      switch (internal_index) {

        case PAINT_MOTOR_A:

          set_motor1(value);

          break;

        case PAINT_MOTOR_B:

          set_motor2(value);

          break;

        case PAINT_SERVO_A:

          set_servo1(value);

          break;

        case PAINT_SERVO_B:

          set_servo2(value);

          break;

        case PAINT_12V_1:

          set_sol1(value);

          break;

        case PAINT_12V_2:

          set_sol2(value);

          break;

        case PAINT_12V_3:

          set_sol3(value);

          break;

        case PAINT_12V_4:

          set_sol4(value);

          break;

      }

    }

  }

}

void slave_tx(void)

{

  twi_transmit(&internal_data[internal_index], 1);

  internal_index++;

  if (internal_index >= PAINT_DATA_LEN)

    internal_index = 0;

}

int main()

{

  sei();

  twi_attachSlaveRxEvent(slave_rx);

  twi_attachSlaveTxEvent(slave_tx);

  twi_setAddress(TRACKING_ID);

  twi_init();

  motor_init();

  servo_init();

  while (1)

  {

    internal_data[PAINT_INPUT_1] = !(!(_BV(METAL_DETECT) & PIND));

    if (internal_data[PAINT_INPUT_1]) {

      set_servo1(-128);

      set_motor1(0);

      set_motor2(0);

    } else {

      set_servo1(127);

      set_motor1(127);

      set_motor2(127);

    }

    servo_pulse();

    /* TODO geiger counter */

    _delay_ms(20);

  }

  return 0;

}