#include "robotsound.h"#include "basic.h"#include "ir.h"Go to the source code of this file.
Defines | |
| #define | POS360 1187 |
| the difference of values from the angle sensor that gives a 360 turn. | |
| #define | MINSPEED 10 |
| the minimum speed that is given to the motors. This saves some power because the motors would not move anyway. | |
| #define | BATLOW 173 /*!< vcc_value at low battery, about 4V */ |
| #define | BATEMPTY 120 /*!< reeeally empty: Modus empty 3,5V*/ |
| #define | BATFULL 365 /*!< after loading and disconnect: 5,9V for a full battery */ |
| #define | IRMLENGTH 20 /*!< the maximum length for a IR-string */ |
| #define | INITSKRIPT 102 /*!< the first eeprom adress for the skript */ |
| #define | DIVSPEED 85 /*!< the divisor vor the speed.*/ |
| #define | DIPPOS ((PINC & (_BV(PC3)|_BV(PC4)))>>3) |
| gives back the status of the dip switches. (adds the values written on in). Values are 0 .. 3 | |
| #define | SETMODUS(nmodus) do { modus=nmodus; modustime = 0; l_to=positionl; r_to=positionr; } while (0) |
| Stops the Robot, sets the modus to nmodus and resets the modustimer (important for the new modus). | |
| #define | RESETP do { l_to=positionl; r_to=positionr; speed = 0; } while (0) |
| used to stop the robot instantly. It can loose the right heading by this. | |
| #define | ISIRON ((PIND & _BV(PD4))==0) /* 1: ir-on, 0: ir-off */ |
Functions | |
| void | decode_position () |
| Decodes the angle sensor. | |
| void | drive_to_pos (s16 l2, s16 r2) |
| gives a target for the robot | |
| void | drive () |
| This function calculates and sets the Driver-IC. | |
| void | start_ad (enum admodtype adm) |
| starts the ADC of some given value. | |
| void | start_radar () |
| starts measuring the distance by "radar". | |
| u08 | atoi (u08 *str) |
| Converts a hexnumber stored in a string to a u08. | |
| void | ir_int_send (u16 val) |
| sends an integer value via IR. The leading '0's are transmitted | |
Variables | |
| u16 | time |
| the global timer. | |
| u16 | modustime |
| a helping variable vor the do_functions. Mainly for building a state machine (is initialised at 0) | |
| u08 | light_value |
| the read light value. | |
| u16 | vcc_value |
| the read voltage at the processor. | |
| u16 | irpos_value |
| the distance to the next object measured by IR. Goes to about 30 cm. | |
| u16 | vcco_value |
| the read voltage at the bumper. Also influenced by the DIPPOS-2. | |
| s16 | radar_value |
| the distance to the next object measured by radar. | |
| s16 | irstation_value |
| the read ir density from the loading station | |
| s16 | heading |
| the actual heading of the robot. | |
| s16 | positionl |
| the position of the left position sensor at the wheel. | |
| s16 | positionr |
| the position of the right position sensor at the wheel. | |
| s08 | speed |
| the speed to drive. | |
| s08 | direction |
| see speed. | |
| s16 | l_to |
| the positionl to be reached | |
| s16 | r_to |
| the positionr to be reached | |
| u16 | d_pos |
| the difference from the actual to the optimal position. in ticks like the POS360. | |
| u08 | olddippos |
| u08 | needpower |
| is set in the timer0 routine if the Battery is low. | |
Definition in file robotu.h.
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reeeally empty: Modus empty 3,5V Definition at line 20 of file robotu.h. Referenced by SIGNAL(). |
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after loading and disconnect: 5,9V for a full battery Definition at line 22 of file robotu.h. Referenced by main(). |
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vcc_value at low battery, about 4V Definition at line 18 of file robotu.h. Referenced by do_empty(), and SIGNAL(). |
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the divisor vor the speed. Definition at line 34 of file robotu.h. Referenced by drive(). |
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the first eeprom adress for the skript |
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the maximum length for a IR-string |
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Decodes the angle sensor. This function is called every 0.5ms to decode the angle sensors. Every 0,13 s it updates the heading, posx and posy. Furthermore it avoids overflows of positionl and positionr while saving the heading. That's also the cause for which you should not use direct assignments to l_to and r_to. Definition at line 47 of file robotu.c. Referenced by SIGNAL(). |
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This function calculates and sets the Driver-IC. In this function the values l_to and r_to are used to drive the motors. Furthermore speed and direction are read to increment l_to and r_to. By doing this it prioritises the heading, so the robot will slow down if it cannot hold the direction. Definition at line 79 of file robotu.c. Referenced by SIGNAL(). |
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gives a target for the robot With this function you can force the robot to go exactly l2 steps left and r2 steps right. |
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starts the ADC of some given value. Starts the measure of adm. The normal measures should be ready in two cycles of Timer0. If the ADC is used already it will beep 5 times. This function will set admodus. Definition at line 126 of file robotu.c. Referenced by SIGNAL(). |
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starts measuring the distance by "radar". This will enter the radar mode. In this time nothing else will be computated. It will last at maximum 0.15s (depending on the distance). The result is written in radarcont. 0 for near, 1000 for far away or error. Definition at line 119 of file robotu.c. Referenced by SIGNAL(). |
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the actual heading of the robot. Goes from 0 to POS360. Is calculated from positionl and positionr in decode_position(). counterclockwise Referenced by decode_position(). |
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the positionl to be reached Don't change directly but with drive_to(), at it will change by overflow of positionl and positionr. Referenced by decode_position(), do_boredom(), do_sleep(), and drive(). |
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the position of the left position sensor at the wheel. it is reset when positionl or positionr reaches 5000 so don't build your code at them. Referenced by decode_position(), do_boredom(), and do_sleep(). |
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the position of the right position sensor at the wheel. it is reset when positionl or positionr reaches 5000 so don't build your code at them. Referenced by decode_position(), do_boredom(), and do_sleep(). |
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the positionr to be reached Don't change directly but with drive_to(), at it will hcange by overflow of positionl and positionr. Referenced by decode_position(), do_boredom(), do_sleep(), and drive(). |
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the distance to the next object measured by radar. From 50cm to 5m. a difference of one is about 1,96 cm. Referenced by SIGNAL(), and start_radar(). |
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the speed to drive. When setting speed the robot drives forward or backward. The direction is set with direction. Direction = +-64 is meant that one wheel is standing still. If the heading cannot be hold the speed is internally reduced. When the speed is very small the robot will not drive constantly it holds the position averagly. Direction = +-128 turns around the own axis. Speed and direction should only get values from -128 to 127. Referenced by do_boredom(). |
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the global timer. Is incremented by every "normal" Timer0 overflows ("normal" is everything besides ir-trans. and rec. and radar). The do_* functions can use it but should not change. It goes from 0 to 2^16. Referenced by do_boredom(), and SIGNAL(). |
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the read voltage at the processor. It is done by comparing this to a zener diode and is highly nonlinear. Referenced by do_empty(), main(), and SIGNAL(). |
1.3.6