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203 kakl 1 
// Program pro MiniSumo na R-Day 2006
206 kakl 2 
//"$Id: cholerik.c 242 2007-04-19 18:12:00Z kakl $"
205 kakl 3 
 
203 kakl 4 
#include "cholerik.h"
5 
 
240 kakl 6 
#define THRESHOLD     0x8        // rozhodovaci uroven pro okraj areny 0-15 (od 0.25 do 0.75 Vdd)
203 kakl 7 
 
8 
//motory            //Napred vypnout potom zapnout!
9 
#define FR         output_low(PIN_B5); output_high(PIN_B4)  // Vpred
10 
#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)
13 
#define STOPR      output_low(PIN_B4);output_low(PIN_B5)    // Zastav
14 
#define STOPL      output_low(PIN_B6);output_low(PIN_B7)
15 
 
16 
//cidla
17 
#define SIDE_R    !input(PIN_A7)     // Sensory na soupere
18 
#define SIDE_L    !input(PIN_A4)
19 
#define FRONT     !input(PIN_A6)
20 
#define BACK      !input(PIN_B3)
21 
#define GRAVITY   !input(PIN_A1)
240 kakl 22 
// PIN_A3   Prave cidlo na okraj areny (C1OUT)
23 
// PIN_A2   Leve cidlo na okraj areny (C2OUT)
203 kakl 24 
 
25 
#DEFINE SOUND_HI   PIN_B1     // komplementarni vystupy pro piezo pipak
26 
#DEFINE SOUND_LO   PIN_B2
27 
 
28 
// makro pro PWM
29 
#define GO(motor, direction, power) if(get_timer0()<=power) \
30 
{direction##motor;} else {stop##motor;}
31 
 
32 
unsigned int8 majak=0;
33 
unsigned int8 sl=0;
34 
unsigned int8 sr=0;
35 
unsigned int8 b=0;
36 
unsigned int8 f=0;
37 
unsigned int8 g=0;
240 kakl 38 
int1  arena_l=FALSE;
39 
int1  arena_r=FALSE;
203 kakl 40 
int1 diag=FALSE;
41 
 
42 
#int_TIMER0
43 
TIMER0_isr()
44 
{
45 
   int1 stav;
46 
 
47 
   stav = ((majak & 0b1) == 0b1);
48 
   if (((SIDE_R && stav) || (!SIDE_R && !stav))) {if (sr<255) sr++;} else {sr=0;};
49 
   if (((SIDE_L && stav) || (!SIDE_L && !stav))) {if (sl<255) sl++;} else {sl=0;};
50 
   if (((BACK && stav) || (!BACK && !stav))) {if (b<255) b++;} else {b=0;};
51 
   if (((FRONT && stav) || (!FRONT && !stav))) {if (f<255) f++;} else {f=0;};
52 
   majak++;
53 
   stav = ((majak & 0b1) == 0b1);
240 kakl 54 
 
242 kakl 55 
   if (!C1OUT) arena_r=TRUE; else arena_r=FALSE;
56 
   if (!C2OUT) arena_l=TRUE; else arena_l=FALSE;
57 
 
203 kakl 58 
   if (stav)
59 
   {
60 
      set_pwm1_duty(27);      // 1:1
61 
   }
62 
   else
63 
   {
64 
      set_pwm1_duty(55);      // 1:0
65 
   };
242 kakl 66 
   setup_comparator(NC_NC_NC_NC);   // inicializace komparatoru
203 kakl 67 
   if (GRAVITY) {if (g<255) g++;} else g=0;
242 kakl 68 
   setup_comparator(A3_VR_A2_VR);   // inicializace komparatoru
203 kakl 69 
   if (g>3 && !diag) {FL; FR; while(TRUE);}; // kdyz nas preklopi, nedej se
70 
}
71 
 
72 
// Primitivni Pipani
73 
void beep(unsigned int16 period, unsigned int16 length)
74 
{
75 
   unsigned int16 nn;
76 
 
77 
   disable_interrupts(GLOBAL);
78 
   for(nn=length; nn>0; nn--)
79 
   {
80 
     output_high(SOUND_HI);output_low(SOUND_LO);
81 
     delay_us(period);
82 
     output_high(SOUND_LO);output_low(SOUND_HI);
83 
     delay_us(period);
84 
   }
85 
   enable_interrupts(GLOBAL);
86 
}
87 
 
240 kakl 88 
/**** DIAG ********************************************************************/
203 kakl 89 
inline void diagnostika()
90 
{
91 
   unsigned int16 n;
92 
 
242 kakl 93 
   setup_comparator(NC_NC_NC_NC);   // inicializace komparatoru
209 kakl 94 
   if (GRAVITY)
203 kakl 95 
   {
242 kakl 96 
      setup_comparator(A3_VR_A2_VR);   // inicializace komparatoru
209 kakl 97 
      diag=TRUE;
98 
      enable_interrupts(INT_TIMER0);
99 
      enable_interrupts(GLOBAL);
100 
      while (true)         // Diagnostika cidel
101 
      {
102 
         if (g>100) beep(800,100);
103 
         Delay_ms(50);
104 
         if (arena_l) {beep(1000,200); delay_ms(10);beep(1000,200);};
105 
         Delay_ms(50);
106 
         if (arena_r) {beep(2000,300); delay_ms(10);beep(2000,300);};
107 
         Delay_ms(50);
108 
 
109 
         if (sr>10) beep(3000,400);
110 
         Delay_ms(50);
111 
         if (f>10) beep(4000,500);
112 
         Delay_ms(50);
113 
         if (sl>10) beep(5000,500);
114 
         Delay_ms(50);
115 
         if (b>10) beep(6000,600);
116 
         Delay_ms(50);
240 kakl 117 
         if((g>100) && arena_l && arena_r) break;  // Preklopen na zada a bily papir na obou cidlech na okraj areny
118 
      };
119 
 
242 kakl 120 
      while(TRUE)   // Diagnostika podvozku
240 kakl 121 
      {
122 
         for (n=500; n<800; n+=100)
123 
         {
124 
            beep(n,n); //beep UP
125 
         };
126 
         Delay_ms(1000);
127 
         //zastav vse
128 
         STOPL; STOPR;
129 
         //pravy pas
130 
         FR; Delay_ms(1000); STOPR; Delay_ms(1000);
131 
         BR; Delay_ms(1000); STOPR; Delay_ms(1000);
132 
         Beep(880,100); Delay_ms(1000);
133 
         //levy pas
134 
         FL; Delay_ms(1000); STOPL; Delay_ms(1000);
135 
         BL; Delay_ms(1000); STOPL; Delay_ms(1000);
136 
         Beep(880,100); Delay_ms(1000);
137 
         //oba pasy
138 
         FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
139 
         BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000);
140 
      };
209 kakl 141 
   };
203 kakl 142 
}
143 
 
240 kakl 144 
/**** MAIN ********************************************************************/
203 kakl 145 
void main()
146 
{
147 
   unsigned int16 n; // for FOR
148 
 
149 
   STOPL; STOPR;     // zastavi motory
150 
 
151 
   setup_oscillator(OSC_8MHZ|OSC_INTRC);     // CPU clock 8MHz
240 kakl 152 
   setup_adc_ports(NO_ANALOGS);   // komparatory vypnuty
209 kakl 153 
   setup_adc(ADC_OFF);
203 kakl 154 
   setup_spi(FALSE);
240 kakl 155 
   setup_timer_0(RTCC_INTERNAL|RTCC_DIV_4);  // Casovac pro SW PWM a cteni cidel
203 kakl 156 
   setup_timer_1(T1_DISABLED);
157 
   setup_timer_2(T2_DIV_BY_1,54,1); // Casovac pro PWM pro IR sensory cca 36kHz
158 
   setup_ccp1(CCP_PWM);    // HW PWM ON
159 
   set_pwm1_duty(27);      // 1:1
240 kakl 160 
   setup_comparator(A3_VR_A2_VR);   // inicializace komparatoru
242 kakl 161 
   setup_comparator(NC_NC_NC_NC);   // inicializace komparatoru
240 kakl 162 
   setup_vref(VREF_HIGH|THRESHOLD);        // 16 kroku od 0.25 do 0.75 Vdd
203 kakl 163 
 
164 
   Beep(1000,200);     //double beep
165 
   Delay_ms(50);
166 
   Beep(1000,200);
167 
   diagnostika();
168 
 
169 
   enable_interrupts(INT_TIMER0);
170 
   enable_interrupts(GLOBAL);
240 kakl 171 
 
209 kakl 172 
   for (n=1;n<=5;n++)   // 5s do zacatku souboje
203 kakl 173 
   {
209 kakl 174 
      Delay_ms(720);
203 kakl 175 
      Beep(1000,200);
176 
   }
177 
 
240 kakl 178 
/*----- Main Loop ------------------------------------------------------------*/
203 kakl 179 
   while(true)       // hlavni smycka
180 
   {
181 
LOOP:
182 
 
183 
      GO(L, F, 150); GO(R, F, 150);
184 
 
185 
      if (arena_r)
186 
      {
187 
         BL; BR;
188 
         delay_ms(100);
189 
         STOPL; BR;
190 
         for(n=0; n<5000; n++)
191 
         {
192 
            if (!arena_r || arena_l) {BL; BR;};
193 
         };
194 
         FL; BR;
195 
         delay_ms(100);
196 
         STOPL; STOPR;
197 
      }
198 
 
199 
      if (arena_l)
200 
      {
201 
         BL; BR;
202 
         delay_ms(100);
203 
         BL; STOPR;
204 
         for(n=0; n<5000; n++)
205 
         {
206 
            if (!arena_l || arena_r) {BL; BR;};
207 
         };
208 
         BL; FR;
209 
         delay_ms(100);
210 
         STOPL; STOPR;
211 
      }
212 
 
213 
      if (sr>10)     // Nepritel vpravo
214 
      {
215 
         FL; FR;                 // popojed rovne
216 
         for(n=0; n<5000; n++)
217 
         {
218 
            if (arena_l || arena_r) {BL; BR; delay_ms(100); goto LOOP;};
219 
         };
220 
         FL; BR;                     // otoc se na nej
221 
         for(n=0; n<10000; n++)
222 
         {
223 
            if (arena_l || arena_r) {BL; BR; delay_ms(100); goto LOOP;};
224 
            if (f>5)
225 
            {
226 
               FL; FR;               // vytlac ho
227 
            };
228 
            if (sl>5) {BL; FR;};
229 
            if (sr>5) {FL; BR;};
230 
         };
231 
      }
232 
 
233 
      if (sl>10)     // Nepritel vlevo
234 
      {
235 
         FL; FR;                 // popojed rovne
236 
         for(n=0; n<5000; n++)
237 
         {
238 
            if (arena_l || arena_r) {BL; BR; delay_ms(100); goto LOOP;};
239 
         };
240 
         BL; FR;                    // otoc se na nej
241 
         for(n=0; n<10000; n++)
242 
         {
243 
            if (arena_l || arena_r) {BL; BR; delay_ms(100); goto LOOP;};
244 
            if (f>5)
245 
            {
246 
               FL; FR;              // vytlac ho
247 
            };
248 
            if (sl>5) {BL; FR;};
249 
            if (sr>5) {FL; BR;};
250 
         };
251 
      }
252 
 
253 
      if (f>10)      // Nepritel vpredu
254 
      {
255 
         BL; FR;
256 
         delay_ms(110);
257 
         FL; BR;
258 
         delay_ms(50);
259 
         STOPL; STOPR;
260 
      }
261 
 
262 
      if (b>10)      // Nepritel vzadu
263 
      {
264 
         BL; FR;
265 
         delay_ms(110);
266 
         FL; BR;
267 
         delay_ms(50);
268 
         STOPL; STOPR;
269 
      }
270 
 
271 
   } // while(true)
272 
}