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203 kakl 1 
// Program pro MiniSumo na R-Day 2006
206 kakl 2 
//"$Id: cholerik.c 244 2007-04-19 20:35:06Z kakl $"
205 kakl 3 
 
203 kakl 4 
#include "cholerik.h"
5 
 
243 kakl 6 
#define THRESHOLD     15     // rozhodovaci uroven pro okraj areny
7 
                            // 0-15 (od 0.25 do 0.75 Vdd)
8 
                            // 0 jasnejsi; 15 tmavsi
203 kakl 9 
 
10 
//motory            //Napred vypnout potom zapnout!
11 
#define FR         output_low(PIN_B5); output_high(PIN_B4)  // Vpred
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#define FL         output_low(PIN_B7); output_high(PIN_B6)
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#define BR         output_low(PIN_B4); output_high(PIN_B5)  // Vzad
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#define BL         output_low(PIN_B6); output_high(PIN_B7)
15 
#define STOPR      output_low(PIN_B4);output_low(PIN_B5)    // Zastav
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#define STOPL      output_low(PIN_B6);output_low(PIN_B7)
17 
 
18 
//cidla
19 
#define SIDE_R    !input(PIN_A7)     // Sensory na soupere
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#define SIDE_L    !input(PIN_A4)
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#define FRONT     !input(PIN_A6)
22 
#define BACK      !input(PIN_B3)
23 
#define GRAVITY   !input(PIN_A1)
240 kakl 24 
// PIN_A3   Prave cidlo na okraj areny (C1OUT)
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// PIN_A2   Leve cidlo na okraj areny (C2OUT)
203 kakl 26 
 
27 
#DEFINE SOUND_HI   PIN_B1     // komplementarni vystupy pro piezo pipak
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#DEFINE SOUND_LO   PIN_B2
29 
 
30 
// makro pro PWM
31 
#define GO(motor, direction, power) if(get_timer0()<=power) \
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{direction##motor;} else {stop##motor;}
33 
 
34 
unsigned int8 majak=0;
35 
unsigned int8 sl=0;
36 
unsigned int8 sr=0;
37 
unsigned int8 b=0;
38 
unsigned int8 f=0;
39 
unsigned int8 g=0;
240 kakl 40 
int1  arena_l=FALSE;
41 
int1  arena_r=FALSE;
203 kakl 42 
int1 diag=FALSE;
43 
 
44 
#int_TIMER0
45 
TIMER0_isr()
46 
{
47 
   int1 stav;
48 
 
49 
   stav = ((majak & 0b1) == 0b1);
50 
   if (((SIDE_R && stav) || (!SIDE_R && !stav))) {if (sr<255) sr++;} else {sr=0;};
51 
   if (((SIDE_L && stav) || (!SIDE_L && !stav))) {if (sl<255) sl++;} else {sl=0;};
52 
   if (((BACK && stav) || (!BACK && !stav))) {if (b<255) b++;} else {b=0;};
53 
   if (((FRONT && stav) || (!FRONT && !stav))) {if (f<255) f++;} else {f=0;};
54 
   majak++;
55 
   stav = ((majak & 0b1) == 0b1);
240 kakl 56 
 
242 kakl 57 
   if (!C1OUT) arena_r=TRUE; else arena_r=FALSE;
58 
   if (!C2OUT) arena_l=TRUE; else arena_l=FALSE;
59 
 
203 kakl 60 
   if (stav)
61 
   {
62 
      set_pwm1_duty(27);      // 1:1
63 
   }
64 
   else
65 
   {
66 
      set_pwm1_duty(55);      // 1:0
67 
   };
242 kakl 68 
   setup_comparator(NC_NC_NC_NC);   // inicializace komparatoru
203 kakl 69 
   if (GRAVITY) {if (g<255) g++;} else g=0;
242 kakl 70 
   setup_comparator(A3_VR_A2_VR);   // inicializace komparatoru
203 kakl 71 
   if (g>3 && !diag) {FL; FR; while(TRUE);}; // kdyz nas preklopi, nedej se
72 
}
73 
 
74 
// Primitivni Pipani
75 
void beep(unsigned int16 period, unsigned int16 length)
76 
{
77 
   unsigned int16 nn;
78 
 
79 
   disable_interrupts(GLOBAL);
80 
   for(nn=length; nn>0; nn--)
81 
   {
82 
     output_high(SOUND_HI);output_low(SOUND_LO);
83 
     delay_us(period);
84 
     output_high(SOUND_LO);output_low(SOUND_HI);
85 
     delay_us(period);
86 
   }
87 
   enable_interrupts(GLOBAL);
88 
}
89 
 
240 kakl 90 
/**** DIAG ********************************************************************/
203 kakl 91 
inline void diagnostika()
92 
{
93 
   unsigned int16 n;
94 
 
242 kakl 95 
   setup_comparator(NC_NC_NC_NC);   // inicializace komparatoru
209 kakl 96 
   if (GRAVITY)
203 kakl 97 
   {
242 kakl 98 
      setup_comparator(A3_VR_A2_VR);   // inicializace komparatoru
209 kakl 99 
      diag=TRUE;
100 
      enable_interrupts(INT_TIMER0);
101 
      enable_interrupts(GLOBAL);
102 
      while (true)         // Diagnostika cidel
103 
      {
104 
         if (g>100) beep(800,100);
105 
         Delay_ms(50);
106 
         if (arena_l) {beep(1000,200); delay_ms(10);beep(1000,200);};
107 
         Delay_ms(50);
108 
         if (arena_r) {beep(2000,300); delay_ms(10);beep(2000,300);};
109 
         Delay_ms(50);
110 
 
111 
         if (sr>10) beep(3000,400);
112 
         Delay_ms(50);
113 
         if (f>10) beep(4000,500);
114 
         Delay_ms(50);
115 
         if (sl>10) beep(5000,500);
116 
         Delay_ms(50);
117 
         if (b>10) beep(6000,600);
118 
         Delay_ms(50);
240 kakl 119 
         if((g>100) && arena_l && arena_r) break;  // Preklopen na zada a bily papir na obou cidlech na okraj areny
120 
      };
121 
 
242 kakl 122 
      while(TRUE)   // Diagnostika podvozku
240 kakl 123 
      {
124 
         for (n=500; n<800; n+=100)
125 
         {
126 
            beep(n,n); //beep UP
127 
         };
128 
         Delay_ms(1000);
129 
         //zastav vse
130 
         STOPL; STOPR;
131 
         //pravy pas
132 
         FR; Delay_ms(1000); STOPR; Delay_ms(1000);
133 
         BR; Delay_ms(1000); STOPR; Delay_ms(1000);
134 
         Beep(880,100); Delay_ms(1000);
135 
         //levy pas
136 
         FL; Delay_ms(1000); STOPL; Delay_ms(1000);
137 
         BL; Delay_ms(1000); STOPL; Delay_ms(1000);
138 
         Beep(880,100); Delay_ms(1000);
139 
         //oba pasy
140 
         FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
141 
         BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
142 
      };
209 kakl 143 
   };
203 kakl 144 
}
145 
 
240 kakl 146 
/**** MAIN ********************************************************************/
203 kakl 147 
void main()
148 
{
149 
   unsigned int16 n; // for FOR
150 
 
151 
   STOPL; STOPR;     // zastavi motory
152 
 
153 
   setup_oscillator(OSC_8MHZ|OSC_INTRC);     // CPU clock 8MHz
240 kakl 154 
   setup_adc_ports(NO_ANALOGS);   // komparatory vypnuty
209 kakl 155 
   setup_adc(ADC_OFF);
203 kakl 156 
   setup_spi(FALSE);
240 kakl 157 
   setup_timer_0(RTCC_INTERNAL|RTCC_DIV_4);  // Casovac pro SW PWM a cteni cidel
203 kakl 158 
   setup_timer_1(T1_DISABLED);
159 
   setup_timer_2(T2_DIV_BY_1,54,1); // Casovac pro PWM pro IR sensory cca 36kHz
160 
   setup_ccp1(CCP_PWM);    // HW PWM ON
161 
   set_pwm1_duty(27);      // 1:1
240 kakl 162 
   setup_comparator(A3_VR_A2_VR);   // inicializace komparatoru
242 kakl 163 
   setup_comparator(NC_NC_NC_NC);   // inicializace komparatoru
240 kakl 164 
   setup_vref(VREF_HIGH|THRESHOLD);        // 16 kroku od 0.25 do 0.75 Vdd
203 kakl 165 
 
166 
   Beep(1000,200);     //double beep
167 
   Delay_ms(50);
168 
   Beep(1000,200);
169 
   diagnostika();
170 
 
171 
   enable_interrupts(INT_TIMER0);
172 
   enable_interrupts(GLOBAL);
240 kakl 173 
 
209 kakl 174 
   for (n=1;n<=5;n++)   // 5s do zacatku souboje
203 kakl 175 
   {
244 kakl 176 
      Delay_ms(670); // 5,25s
203 kakl 177 
      Beep(1000,200);
178 
   }
179 
 
240 kakl 180 
/*----- Main Loop ------------------------------------------------------------*/
203 kakl 181 
   while(true)       // hlavni smycka
182 
   {
183 
LOOP:
184 
 
185 
      GO(L, F, 150); GO(R, F, 150);
186 
 
187 
      if (arena_r)
188 
      {
189 
         BL; BR;
190 
         delay_ms(100);
191 
         STOPL; BR;
192 
         for(n=0; n<5000; n++)
193 
         {
194 
            if (!arena_r || arena_l) {BL; BR;};
195 
         };
196 
         FL; BR;
197 
         delay_ms(100);
198 
         STOPL; STOPR;
199 
      }
200 
 
201 
      if (arena_l)
202 
      {
203 
         BL; BR;
204 
         delay_ms(100);
205 
         BL; STOPR;
206 
         for(n=0; n<5000; n++)
207 
         {
208 
            if (!arena_l || arena_r) {BL; BR;};
209 
         };
210 
         BL; FR;
211 
         delay_ms(100);
212 
         STOPL; STOPR;
213 
      }
214 
 
215 
      if (sr>10)     // Nepritel vpravo
216 
      {
217 
         FL; FR;                 // popojed rovne
218 
         for(n=0; n<5000; n++)
219 
         {
220 
            if (arena_l || arena_r) {BL; BR; delay_ms(100); goto LOOP;};
221 
         };
222 
         FL; BR;                     // otoc se na nej
223 
         for(n=0; n<10000; n++)
224 
         {
225 
            if (arena_l || arena_r) {BL; BR; delay_ms(100); goto LOOP;};
226 
            if (f>5)
227 
            {
228 
               FL; FR;               // vytlac ho
229 
            };
230 
            if (sl>5) {BL; FR;};
231 
            if (sr>5) {FL; BR;};
232 
         };
233 
      }
234 
 
235 
      if (sl>10)     // Nepritel vlevo
236 
      {
237 
         FL; FR;                 // popojed rovne
238 
         for(n=0; n<5000; n++)
239 
         {
240 
            if (arena_l || arena_r) {BL; BR; delay_ms(100); goto LOOP;};
241 
         };
242 
         BL; FR;                    // otoc se na nej
243 
         for(n=0; n<10000; n++)
244 
         {
245 
            if (arena_l || arena_r) {BL; BR; delay_ms(100); goto LOOP;};
246 
            if (f>5)
247 
            {
248 
               FL; FR;              // vytlac ho
249 
            };
250 
            if (sl>5) {BL; FR;};
251 
            if (sr>5) {FL; BR;};
252 
         };
253 
      }
254 
 
255 
      if (f>10)      // Nepritel vpredu
256 
      {
257 
         BL; FR;
258 
         delay_ms(110);
259 
         FL; BR;
260 
         delay_ms(50);
261 
         STOPL; STOPR;
262 
      }
263 
 
264 
      if (b>10)      // Nepritel vzadu
265 
      {
266 
         BL; FR;
267 
         delay_ms(110);
268 
         FL; BR;
269 
         delay_ms(50);
270 
         STOPL; STOPR;
271 
      }
272 
 
273 
   } // while(true)
274 
}