Revision 0bd4bb32
| ID | 0bd4bb32e635bcc968c90d896920bf6618df9f48 |
Added motor code for forklift, and fixed analog and i2c code after testing.
| forklift/code/forklift.c | ||
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| 12 | 12 |
*/ |
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#include "twi.h" |
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#include "analog.h" |
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#include "analog.h" |
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#include "motor.h" |
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#include <avr/io.h> |
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#include <avr/interrupt.h> |
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#define TRACKING_ID 0x41 |
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#define SERIAL_NUMBER 0x12 |
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// indicies for forklift internal data |
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#define FORKLIFT_TRACKING_ID 0 |
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#define FORKLIFT_SERIAL_NUMBER 1 |
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#define FORKLIFT_HEIGHT 2 |
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#define FORKLIFT_HEIGHT_SETPOINT 3 // only one that's r/w |
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#define FORKLIFT_LINEPOS 4 |
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#define FORKLIFT_TRACKING_ID 0 |
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#define FORKLIFT_SERIAL_NUMBER 1 |
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#define FORKLIFT_HEIGHT 2 |
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#define FORKLIFT_HEIGHT_SETPOINT 3 // r/w |
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#define FORKLIFT_LINE_POS 4 |
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#define FORKLIFT_LINE_THRESH_HIGH 5 // r/w |
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#define FORKLIFT_LINE_THRESH_LOW 6 // r/w |
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#define FORKLIFT_DATA_LEN 5 |
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#define FORKLIFT_DATA_LEN 7 |
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#define PROP(X,Y,Z) (((X)*(Y))/(Z)) |
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uint8_t internal_index = 0; |
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uint8_t internal_data[] = {
|
| ... | ... | |
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SERIAL_NUMBER, |
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0, |
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0, |
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0 |
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0, |
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0, |
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150 |
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}; |
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int error; |
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int i_term; |
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void init_int0(void) |
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{
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TCCR0B = (1<<CS02)|(1<<CS00); //Timer clock = system clock / 1024 |
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TIFR0 = 1<<TOV0; //Clear TOV0 clear pending interrupts |
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TIMSK0 = 1<<TOIE0; //Enable Timer0 Overflow Interrupt |
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} |
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void slave_rx(uint8_t* data, int len) |
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{
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if (len > 0 && data[0] < FORKLIFT_DATA_LEN) |
| 41 | 61 |
{
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internal_index = data[0]; |
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if (len > 1 && internal_index == FORKLIFT_HEIGHT_SETPOINT) |
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internal_data[internal_index] = data[1]; |
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if (len > 1) |
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{
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if (internal_index == FORKLIFT_HEIGHT_SETPOINT) |
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internal_data[internal_index] = data[1]; |
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else if (internal_index == FORKLIFT_LINE_THRESH_HIGH) |
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{
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internal_data[internal_index] = data[1]; |
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line_set_threshold_high(data[1]); |
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} |
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else if (internal_index == FORKLIFT_LINE_THRESH_LOW) |
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{
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internal_data[internal_index] = data[1]; |
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line_set_threshold_low(data[1]); |
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} |
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} |
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| 45 | 78 |
} |
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} |
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|
| ... | ... | |
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if (internal_index >= FORKLIFT_DATA_LEN) |
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internal_index = 0; |
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} |
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void update_height(void) |
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//Call to update the forklift height point. Should be called each loop |
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{
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internal_data[FORKLIFT_HEIGHT] = analog_read(ADC_HEIGHT); |
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} |
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int clamp(int min, int max, int val) |
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{
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if(val>max) return max; |
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if(val<min) return min; |
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return val; |
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} |
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SIGNAL(TIMER0_OVF_vect) |
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{
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error = (int)internal_data[FORKLIFT_HEIGHT] |
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-(int)internal_data[FORKLIFT_HEIGHT_SETPOINT]; |
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i_term = i_term + error/10; |
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set_motor(clamp(-127,127, i_term/10 + (error*2)/5)); |
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} |
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| 55 | 110 |
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int main() |
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{
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twi_init(); |
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twi_setAddress(TRACKING_ID); |
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{
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error = 0; |
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i_term = 0; |
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init_int0(); |
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sei(); |
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| 60 | 117 |
twi_attachSlaveRxEvent(slave_rx); |
| 61 | 118 |
twi_attachSlaveTxEvent(slave_tx); |
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analog_init(); |
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twi_setAddress(TRACKING_ID); |
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twi_init(); |
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analog_init(); |
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motor_init(); |
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while (1) |
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{
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// do motor stuff |
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internal_data[FORKLIFT_LINEPOS] = line_read_pos(); |
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internal_data[FORKLIFT_HEIGHT] = analog_read(ADC_HEIGHT); |
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{
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/*error = PROP((int)internal_data[FORKLIFT_HEIGHT] |
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-(int)internal_data[FORKLIFT_HEIGHT_SETPOINT],2,5); |
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set_motor(clamp(-127,127,error));*/ |
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// do motor stuff |
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internal_data[FORKLIFT_LINE_POS] = (analog_read(ADC_LINE)>>2);//line_read_pos(); |
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internal_data[FORKLIFT_HEIGHT] = (analog_read(ADC_HEIGHT)>>2); |
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| 68 | 131 |
} |
| 69 | 132 |
return 0; |
| 70 | 133 |
} |
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