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/roboti/istrobot/camerus/SW/876/camerus.c
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//********* Robot Camerus pro IstRobot 2007 ************
//"$Id$"
//*****************************************************
 
#include ".\camerus.h"
 
#USE FAST_IO (C) // Brana C je ve FAST_IO modu, aby slo rychle cist z kamery
 
// Rychlostni konstanty
#define RR_CIHLA 50 // Rozumna rychlost pro objizdeni cihly
#define RR_PRERUSENI 50 // Rozumna rychlost pro priblizeni se k preruseni
#define BRZDNA_DRAHA 0x15 // Jak daleko pred problemem se zacne brzdit
#define TUHOS 100 // Jak dlouho se bude couvat po narazu na naraznik
#define ODODO_CIHLA 0xFFF
#define ODODO_TUNEL 0xFFF
#define ODODO_PRERUSENI 0xFFF
 
// Adresy IIC periferii
#define COMPAS_ADR 0xC0
#define CAMERA_ADR 0xDC
#define SONAR_ADR 0xE0
 
// A/D vstupy
#define RMAX 4 // AN4/RA5 - leve cidlo na vyjeti z cary
#define LMAX 3 // AN3/RA3 - prave cidlo na vyjeti z cary
#define CERVENA 2 // AN2/RA2 - cervene kroutitko
#define ZELENA 1 // AN1/RA0 - zelene kroutitko
#define MODRA 0 // AN0/RA1 - modre kroutitko
 
// I/O
#define HREF PIN_C5 // Signal HREF z kamery (v H po celou dobu radku)
#define PIX PIN_C6 // Vstup pro body z kamery (za trivstupim hradlem OR (dig. komparator))
#define SERVO PIN_B4 // Vystup na servo (1 az 2ms po cca 20ms (synchronizovano snimkovym kmitoctem))
#define MOT_L PIN_B5 // Smer otaceni leveho motoru; druhy pol je RC2
#define MOT_R PIN_B6 // Smer otaceni praveho motoru; druhy pol je RC1
#define MOT_1 PIN_C1 // PWM vystpy motoru
#define MOT_2 PIN_C2 //
#define DATA PIN_B2 // K modulu LEDbar data
#define CP PIN_B1 // K modulu LEDbar hodiny
//#define ODO PIN_C0 // Ze snimace z odometrie z praveho kola na TIMER1
// Jeden impuls je 31,25mm
#define IRRX !input(PIN_B0) // Vstup INT, generuje preruseni pri prekazce
#define IRTX PIN_B3 // Modulovani vysilaci IR LED na detekci prekazky
#define PROXIMITY PIN_C7 // Cidlo kratkeho dosahu na cihlu
#define BUMPER !input(PIN_A4) // Naraznik
 
#define CASMIN 6 // Rozsah radku snimace
#define CASMAX 192
#define CASAVR ((CASMAX+CASMIN) / 2)
 
#define EEMAX 255 // Konec EEPROM
#define MAXLOG 0x10 // Maximalni pocet zaznamu v logu
#if MAXLOG>(EEMAX/3)
#error Prekrocena velikost EEPROM
#endif
 
#define OFFSETO 0x9F //0x9F // Vystredeni serva pro objeti prekazky
 
#define THR 90 // Threshold pro UV cidla na caru
 
#byte INTCON = 0x0B // Interrupt configuration register
#bit GIE = INTCON.7
#bit PEIE = INTCON.6
#bit TMR0IE = INTCON.5
#bit INT0IE = INTCON.4
#bit RBIE = INTCON.3
#bit TMR0IF = INTCON.2
#bit INT0IF = INTCON.1
#bit RBIF = INTCON.0
 
enum stavy {start,rozjezd,jizda,cihla,pocihle,cil};
stavy stav; // Kde jsme na trati
int8 cas; // Cas hrany bila/cerna v radce
int8 stred; // Vystredeni kolecka
int16 odocounter; // Zaznamenani aktualniho stavu pocitadla odometrie
int16 last_log_odo; // Posledni stav odometrie poznamenany do logu
int16 last_log; // Cislo posledniho zaznamu v logu v EEPROM
int8 bb_h[MAXLOG]; // Cerna skrinka MSB
int8 bb_l[MAXLOG]; // Cerna skrinka LSB
int8 bb_f[MAXLOG]; // Cerna skrinka priznak (typ zaznamu)
int8 log; // Pocitadlo pro cernou skrinku
int8 rr; // Promenna na ulozeni Rozumne rychlost
int8 rrold;
int16 odo_preruseni, odo_cihla, odo_tunel; // Problemy na trati
 
// Zobrazeni jednoho byte na modulu LEDbar
inline void disp(int8 x)
{
int n;
 
for(n=0;n<=7;n++)
{
if (bit_test(x,0)) output_low(DATA); else output_high(DATA);
output_high(CP);
x>>=1;
output_low(CP);
}
}
 
// Blikani LEDbarem ve stilu Night Rider
void NightRider(int8 x)
{
int n,i,j;
 
for(j=0;j<x;j++)
{
i=0x01;
for(n=0;n<7;n++)
{
disp(i);
rotate_left(&i, 1);
delay_ms(40);
}
for(n=0;n<7;n++)
{
disp(i);
rotate_right(&i, 1);
delay_ms(40);
}
}
disp(i);
delay_ms(40);
i=0;
disp(i);
}
 
// Zaznam LOGu do EEPROM
void SaveLog()
{
int8 n,i,xlog;
 
i=0;
for(n=0;n<=(log*3);n+=3) // Ulozeni Black Boxu do EEPROM
{
write_eeprom(n,bb_f[i]);
write_eeprom(n+1,bb_h[i]);
write_eeprom(n+2,bb_l[i]);
i++;
};
if(log>0) {xlog=log-1;} else {xlog=0;};
write_eeprom(EEMAX,xlog); // Zapis poctu zaznamu na konec EEPROM
}
 
// Zaznam do Logu do RAM
void LogLog(int8 reason, int16 log_delay)
{
int16 timer_pom;
 
timer_pom=get_timer1(); // Timer se musi vycist atomicky
bb_l[log]=make8(timer_pom,0); // Zaznam
bb_h[log]=make8(timer_pom,1);
bb_f[log]=reason; // Typ zaznamu
if(log<(MAXLOG-1)) log++; // Ukazatel na dalsi zaznam
last_log_odo=timer_pom+log_delay; // Dalsi mereni nejdrive po ujeti def. vzdalenosti
rr=rrold; // Problem skoncil, znovu jed Rozumnou Rychlosti
}
 
void ReadBlackBox()
{
last_log=read_eeprom(EEMAX); // Kolik zaznamu mame od minule poznamenano?
{
int8 n,i;
 
i=0;
for(n=0;n<=last_log;n++)
{
if(read_eeprom(i)==0) odo_tunel=MAKE16(read_eeprom(i+2),read_eeprom(i+1));
if(read_eeprom(i)==0xFF) odo_cihla=MAKE16(read_eeprom(i+2),read_eeprom(i+1));
if((read_eeprom(i)>0) && (read_eeprom(i)<0xFF)) odo_preruseni=MAKE16(read_eeprom(i+2),read_eeprom(i+1));
}
}
}
 
 
// Brzdeni motorama stridou 1:1
void brzda()
{
int8 n,i;
 
set_pwm1_duty(0); // vypni PWM
set_pwm2_duty(0);
setup_ccp1(CCP_OFF);
setup_ccp2(CCP_OFF);
for (n=0;n<200;n++)
{
output_low(MOT_L);
output_low(MOT_R);
output_high(MOT_1);
output_high(MOT_2);
delay_us(200);
output_high(MOT_L);
output_high(MOT_R);
output_low(MOT_1);
output_low(MOT_2);
delay_us(200);
}
output_low(MOT_L); // smer vpred
output_low(MOT_R);
setup_ccp1(CCP_PWM); // RC1 // Zapni PWM pro motory
setup_ccp2(CCP_PWM); // RC2
}
 
void SetServo(int8 angle)
{
int8 n;
 
for(n=0; n<10; n++)
{
output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo
delay_us(1000);
delay_us(stred);
delay_us(stred);
delay_us(stred);
delay_us(angle);
delay_us(angle);
output_low(SERVO);
delay_ms(18);
}
}
 
inline void SetServoQ(int8 angle)
{
output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo
delay_us(1000);
delay_us(stred);
delay_us(stred);
delay_us(stred);
delay_us(angle);
delay_us(angle);
output_low(SERVO);
}
 
// Couvni po narazu na naraznik
inline void bum()
{
set_pwm1_duty(0); // couvni, rovne dozadu
set_pwm2_duty(0);
output_high(MOT_L);
output_high(MOT_R);
disp(0xA5);
SetServo(CASAVR-CASMIN);
}
 
#include ".\diag.c"
 
//---------------------------- INT --------------------------------
#int_EXT
EXT_isr() // Preruseni od prekazky
{
unsigned int8 bearing, bearing_offset, delta_bearing;
 
set_pwm1_duty(0); // zabrzdi levym kolem, prave vypni
set_pwm2_duty(0);
output_high(MOT_L);
output_low(MOT_R);
// Ujistime se, ze prijaty signal je z naseho IR vysilace
output_high(IRTX); // Vypni LED na detekci prekazky
delay_ms(2);
if (IRRX) // stale nas signal?
{
output_low(MOT_L); // je odraz -> vpred
output_low(MOT_R);
return;
};
output_low(IRTX); // Zapni LED na detekci prekazky
 
i2c_start(); // Cteni kompasu
i2c_write(COMPAS_ADR);
i2c_write(0x1); // 0-255 (odpovida 0-359)
i2c_stop();
i2c_start();
i2c_write(COMPAS_ADR+1);
bearing_offset=i2c_read(0); // Poznamenej hodnotu pred cihlou
i2c_stop();
 
delay_ms(9);
if (!IRRX) // stale nas signal?
{
output_low(MOT_L); // neni odraz -> vpred
output_low(MOT_R);
return;
};
 
rr=rrold; // Po cihle se pojede opet Rozumnou Rychlosti
if(stav!=cihla)
{
LogLog(0xFF,3); // Cihla
};
 
//!!! if(stav==cihla) while(true); // Zastav na furt, konec drahy
// if(stav==cihla) return; // Po druhe nic neobjizdej
// Pozor na rozjezd
 
if((stav==jizda)||(stav==cihla)) // Objed cihlu
{
#include ".\objizdka_L.c"
};
last_log_odo=get_timer1()+16; // Pul metru po cihle nezaznamenavej do LOGu
}
 
 
//---------------------------------- MAIN --------------------------------------
void main()
{
int8 offset; // Promena pro ulozeni offsetu
int8 r1; // Rychlost motoru 1
int8 r2; // Rychlost motoru 2
 
setup_adc_ports(ALL_ANALOG); // Zapnuti A/D prevodniku pro cteni kroutitek
setup_adc(ADC_CLOCK_INTERNAL);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro mereni casu hrany W/B v radce
setup_timer_1(T1_EXTERNAL); // Cita pulzy z odometrie z praveho kola
setup_timer_2(T2_DIV_BY_16,255,1); // Casovac PWM motoru
//!!! setup_timer_2(T2_DIV_BY_4,255,1); // Casovac PWM motoru
setup_ccp1(CCP_PWM); // RC1 // PWM pro motory
setup_ccp2(CCP_PWM); // RC2
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
 
set_tris_c(0b11111001); // Nastaveni vstup/vystup pro branu C, protoze se to nedela automaticky
 
set_pwm1_duty(0); // Zastav motory
set_pwm2_duty(0);
output_low(MOT_L); // Nastav smer vpred
output_low(MOT_R);
 
disp(0); // Zhasni LEDbar
 
if(BUMPER) // Kdyz nekdo na zacatku drzi naraznik, vymaz log a spust diagnostiku
{
diag();
}
 
output_low(IRTX); // Zapni LED na detekci prekazky
 
NightRider(1); // Zablikej, aby se poznalo, ze byl RESET
// Zaroven se musi pockat, nez se rozjede kamera, nez se do ni zacnou posilat prikazy
 
//... Nastaveni sonaru ...
i2c_start();
i2c_write(SONAR_ADR);
i2c_write(0x02); // dosah
i2c_write(0x03); // n*43mm
i2c_stop();
i2c_start();
i2c_write(SONAR_ADR);
i2c_write(0x01); // zesileni
i2c_write(0x01); // male, pro eliminaci echa z minuleho mereni
i2c_stop();
 
//... Nastaveni kamery ...
i2c_start(); // Soft RESET kamery
i2c_write(CAMERA_ADR); // Adresa kamery
i2c_write(0x12); // Adresa registru COMH
i2c_write(0x80 | 0x24); // Zapis ridiciho slova
i2c_stop();
 
i2c_start(); // BW
i2c_write(CAMERA_ADR);
i2c_write(0x28);
i2c_write(0b01000001);
i2c_stop();
 
/*
i2c_start(); // Contrast (nema podstatny vliv na obraz)
i2c_write(CAMERA_ADR);
i2c_write(0x05);
i2c_write(0xA0); // 48h
i2c_stop();
 
i2c_start(); // Band Filter (pokud by byl problem se zarivkama 50Hz)
i2c_write(CAMERA_ADR);
i2c_write(0x2D);
i2c_write(0x04 | 0x03);
i2c_stop();
*/
 
i2c_start(); // Fame Rate
i2c_write(CAMERA_ADR);
i2c_write(0x2B);
i2c_write(0x00); // cca 17ms (puvodni hodnota 5Eh = 20ms)
i2c_stop();
 
i2c_start(); // VSTRT
i2c_write(CAMERA_ADR);
i2c_write(0x19);
i2c_write(118); // prostredni radka
i2c_stop();
 
i2c_start(); // VEND
i2c_write(CAMERA_ADR);
i2c_write(0x1A);
i2c_write(118);
i2c_stop();
 
NightRider(1); // Musi se dat cas kamere na AGC a AEC
 
{ // Mereni expozice
int8 t1,t2;
 
i2c_start(); // Brightness, zacni od uplne tmy
i2c_write(CAMERA_ADR);
i2c_write(0x06);
i2c_write(0); // 80h default
i2c_stop();
delay_ms(50);
 
for(offset=0x04;offset<(255-0x04);offset+=0x04) // Zacni od jasu 10h
{
i2c_start(); // Brightness
i2c_write(CAMERA_ADR);
i2c_write(0x06);
i2c_write(offset); // 80h default
i2c_stop();
disp(offset);
delay_ms(50);
 
t1=0;
t2=0;
while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky
delay_ms(5);
while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky
set_timer0(0); // Vynuluj pocitadlo casu
if(!input(PIX)) continue;
while(input(PIX));
t1=get_timer0(); // Precti cas z citace casu hrany
set_timer0(0); // Vynuluj pocitadlo casu
while(!input(PIX));
t2=get_timer0();
 
if((t1>60) && (t1<140) && (t2>5) && (t2<=10)) break; // Vidis, co mas?
 
delay_ms(2); // Preskoc druhou radku z kamery
};
delay_ms(1000); // Nech chvili na displayi zmerenou hodnotu
}
 
set_adc_channel(CERVENA); // --- Kroutitko pro jas ---
delay_ms(1);
offset=read_adc();
offset &= 0b11111100; // Dva nejnizsi bity ignoruj
// offset += 0x70; // Jas nebude nikdy nizsi
disp(offset);
i2c_start(); // Brightness
i2c_write(CAMERA_adr);
i2c_write(0x06);
i2c_write(offset); // 80h default
i2c_stop();
delay_ms(1000); // Nech hodnotu chvili na displayi
 
set_adc_channel(ZELENA); // --- Kroutitko pro vykon motoru ---
delay_ms(1);
rr=read_adc()>>2; // 0-63 // Pokud by se zvetsil rozsah, tak zkontrolovat jakonasobeni!
rr+=27; // 27-90
//!!! rr=read_adc()>>1; // 0-128 // Pokud by se zvetsil rozsah, tak zkontrolovat jakonasobeni!
rrold=rr;
 
cas=CASAVR-CASMIN; // Inicializace promenych, aby neslo servo za roh
// a aby se to rozjelo jeste dneska
stav=start; // Jsme na startu
set_timer1(0); // Vynuluj citac odometrie
log=0; // Zacatek logu v cerne skrince
last_log_odo=0; // Posledni zaznam odometrie do logu
 
// ReadBlackBox(); // Vycteni zaznamu z Black Boxu
 
odo_cihla=ODODO_CIHLA-BRZDNA_DRAHA;
odo_tunel=ODODO_TUNEL-BRZDNA_DRAHA;
odo_preruseni=ODODO_PRERUSENI-BRZDNA_DRAHA;
 
// ........................... Hlavni smycka ................................
while(true)
{
int8 pom;
int8 n;
int8 gap;
int16 ododo;
 
gap=0; // Vynuluj pocitadlo preruseni
 
next_snap:
 
pom=0;
disable_interrupts(GLOBAL); //----------------------- Critical Section
while(input(HREF)); // Preskoc 1. radku
while(!input(HREF)); // Cekej nez se zacnou posilat pixely z 2. radky
set_timer0(0); // Vynuluj pocitadlo casu
while(input(HREF)) // Po dobu vysilani radky cekej na hranu W/B
{
// !!!!Dodelat rozpoznani cerne cary napric pro zastaveni ?
if(!input(PIX)) // Pokud se X-krat za sebou precetla CERNA
if(!input(PIX))
// if(!input(PIX))
{
pom=get_timer0(); // Precti cas z citace casu hrany
break;
};
};
while(input(HREF)); // Pockej na shozeni signalu HREF
 
if((pom<CASMAX) && (pom>CASMIN)) cas=pom; // Orizni konce radku
// Na konci obrazovaho radku to blbne. Jednak chyba od apertury
// a vubec to nejak na kraji nefunguje.
 
output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo
delay_us(1000);
delay_us(stred);
delay_us(stred);
delay_us(stred);
delay_us(cas);
delay_us(cas);
output_low(SERVO);
 
// Elektronicky diferencial 1. cast
if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace
if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru
if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92
 
enable_interrupts(GLOBAL); //----------------------- End Critical Section
 
if(pom==0) // Kamera nevidi caru, poznamenej to do logu
{
if((cas>(CASMIN+30))&&(cas<(CASMAX-30))) // Nebyla minule cara moc u kraje?
if(last_log_odo<get_timer1()) // Aby nebyly zaznamy v logu prilis huste, musi se napred neco ujet od minuleho zaznamu
{
gap++;
}
}
else
{
if(gap>=2) // Trva preruseni cary alespon 2 snimky?
{
LogLog(gap,8); // Dalsi mereni nejdrive po ujeti 24 cm
rr=rrold; // Preruseni cary skoncilo, znovu jed Rozumnou Rychlosti
}
gap=0;
};
 
if(!input(PROXIMITY) && ((stav==jizda)||(stav==cihla))) // Tunel
{
if(last_log_odo<get_timer1()) // Aby nebyly zaznamy v logu prilis huste, musi se napred neco ujet od minuleho zaznamu
{
LogLog(0xDD,16); // Priznak tunelu; dalsi mereni nejdrive po ujeti 48 cm
rr=rrold; // Vjeli jsme do tunelu, znovu jed rychle
}
};
 
//ODODO
ododo=get_timer1();
if((ododo>odo_preruseni)&&(ododo<(odo_preruseni+8))) rr=RR_PRERUSENI;
if((ododo>odo_cihla)&&(ododo<(odo_cihla+8))) rr=RR_PRERUSENI;
if((ododo>odo_tunel)&&(ododo<(odo_tunel+8))) rr=RR_PRERUSENI;
 
// Elektronicky diferencial 2. cast
if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni
if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN); // rozsah 1 az 92 pro rr=0 // rozsah 1 az 154 pro rr=63
 
//!!! pro zatuhle prevodovky
// r1<<=1; // Rychlost je dvojnasobna
// r2<<=1; // Rozsah 2 az 184 pro rr=0
 
if ((stav==jizda)||(stav==cihla)||(stav==rozjezd)) //||(stav==pocihle)) // Jizda
{
set_pwm1_duty(r1);
set_pwm2_duty(r2);
}
else
{
set_pwm1_duty(0); // Zastaveni
set_pwm2_duty(0);
};
 
if((stav==rozjezd)&&(get_timer1()>10)) // musi ujet alespon 31cm
{
ext_int_edge(H_TO_L); // Nastav podminky preruseni od cihly
INT0IF=0; // Zruseni predesle udalosti od startera
enable_interrupts(INT_EXT);
enable_interrupts(GLOBAL);
stav=jizda;
};
 
if(stav==start) // Snimkuje, toci servem a ceka na start
{
set_adc_channel(MODRA); // Kroutitko na vystredeni predniho kolecka
Delay_ms(1);
stred=read_adc();
if(!input(PROXIMITY))
{
disp(0x80);
while(input(PROXIMITY)); // Cekej, dokud starter neda ruku pryc
set_timer1(0); // Vynuluj citac odometrie
set_pwm1_duty(255); // Rychly rozjezd !!! Zkontrolovat na oscyloskopu
set_pwm2_duty(255);
disp(0x01);
while(get_timer1()<=4) // Ujed alespon 12cm
{
set_adc_channel(LMAX); // Levy UV sensor
delay_us(40);
if(read_adc()<THR) {cas=CASMIN; break;}; // Prejeli jsme caru vlevo
set_adc_channel(RMAX); // Pravy UV sensor
delay_us(40);
if(read_adc()<THR) {cas=CASMAX; break;}; // Prejeli jsme caru vpravo
cas=CASAVR-CASMIN; // Cara je rovne
};
stav=rozjezd;
};
}
 
pom=0x80; // Zobrazeni pozice cary na displayi
for(n=CASMAX/8; n<cas; n+=CASMAX/8) pom>>=1;
disp(pom);
 
while(true) // Ve zbytku casu snimku cti krajni UV senzory a naraznik
{
if(BUMPER) // Sakra, do neceho jsme narazili a nevideli jsme to!
{
bum();
SaveLog(); // Zapis Black Boxu do EEPROM
delay_ms(TUHOS); //!!! Zatuhle prevodovky
set_pwm1_duty(200); // pomalu vpred
set_pwm2_duty(200);
output_low(MOT_L);
output_low(MOT_R);
cas=CASAVR-CASMIN;
};
set_adc_channel(LMAX); // Levy UV sensor
for(n=0;n<20;n++) if(input(HREF)) goto next_snap;
if(read_adc()<THR) cas=CASMIN;
set_adc_channel(RMAX); // Pravy UV sensor
for(n=0;n<20;n++) if(input(HREF)) goto next_snap;
if(read_adc()<THR) cas=CASMAX;
};
}
}
Property changes:
Added: svn:keywords
+Id Rev
\ No newline at end of property
/roboti/istrobot/camerus/SW/876/diag.c
0,0 → 1,68
//--- Diagnostika cidel a vymazani EEPROM ---
void diag()
{
int8 n;
 
// Vymaz Black Box v EEPROM
for(n=0;n<255;n++) write_eeprom(n,0);
bb_l[0]=0; // Zapis na pozici 0 vzdalenost 0
bb_h[0]=0;
bb_f[0]=0;
write_eeprom(EEMAX,0); // Zapis do EEPROM pocet zaznamu 0, tedy jeden zaznam
for(n=0;n<=4;n++)
{
disp(0x55); // Blikni pro potvrzeni
delay_ms(200);
disp(0xAA);
delay_ms(200);
};
 
while(true)
{
if(!IRRX)
{
int8 ble;
 
i2c_start(); // Cteni kompasu
i2c_write(COMPAS_ADR);
i2c_write(0x1);
i2c_stop();
i2c_start();
i2c_write(COMPAS_ADR+1);
ble=i2c_read(0);
i2c_stop();
disp(ble);
delay_ms(200);
}
else
{
i2c_start(); // Diagnostika sonaru
i2c_write(SONAR_ADR);
i2c_write(0x02); // dosah
i2c_write(0x03); // n*43mm
i2c_stop();
i2c_start();
i2c_write(SONAR_ADR);
i2c_write(0x01); // zesileni
i2c_write(0x01); // male, pro eliminaci echa z minuleho mereni
i2c_stop();
 
i2c_start(); // Sonar Ping
i2c_write(0xE0);
i2c_write(0x0);
i2c_write(0x51); // 50 mereni v palcich, 51 mereni v cm, 52 v us
i2c_stop();
delay_ms(100);
i2c_start(); // Odraz ze sonaru
i2c_write(0xE0);
i2c_write(0x3);
i2c_stop();
i2c_start();
i2c_write(0xE1);
n=i2c_read(0);
i2c_stop();
disp(n); // Zobrazeni hodnoty ze sonaru a zaroven diagnostika predniho IR cidla
delay_ms(200);
}
}
}
/roboti/istrobot/camerus/SW/876/objizdka_L.c
0,0 → 1,183
// **** Objeti cihly vlevo **** LLLL
 
#define L_TOUCH 1 // Cara vlevo
#define R_TOUCH 2 // Cata vpravo
#define B_TOUCH 3 // Both
 
int8 n;
int8 r1,r2,rr;
int8 touch;
enum okolo_cihly {pred_carou,na_care,po_care};
okolo_cihly ridic; // V jakem jsme stavu objizdeni cihly
int8 vzdalenost;
int8 visualisation;
 
stav=cihla; // Dalsi prekazku uz nezaznamenavej (je to s velkou pravdepodobnosti cil)
odocounter=get_timer1();
 
cihla:
 
rr=RR_CIHLA; //!!! Rozumna rychlost pro objizdeni cihly (bylo by lepsi rychlost zvysovat) a pri detekci pohybu zase snizit
disp(0x99);
set_pwm1_duty(0); // zabrzdi levym kolem, prave vpred
set_pwm2_duty(255);
output_high(MOT_L);
output_low(MOT_R);
while(true) // Na zacatku se vyhni cihle, zatoc co muzes
{
cas=CASMIN-5; // jeste vic nez hodne do leva
 
if(BUMPER) // Narazili jsme do cihly, musime couvnout!
{
bum();
SaveLog(); // Zapis Black Boxu do EEPROM
delay_ms(TUHOS); //!!! Zatuhle prevodovky
brzda();
goto cihla; // Znovu zacni cihlu objizdet
};
 
set_pwm1_duty(0);
set_pwm2_duty(200); // !!! mozna prilis maly vykon pro rozjezd pro zatuhlou prevodovku
output_high(MOT_L); // leve kolo reverz
output_low(MOT_R); // prave kolo vpred
if(get_timer1()>(odocounter+5)) // konec zatacky?
{
disp(0x66);
break;
}
SetServoQ(cas);
delay_ms(18);
};
 
//------ Objeti cihly v konstantni vzdalenosti ------
touch=0; // Indikator detekce cary pri objizdeni
ridic=pred_carou;
cas=CASAVR-CASMIN; // rovne
output_low(MOT_L); // vpred
output_low(MOT_R);
visualisation=0;
while(true)
{
if(BUMPER) // Narazili jsme do cihly, musime couvnout!
{
bum();
SaveLog(); // Zapis Black Boxu do EEPROM
delay_ms(TUHOS); //!!! Zatuhle prevodovky
set_pwm1_duty(160); // vpred
set_pwm2_duty(160);
output_low(MOT_L);
output_low(MOT_R);
cas=CASMIN;
};
 
delta_bearing=bearing-bearing_offset;
visualisation=(delta_bearing & 0xF0) | (visualisation & 0x0F);
if(IRRX) // hrozi celni srazka s cihlou v prubehu objizdeni
{
cas=CASMIN;
}
else
{
if((vzdalenost!=0)||!input(PROXIMITY)||((delta_bearing>60)&&(delta_bearing<128))) // Udrzovani konstantni vzdalenosti od cihly
{
if(cas>(CASMIN+30)) cas-=30;
}
else
{
if(cas<(CASMAX-30)) cas+=30;
};
};
// Elektronicky diferencial
if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace
if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru
if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92
 
if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni
if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN);
 
//!!! pro zatuhle prevodovky
// r1<<=1; // Rychlost je dvojnasobna
// r2<<=1; // Rozsah 2 az 184 pro rr=0
 
set_pwm1_duty(r1); // Nastav rychlost motoru
set_pwm2_duty(r2);
 
SetServoQ(cas);
 
i2c_start(); // Sonar Ping
i2c_write(SONAR_ADR);
i2c_write(0x0);
i2c_write(0x52); // mereni v us
i2c_stop();
 
for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva
{
set_adc_channel(LMAX);
delay_us(100);
if(read_adc()<THR) touch|=L_TOUCH;
set_adc_channel(RMAX);
delay_us(100);
if(read_adc()<THR) touch|=R_TOUCH;
};
 
i2c_start(); // Odraz ze sonaru
i2c_write(SONAR_ADR);
i2c_write(0x3);
i2c_stop();
i2c_start();
i2c_write(SONAR_ADR+1);
vzdalenost=i2c_read(0);
i2c_stop();
 
i2c_start(); // Cteni kompasu
i2c_write(COMPAS_ADR);
i2c_write(0x1); // uhel 0-255
i2c_stop();
i2c_start();
i2c_write(COMPAS_ADR+1);
bearing=i2c_read(0);
i2c_stop();
 
if(touch==L_TOUCH) visualisation|=0x2;
if(touch==R_TOUCH) visualisation|=0x1;
if((touch==B_TOUCH)&&(ridic==pred_carou)) ridic=na_care;
if((ridic==na_care)&&(touch==0)) break;
if(ridic==na_care) touch=0;
disp(visualisation);
};
disp(0xC3);
 
set_pwm1_duty(0); //!!! pred zatuhlejma prevodovkama tam bylo 20 a 200
set_pwm2_duty(240);
output_high(MOT_L);
output_low(MOT_R);
delay_us(40);
odocounter=get_timer1(); // Poznamenej aktualni stav odometrie
while (true) // Znovu se musime dotknout cary
{
for(n=1;n<=90;n++) // 18ms testovani cary do dalsi korekce serva
{
set_adc_channel(LMAX); // Levy UV sensor
delay_us(100);
if(read_adc()<THR) // Dotkli jsme se levym senzorem
{
disp(0xE0);
cas=CASAVR-CASMIN; // nastavime, ze cara je rovne
goto cara;
};
set_adc_channel(RMAX); // Pravy UV sensor
delay_us(100);
if((get_timer1()>=(odocounter+2)) && (read_adc()<THR)) // Pravym senzorem nesmime caru prejet!
{
disp(0x07);
cas=CASMAX; // kdyz prejedem, tak nastavime, ze cara je vpravo
goto cara;
};
}
SetServoQ(CASMIN-5); // max. max. doleva L
}
 
cara:
 
output_low(MOT_L); // oba motory vpred
output_low(MOT_R);
/roboti/istrobot/camerus/SW/876/camerus.PJT
0,0 → 1,57
[PROJECT]
Target=camerus.HEX
Development_Mode=
Processor=0x876A
ToolSuite=CCS
 
[Directories]
Include=C:\Program Files\PICC\devices\;C:\Program Files\PICC\Dr
Library=
LinkerScript=
 
[Target Data]
FileList=C:\dokumenty\svn\Kaklik\roboti\istrobot\camerus\SW\876\camerus.c
BuildTool=C-COMPILER
OptionString=+FM
AdditionalOptionString=
BuildRequired=1
 
[camerus.c]
Type=4
Path=
FileList=
BuildTool=
OptionString=
AdditionalOptionString=
 
[mru-list]
1=camerus.c
 
[Windows]
0=0000 camerus.c 0 0 796 451 3 0
 
[Opened Files]
1=C:\dokumenty\svn\Kaklik\roboti\istrobot\camerus\SW\876\camerus.c
2=C:\dokumenty\svn\Kaklik\roboti\istrobot\camerus\SW\876\camerus.h
3=C:\Program Files\PICC\devices\16F876A.h
4=C:\dokumenty\svn\Kaklik\roboti\istrobot\camerus\SW\876\objizdka_L.c
5=C:\dokumenty\svn\Kaklik\roboti\istrobot\camerus\SW\876\diag.c
6=
[debugperif]
selected=Analog/Digital Conv
[debugram]
autoread=1
[debugeedata]
autoread=1
[debugbreak]
count=0
[pcwdebug]
watchcol0=75
[debugwatch]
count=0
[debugexpr]
expr=
sideeffects=0
[Units]
Count=1
1=C:\dokumenty\svn\Kaklik\roboti\istrobot\camerus\SW\876\camerus.c (main)
/roboti/istrobot/camerus/SW/876/camerus.h
0,0 → 1,16
#include <16F876A.h>
#device adc=8
 
#FUSES NOWDT //No Watch Dog Timer
#FUSES HS //High speed Osc (> 4mhz)
#FUSES NOPUT //No Power Up Timer
#FUSES NOPROTECT //Code not protected from reading
#FUSES NODEBUG //No Debug mode for ICD
#FUSES NOBROWNOUT //No brownout reset
#FUSES NOLVP //No low voltage prgming, B3(PIC16) or B5(PIC18) used for I/O
#FUSES NOCPD //No EE protection
#FUSES NOWRT //Program memory not write protected
 
#use delay(clock=20000000)
#use i2c(Master,Fast,sda=PIN_C4,scl=PIN_C3,force_hw)
 
/roboti/istrobot/camerus/SW/876
Property changes:
Added: svn:ignore
+*.bak
+*.BAK
+*.cof
+*.err
+*.hex
+*.lst
+*.sta
+*.sym
+*.tre
/roboti/istrobot/camerus/SW/873/camerus.PJT
0,0 → 1,55
[PROJECT]
Target=camerus.HEX
Development_Mode=
Processor=0x873A
ToolSuite=CCS
 
[Directories]
Include=C:\Program Files\PICC\devices\;C:\Program Files\PICC\Dr
Library=
LinkerScript=
 
[Target Data]
FileList=C:\dokumenty\svn\Kaklik\roboti\istrobot\camerus\SW\873\camerus.c
BuildTool=C-COMPILER
OptionString=+FM
AdditionalOptionString=
BuildRequired=1
 
[camerus.c]
Type=4
Path=
FileList=
BuildTool=
OptionString=
AdditionalOptionString=
 
[mru-list]
1=camerus.c
 
[Windows]
0=0000 camerus.c 0 0 796 451 3 0
 
[Opened Files]
1=C:\dokumenty\svn\Kaklik\roboti\istrobot\camerus\SW\873\camerus.c
2=C:\dokumenty\svn\Kaklik\roboti\istrobot\camerus\SW\873\camerus.h
3=C:\Program Files\PICC\devices\16F873A.h
4=
[debugperif]
selected=Analog/Digital Conv
[debugram]
autoread=1
[debugeedata]
autoread=1
[debugbreak]
count=0
[pcwdebug]
watchcol0=75
[debugwatch]
count=0
[debugexpr]
expr=
sideeffects=0
[Units]
Count=1
1=C:\dokumenty\svn\Kaklik\roboti\istrobot\camerus\SW\873\camerus.c (main)
/roboti/istrobot/camerus/SW/873/camerus.c
0,0 → 1,512
//********* Robot Camerus pro IstRobot 2007 ************
//"$Id: camerus.c 229 2007-04-09 11:41:19Z kakl $"
//*****************************************************
 
#include ".\camerus.h"
 
#USE FAST_IO (C) // Brana C je ve FAST_IO modu, aby slo rychle cist z kamery
 
// A/D vstupy
#define RMAX 4 // AN4/RA5 - leve cidlo na vyjeti z cary
#define LMAX 3 // AN3/RA3 - prave cidlo na vyjeti z cary
#define CERVENA 2 // AN2/RA2 - cervene kroutitko
#define ZELENA 1 // AN1/RA0 - zelene kroutitko
#define MODRA 0 // AN0/RA1 - modre kroutitko
 
// I/O
#define HREF PIN_C5 // Signal HREF z kamery (v H po celou dobu radku)
#define PIX PIN_C6 // Vstup pro body z kamery (za trivstupim hradlem OR (dig. komparator))
#define SERVO PIN_B4 // Vystup na servo (1 az 2ms po cca 20ms (synchronizovano snimkovym kmitoctem))
#define MOT_L PIN_B5 // Smer otaceni leveho motoru; druhy pol je RC2
#define MOT_R PIN_B6 // Smer otaceni praveho motoru; druhy pol je RC1
#define MOT_1 PIN_C1 // PWM vystpy motoru
#define MOT_2 PIN_C2 //
#define DATA PIN_B2 // K modulu LEDbar data
#define CP PIN_B1 // K modulu LEDbar hodiny
//#define ODO PIN_C0 // Ze snimace z odometrie z praveho kola na TIMER1
// Jeden impuls je 31,25mm
#define IRRX PIN_B0 // Vstup INT, generuje preruseni pri prekazce
#define IRTX PIN_B3 // Modulovani vysilaci IR LED na detekci prekazky
#define PROXIMITY PIN_C7 // Cidlo kratkeho dosahu na cihlu
 
#define CASMIN 6 // Rozsah radku snimace
#define CASMAX 192
#define CASAVR ((CASMAX+CASMIN) / 2)
 
#define OFFSETO 0x9F //0x9F // Vystredeni serva pro objeti prekazky
 
#define THR 90 // Threshold pro UV cidla na caru
 
#byte INTCON = 0x0B // Interrupt configuration register
#bit GIE = INTCON.7
#bit PEIE = INTCON.6
#bit TMR0IE = INTCON.5
#bit INT0IE = INTCON.4
#bit RBIE = INTCON.3
#bit TMR0IF = INTCON.2
#bit INT0IF = INTCON.1
#bit RBIF = INTCON.0
 
enum stavy {start,rozjezd,jizda,cihla,pocihle,cil};
stavy stav; // Kde jsme na trati
int8 cas; // Cas hrany bila/cerna v radce
int8 stred; // Vystredeni kolecka
int16 odocounter; // Zaznamenani aktualniho stavu pocitadla odometrie
int8 rr; // Promenna na ulozeni Rozumne rychlost
int8 rrold;
//int8 pole_h[0x40];
int8 pole_l[0x40];
 
// Zobrazeni jednoho byte na modulu LEDbar
inline void disp(int8 x)
{
int n;
 
for(n=0;n<=7;n++)
{
if (x & 1 == 1) output_low(DATA); else output_high(DATA);
output_high(CP);
x>>=1;
output_low(CP);
}
}
 
// Blikani LEDbarem ve stilu Night Rider
void NightRider(int8 x)
{
int n,i,j;
 
for(j=0;j<x;j++)
{
i=0x01;
for(n=0;n<7;n++)
{
disp(i);
rotate_left(&i, 1);
delay_ms(40);
}
for(n=0;n<7;n++)
{
disp(i);
rotate_right(&i, 1);
delay_ms(40);
}
}
disp(i);
delay_ms(40);
i=0;
disp(i);
}
 
// Brzdeni motorama stridou 1:1
void brzda()
{
int8 n,i;
 
set_pwm1_duty(0); // vypni PWM
set_pwm2_duty(0);
setup_ccp1(CCP_OFF);
setup_ccp2(CCP_OFF);
for (n=0;n<200;n++)
{
output_low(MOT_L);
output_low(MOT_R);
output_high(MOT_1);
output_high(MOT_2);
delay_us(200);
output_high(MOT_L);
output_high(MOT_R);
output_low(MOT_1);
output_low(MOT_2);
delay_us(200);
}
output_low(MOT_L); // smer vpred
output_low(MOT_R);
setup_ccp1(CCP_PWM); // RC1 // Zapni PWM pro motory
setup_ccp2(CCP_PWM); // RC2
}
 
void SetServo(int8 angle)
{
int8 n;
 
for(n=0; n<14; n++)
{
output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo
delay_us(1000);
delay_us(stred);
delay_us(stred);
delay_us(stred);
delay_us(angle);
delay_us(angle);
output_low(SERVO);
delay_ms(18);
}
}
 
inline void SetServoQ(int8 angle)
{
output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo
delay_us(1000);
delay_us(stred);
delay_us(stred);
delay_us(stred);
delay_us(angle);
delay_us(angle);
output_low(SERVO);
}
 
//---------------------------- INT --------------------------------
#int_EXT
EXT_isr() // Preruseni od prekazky
{
set_pwm1_duty(0); // zabrzdi levym kolem, prave vypni
set_pwm2_duty(0);
output_high(MOT_L);
output_low(MOT_R);
// Ujistime se, ze prijaty signal je z naseho IR vysilace
output_high(IRTX); // Vypni LED na detekci prekazky
delay_ms(2);
if (!input(IRRX)) // stale nas signal?
{
output_low(MOT_L); // je odraz -> vpred
output_low(MOT_R);
return;
};
output_low(IRTX); // Zapni LED na detekci prekazky
delay_ms(10);
if (input(IRRX)) // stale nas signal?
{
output_low(MOT_L); // neni odraz -> vpred
output_low(MOT_R);
return;
};
 
//!!! if(stav==cihla) while(true); // Zastav na furt, konec drahy
// if(stav==cihla) return; // Po druhe nic neobjizdej
// Pozor na rozjezd
 
if(stav==jizda) // Objed cihlu
{
#include ".\objizdka_L.c"
}
}
 
 
//---------------------------------- MAIN --------------------------------------
void main()
{
int8 offset; // Promena pro ulozeni offsetu
int8 r1; // Rychlost motoru 1
int8 r2; // Rychlost motoru 2
 
setup_adc_ports(ALL_ANALOG); // Zapnuti A/D prevodniku pro cteni kroutitek
setup_adc(ADC_CLOCK_INTERNAL);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro mereni casu hrany W/B v radce
setup_timer_1(T1_EXTERNAL); // Cita pulzy z odometrie z praveho kola
setup_timer_2(T2_DIV_BY_16,255,1); // Casovac PWM motoru
setup_ccp1(CCP_PWM); // RC1 // PWM pro motory
setup_ccp2(CCP_PWM); // RC2
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
 
set_tris_c(0b11111001); // Nastaveni vstup/vystup pro branu C, protoze se nedela automaticky
 
set_pwm1_duty(0); // Zastav motory
set_pwm2_duty(0);
output_low(MOT_L); // Nastav smer vpred
output_low(MOT_R);
 
output_low(IRTX); // Zapni LED na detekci prekazky
 
NightRider(1); // Aby se poznalo, ze byl RESET
// taky se musi pockat, nez se rozjede kamera, nez se do ni zacnou posilat prikazy
 
 
/*
for(cas=0;cas<=0x3F;cas++)
{
pole_h[cas]=0x80|cas;
pole_l[cas]=cas;
}
for(cas=0;cas<=0x7F;cas+=2)
{
write_eeprom(cas,pole_h[cas/2]);
write_eeprom(cas+1,pole_l[cas/2]);
}
*/
 
while(true)
{
output_high(PIN_B0);
delay_ms(200);
output_low(PIN_B0);
delay_ms(200);
}
 
//... Nastaveni sonaru ...
i2c_start();
i2c_write(0xE0);
i2c_write(0x02); // dosah
i2c_write(0x03); // n*43mm
i2c_stop();
i2c_start();
i2c_write(0xE0);
i2c_write(0x01); // zesileni
i2c_write(0x01); // male, pro eliminaci echa z minuleho mereni
i2c_stop();
 
// pro ladeni sonaru
/*
while(true)
{
i2c_start(); // Sonar Ping
i2c_write(0xE0);
i2c_write(0x0);
i2c_write(0x51); // 50 mereni v palcich, 51 mereni v cm, 52 v us
i2c_stop();
delay_ms(100);
i2c_start(); // Odraz ze sonaru
i2c_write(0xE0);
i2c_write(0x3);
i2c_stop();
i2c_start();
i2c_write(0xE1);
cas=i2c_read(0);
i2c_stop();
disp(cas);
}
*/
 
//... Nastaveni kamery ...
i2c_start(); // Soft RESET kamery
i2c_write(0xC0); // Pro single slave musi mit vsechny zapisy adresu C0h
i2c_write(0x12); // Adresa registru COMH
i2c_write(0x80 | 0x24); // Zapis ridiciho slova
i2c_stop();
 
i2c_start(); // BW
i2c_write(0xC0);
i2c_write(0x28);
i2c_write(0b01000001);
i2c_stop();
 
/*
i2c_start(); // Contrast (nema podstatny vliv na obraz)
i2c_write(0xC0);
i2c_write(0x05);
i2c_write(0xA0); // 48h
i2c_stop();
 
i2c_start(); // Band Filter (pokud by byl problem se zarivkama 50Hz)
i2c_write(0xC0);
i2c_write(0x2D);
i2c_write(0x04 | 0x03);
i2c_stop();
*/
 
i2c_start(); // Fame Rate
i2c_write(0xC0);
i2c_write(0x2B);
i2c_write(0x00); // cca 17ms (puvodni hodnota 5Eh = 20ms)
i2c_stop();
 
i2c_start(); // VSTRT
i2c_write(0xC0);
i2c_write(0x19);
i2c_write(118); // prostredni radka
i2c_stop();
 
i2c_start(); // VEND
i2c_write(0xC0);
i2c_write(0x1A);
i2c_write(118);
i2c_stop();
 
NightRider(1); // Musi se dat cas kamere na AGC a AEC
 
{ // Mereni expozice
int8 t1,t2;
 
i2c_start(); // Brightness, zacni od uplne tmy
i2c_write(0xC0);
i2c_write(0x06);
i2c_write(0); // 80h default
i2c_stop();
delay_ms(50);
 
for(offset=0x04;offset<(255-0x04);offset+=0x04) // Zacni od jasu 10h
{
i2c_start(); // Brightness
i2c_write(0xC0);
i2c_write(0x06);
i2c_write(offset); // 80h default
i2c_stop();
disp(offset);
delay_ms(50);
 
t1=0;
t2=0;
while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky
delay_ms(5);
while(!input(HREF)); // Cekej nez se zacnou posilat pixely z radky
set_timer0(0); // Vynuluj pocitadlo casu
if(!input(PIX)) continue;
while(input(PIX));
t1=get_timer0(); // Precti cas z citace casu hrany
set_timer0(0); // Vynuluj pocitadlo casu
while(!input(PIX));
t2=get_timer0();
 
if((t1>60) && (t1<140) && (t2>5) && (t2<=10)) break; // Vidis, co mas?
 
delay_ms(2); // Preskoc druhou radku z kamery
};
delay_ms(1000); // Nech chvili na displayi zmerenou hodnotu
}
 
set_adc_channel(CERVENA); // --- Kroutitko pro jas ---
delay_ms(1);
offset=read_adc();
offset &= 0b11111100; // Dva nejnizsi bity ignoruj
// offset += 0x70; // Jas nebude nikdy nizsi
disp(offset);
i2c_start(); // Brightness
i2c_write(0xC0);
i2c_write(0x06);
i2c_write(offset); // 80h default
i2c_stop();
delay_ms(1000); // Nech hodnotu chvili na displayi
 
set_adc_channel(ZELENA); // --- Kroutitko pro vykon motoru ---
delay_ms(1);
rr=read_adc()>>2; // 0-31 // Pokud by se zvetsil rozsah, tak zkontrolovat jakonasobeni !!!
rrold=rr;
 
cas=CASAVR-CASMIN; // Inicializace promenych, aby neslo servo za roh
// a aby se to rozjelo jeste dneska
stav=start; // Jsme na startu
set_timer1(0); // Vynuluj citac odometrie
 
// ........................... Hlavni smycka ................................
while(true)
{
int8 pom;
int8 n;
 
next_snap:
 
pom=0;
disable_interrupts(GLOBAL); //----------------------- Critical
while(input(HREF)); // Preskoc 1. radku
while(!input(HREF)); // Cekej nez se zacnou posilat pixely z 2. radky
set_timer0(0); // Vynuluj pocitadlo casu
while(input(HREF)) // Po dobu vysilani radky cekej na hranu W/B
{
// !!!!Dodelat rozpoznani cerne cary napric pro zastaveni ?
if(!input(PIX)) // Pokud se X-krat za sebou precetla CERNA
if(!input(PIX))
// if(!input(PIX))
{
pom=get_timer0(); // Precti cas z citace casu hrany
break;
};
};
while(input(HREF)); // Pockej na shozeni signalu HREF
 
if((pom<CASMAX) && (pom>CASMIN)) cas=pom; // Orizni konce radku
// Na konci obrazovaho radku to blbne. Jednak chyba od apertury
// a vubec to nejak na kraji nefunguje.
 
output_high(SERVO); // Odvysilani impuzu 1 az 2ms pro servo
delay_us(1000);
delay_us(stred);
delay_us(stred);
delay_us(stred);
delay_us(cas);
delay_us(cas);
output_low(SERVO);
 
// Elektronicky diferencial
if(cas<CASAVR) {r1=cas-CASMIN; r2=CASAVR-CASMIN;}; // Normovani vystupni hodnoty radkoveho snimace
if(cas==CASAVR) {r1=cas-CASMIN; r2=cas-CASMIN;}; // pro rizeni rychlosti motoru
if(cas>CASAVR) {r1=CASAVR-CASMIN; r2=CASMAX-cas;}; // Rozsah 1 az 92
 
enable_interrupts(GLOBAL); //----------------------- Critical
 
if (r1>(CASAVR-CASMIN-rr)) r1=(r1<<1)+rr-(CASAVR-CASMIN); // Neco jako nasobeni
if (r2>(CASAVR-CASMIN-rr)) r2=(r2<<1)+rr-(CASAVR-CASMIN);
 
// r1<<=1; // Rychlost je dvojnasobna
// r2<<=1; // Rozsah 2 az 184
 
/* Nerozumna rychlost po cihle
if ((stav==cihla)&&(get_timer1()>(odocounter+5))) // Snizime rychlost po ujeti
{
rr=rrold;
stav=pocihle;
};
*/
if ((stav==jizda)||(stav==cihla)||(stav==rozjezd)) //||(stav==pocihle)) // Jizda
{
set_pwm1_duty(r1);
set_pwm2_duty(r2);
}
else
{
set_pwm1_duty(0); // Zastaveni
set_pwm2_duty(0);
};
 
if((stav==rozjezd)&&(get_timer1()>10)) // musi ujet alespon 31cm
{
ext_int_edge(H_TO_L); // Nastav podminky preruseni od cihly
INT0IF=0; // Zruseni predesle udalosti od startera
enable_interrupts(INT_EXT);
enable_interrupts(GLOBAL);
stav=jizda;
};
 
if(stav==start) // Snimkuje, toci servem a ceka na start
{
set_adc_channel(MODRA); // Kroutitko na vystredeni predniho kolecka
Delay_ms(1);
stred=read_adc();
if(!input(PROXIMITY))
{
disp(0x80);
while(input(PROXIMITY)); // Cekej, dokud starter neda ruku pryc
set_timer1(0); // Vynuluj citac odometrie
set_pwm1_duty(255); // Rychly rozjezd !!! Zkontrolovat na oscyloskopu
set_pwm2_duty(255);
disp(0x01);
while(get_timer1()<=4) // Ujed alespon 12cm
{
set_adc_channel(LMAX); // Levy UV sensor
delay_us(40);
if(read_adc()<THR) {cas=CASMIN; break;}; // Prejeli jsme caru vlevo
set_adc_channel(RMAX); // Pravy UV sensor
delay_us(40);
if(read_adc()<THR) {cas=CASMAX; break;}; // Prejeli jsme caru vpravo
cas=CASAVR-CASMIN; // Cara je rovne
};
stav=rozjezd;
};
}
 
pom=0x80; // Zobrazeni pozice cary na displayi
for(n=CASMAX/8; n<cas; n+=CASMAX/8) pom>>=1;
disp(pom);
 
while(true) // Ve zbytku casu snimku cti krajni UV senzory
{
set_adc_channel(LMAX); // Levy UV sensor
for(n=0;n<20;n++) if(input(HREF)) goto next_snap;
if(read_adc()<THR) cas=CASMIN;
set_adc_channel(RMAX); // Pravy UV sensor
for(n=0;n<20;n++) if(input(HREF)) goto next_snap;
if(read_adc()<THR) cas=CASMAX;
};
}
}
/roboti/istrobot/camerus/SW/873/camerus.h
0,0 → 1,16
#include <16F873A.h>
#device adc=8
 
#FUSES NOWDT //No Watch Dog Timer
#FUSES HS //High speed Osc (> 4mhz)
#FUSES NOPUT //No Power Up Timer
#FUSES NOPROTECT //Code not protected from reading
#FUSES NODEBUG //No Debug mode for ICD
#FUSES NOBROWNOUT //No brownout reset
#FUSES NOLVP //No low voltage prgming, B3(PIC16) or B5(PIC18) used for I/O
#FUSES NOCPD //No EE protection
#FUSES NOWRT //Program memory not write protected
 
#use delay(clock=20000000)
#use i2c(Master,Fast,sda=PIN_C4,scl=PIN_C3,force_hw)
 
/roboti/istrobot/camerus/SW/873
Property changes:
Added: svn:ignore
+*.bak
+*.BAK
+*.cof
+*.err
+*.hex
+*.lst
+*.sta
+*.sym
+*.tre
/roboti/istrobot/camerus/DOC/prevodovky/prevodovka.fcb
0,0 → 1,137
G90 G40
 
M40
M6 T1
M3 S6000
 
 
 
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G1 Z-3.4 F100.0
G0 Z50.
X12.49 Y-10.
Z2.5
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Z2.5
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Z2.5
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Z2.5
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M9
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G0 z50
M6 T1
G0 X0 Y0 Z50
 
 
M30
/roboti/istrobot/camerus/DOC/prevodovky/README.txt
0,0 → 1,3
Pøevodovka 5:1 pro motor speed 300
 
Pøi zalepování ložisek je nutno dbát, aby ložisko v èele u motoru bylo na stranì motoru srovnáno s rovinou èela, jinak by docházelo k vyklánìní osy pøevodovky.
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0,0 → 1,159
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X663136Y149237D01*
X663136D02*
X663364Y148300D01*
X663136Y147675*
X662909Y146737*
X662909D02*
X662455Y146112D01*
X662455D02*
X661773Y145800D01*
X661091*
X660409Y146112*
X660409D02*
X660182Y146425D01*
X659955Y147050*
X668364Y150175D02*
X668136Y149237D01*
X668136D02*
X667682Y148612D01*
X667682D02*
X667000Y148300D01*
X666773*
X666091Y148612*
X666091D02*
X665636Y149237D01*
X665636D02*
X665409Y150175D01*
Y150487*
X665409D02*
X665636Y151425D01*
X666091Y152050*
X666773Y152362*
X666773D02*
X667000D01*
X667000D02*
X667682Y152050D01*
X668136Y151425*
X668364Y150175*
Y148612*
X668364D02*
X668136Y147050D01*
X667682Y146112*
X667682D02*
X667000Y145800D01*
X666545*
X665864Y146112*
X665864D02*
X665636Y146737D01*
X670409Y151112D02*
X670864Y151425D01*
X671545Y152362*
X671545D02*
Y145800D01*
X673591Y150175D02*
Y145800D01*
Y148925D02*
X674273Y149862D01*
X674273D02*
X674727Y150175D01*
X675409*
X675864Y149862*
X675864D02*
X676091Y148925D01*
Y145800*
Y148925D02*
X676773Y149862D01*
X676773D02*
X677227Y150175D01*
X677909*
X678364Y149862*
X678364D02*
X678591Y148925D01*
Y145800*
X680636Y152362D02*
X680864Y152050D01*
X681091Y152362*
X681091D02*
X680864Y152675D01*
X680636Y152362*
X680864Y150175D02*
Y145800D01*
X683136Y152362D02*
Y145800D01*
X0Y0D02*
M02*
/roboti/istrobot/camerus/HW/CAM_PROFI/BOARD.rep
0,0 → 1,13
 
 
Photo-Plotter Apertures Report
==============================
Position Width Hgt/ID Shape Qty
======== ===== ====== ===== ===
24 1 0 RND 4
25 10 0 RND 26
 
 
 
 
 
/roboti/istrobot/camerus/HW/CAM_PROFI/DRILL.DRL
0,0 → 1,43
%
T1C.035F197S55
X014Y014506
X014Y015494
X01946Y015494
X01946Y014506
X022219Y013728
X022219Y017228
X02492Y015494
X02492Y014506
X03038Y014506
X03038Y015494
X033113Y017228
X033113Y013728
X03584Y014506
X03584Y015494
X038509Y016198
X037509Y016198
X0381Y0142
X0391Y0142
X0413Y014506
X0413Y015494
X039509Y016198
X043339Y017228
X043339Y013728
X044675Y013728
X044675Y017228
X04676Y015494
X04676Y014506
X05222Y014506
X05222Y015494
X054953Y017228
X054953Y013728
X05768Y014506
X05768Y015494
X06314Y015494
X06314Y014506
T2C.12598F035S794
X0168Y0134
X0278Y0136
X0494Y0134
X0604Y0134
M30
/roboti/istrobot/camerus/HW/CAM_PROFI/DRILL.lst
0,0 → 1,46
Drill Listing
=============
Drill: .035 Tool: 1 Feed: 197 Speed: 550
X 140000 Y 145062
X 140000 Y 154937
X 194600 Y 154937
X 194600 Y 145062
X 222186 Y 137284
X 222186 Y 172284
X 249200 Y 154937
X 249200 Y 145062
X 303800 Y 145062
X 303800 Y 154937
X 331129 Y 172284
X 331129 Y 137284
X 358400 Y 145062
X 358400 Y 154937
X 385087 Y 161979
X 375087 Y 161979
X 381000 Y 142000
X 391000 Y 142000
X 413000 Y 145062
X 413000 Y 154937
X 395087 Y 161979
X 433392 Y 172284
X 433392 Y 137284
X 446753 Y 137284
X 446753 Y 172284
X 467600 Y 154937
X 467600 Y 145062
X 522200 Y 145062
X 522200 Y 154937
X 549530 Y 172284
X 549530 Y 137284
X 576800 Y 145062
X 576800 Y 154937
X 631400 Y 154937
X 631400 Y 145062
 
Drill: .12598 Tool: 2 Feed: 35 Speed: 794
X 168000 Y 134000
X 278000 Y 136000
X 494000 Y 134000
X 604000 Y 134000
 
End of Listing
/roboti/istrobot/camerus/HW/CAM_PROFI/DRILL.rep
0,0 → 1,13
 
 
Drill Sizes Report
==================
Tool Size Pltd Feed Speed Qty
==== ==== ==== ==== ===== ===
1 35 x 197 550 35
2 125.98 x 35 794 4
 
 
 
 
 
/roboti/istrobot/camerus/HW/CAM_PROFI/V2.PHO
0,0 → 1,1574
*
*
G04 PADS Layout (Build Number 2006.45.1) generated Gerber (RS-274-X) file*
G04 PC Version=2.1*
*
%IN "LEDpanel.pcb"*%
*
%MOIN*%
*
%FSLAX35Y35*%
*
*
*
*
G04 PC Standard Apertures*
*
*
G04 Thermal Relief Aperture macro.*
%AMTER*
1,1,$1,0,0*
1,0,$1-$2,0,0*
21,0,$3,$4,0,0,45*
21,0,$3,$4,0,0,135*
%
*
*
G04 Annular Aperture macro.*
%AMANN*
1,1,$1,0,0*
1,0,$2,0,0*
%
*
*
G04 Odd Aperture macro.*
%AMODD*
1,1,$1,0,0*
1,0,$1-0.005,0,0*
%
*
*
G04 PC Custom Aperture Macros*
*
*
*
*
*
*
G04 PC Aperture Table*
*
%ADD012R,0.07X0.07*%
%ADD013C,0.23622*%
%ADD025C,0.01*%
%ADD031C,0.07*%
%ADD042C,0.045*%
%ADD043R,0.066X0.066*%
%ADD044C,0.066*%
%ADD045R,0.065X0.065*%
%ADD046C,0.08268*%
%ADD047C,0.035*%
%ADD048C,0.025*%
*
*
*
*
G04 PC Copper Outlines (0)*
G04 Layer Name LEDpanel.pcb - dark (0)*
%LPD*%
*
*
G04 PC Area=ANP000000*
G75*
G36*
G01*
X648700Y123000D02*
Y176100D01*
G03*
X648200Y176600I-500J-0D01*
G01*
X555558D01*
G03*
X555136Y175833I0J-500D01*
G02*
X545345Y167138I-5606J-3548D01*
G03*
X545029Y167250I-316J-388D01*
G01*
X451254D01*
G03*
X450939Y167138I0J-500D01*
G02*
X442568I-4186J5147D01*
G03*
X442252Y167250I-316J-388D01*
G01*
X437893D01*
G03*
X437578Y167138I0J-500D01*
G02*
X429207I-4186J5147D01*
G03*
X428891Y167250I-316J-388D01*
G01*
X400923D01*
G03*
X400492Y166497I0J-500D01*
G02*
X400837Y165229I-2155J-1268D01*
G01*
Y158729D01*
G02*
X398337Y156229I-2500J0D01*
G01*
X391837D01*
G02*
X390587Y156564I0J2500D01*
G03*
X389837Y156131I-250J-433D01*
G01*
Y151057D01*
G03*
X389984Y150703I500J-0D01*
G01*
X392541Y148146D01*
G03*
X392894Y148000I353J354D01*
G01*
X394500D01*
G02*
X397000Y145500I0J-2500D01*
G01*
Y138750D01*
G03*
X397500Y138250I500J0D01*
G01*
X399969D01*
G03*
X400323Y138396I0J500D01*
G01*
X407054Y145127D01*
G03*
X407200Y145481I-354J354D01*
G01*
Y148363D01*
G02*
X408401Y150499I2500J-0D01*
G03*
X408527Y151245I-260J427D01*
G02*
X417600Y158470I4473J3692D01*
G03*
X417643Y158421I397J304D01*
G01*
X425022Y151042D01*
G03*
X425204Y150926I354J353D01*
G02*
X426748Y149940I-1462J-3991D01*
G01*
X432634Y144054D01*
G03*
X433016Y143908I353J353D01*
G02*
X439605Y139612I376J-6623D01*
G03*
X440541I468J175D01*
G02*
X447130Y143908I6212J-2327D01*
G03*
X447512Y144054I28J499D01*
G01*
X452463Y149005D01*
G02*
X454579Y150156I3005J-3005D01*
G03*
X454827Y150291I-105J489D01*
G01*
X462957Y158421D01*
G03*
X463000Y158470I-354J353D01*
G02*
X472073Y151245I4600J-3533D01*
G03*
X472199Y150499I386J-319D01*
G02*
X473089Y149571I-1299J-2136D01*
G03*
X473526Y149313I437J242D01*
G01*
X476186D01*
G03*
X476539Y149459I-0J500D01*
G01*
X485022Y157942D01*
G02*
X488027Y159187I3005J-3005D01*
G01*
X518061D01*
G03*
X518390Y159310I0J500D01*
G02*
X526673Y151245I3810J-4373D01*
G03*
X526799Y150499I386J-319D01*
G02*
X528000Y148363I-1299J-2136D01*
G01*
Y141763D01*
G02*
X525500Y139263I-2500J-0D01*
G01*
X518900D01*
G02*
X516400Y141763I0J2500D01*
G01*
Y148363D01*
G02*
X516915Y149883I2500J-0D01*
G03*
X516518Y150687I-397J304D01*
G01*
X489995D01*
G03*
X489641Y150541I-0J-500D01*
G01*
X481158Y142058D01*
G02*
X478153Y140813I-3005J3005D01*
G01*
X473526D01*
G03*
X473089Y140555I0J-500D01*
G02*
X470900Y139263I-2189J1208D01*
G01*
X464300D01*
G02*
X461800Y141763I0J2500D01*
G01*
Y144036D01*
G03*
X460946Y144389I-500J-0D01*
G01*
X459552Y142995D01*
G02*
X457437Y141844I-3005J3005D01*
G03*
X457188Y141709I104J-489D01*
G01*
X453522Y138043D01*
G03*
X453376Y137661I354J-353D01*
G02*
X440541Y134958I-6623J-376D01*
G03*
X439605I-468J-176D01*
G02*
X426769Y137661I-6213J2327D01*
G03*
X426623Y138043I-499J29D01*
G01*
X421839Y142828D01*
G03*
X421657Y142944I-354J-354D01*
G02*
X420113Y143930I1462J3991D01*
G01*
X419654Y144389D01*
G03*
X418800Y144036I-354J-353D01*
G01*
Y141763D01*
G02*
X416300Y139263I-2500J-0D01*
G01*
X413418D01*
G03*
X413064Y139117I-0J-500D01*
G01*
X404942Y130995D01*
G02*
X401937Y129750I-3005J3005D01*
G01*
X378747D01*
G02*
X375742Y130995I-0J4250D01*
G01*
X366995Y139742D01*
G02*
X365750Y142747I3005J3005D01*
G01*
Y143486D01*
G03*
X365604Y143839I-500J-0D01*
G01*
X365054Y144389D01*
G03*
X364200Y144036I-354J-353D01*
G01*
Y141763D01*
G02*
X361700Y139263I-2500J-0D01*
G01*
X355100D01*
G02*
X352600Y141763I0J2500D01*
G01*
Y148363D01*
G02*
X353801Y150499I2500J-0D01*
G03*
X353927Y151245I-260J427D01*
G02*
X363000Y158470I4473J3692D01*
G03*
X363043Y158421I397J304D01*
G01*
X373005Y148459D01*
G02*
X374250Y145453I-3005J-3006D01*
G01*
Y144714D01*
G03*
X374396Y144361I500J0D01*
G01*
X380361Y138396D01*
G03*
X380714Y138250I353J354D01*
G01*
X384500D01*
G03*
X385000Y138750I-0J500D01*
G01*
Y142045D01*
G03*
X384854Y142398I-500J-0D01*
G01*
X381728Y145523D01*
G02*
X380337Y148882I3359J3359D01*
G01*
Y156131D01*
G03*
X379587Y156564I-500J0D01*
G02*
X378337Y156229I-1250J2165D01*
G01*
X371837D01*
G02*
X369337Y158729I0J2500D01*
G01*
Y165229D01*
G02*
X369841Y166734I2500J0D01*
G03*
X369441Y167535I-400J301D01*
G01*
X335959D01*
G03*
X335621Y167403I0J-500D01*
G02*
X326638I-4492J4882D01*
G03*
X326299Y167535I-339J-368D01*
G01*
X227016D01*
G03*
X226678Y167403I0J-500D01*
G02*
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G03*
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G01*
X123000D01*
G03*
X122500Y176100I0J-500D01*
G01*
Y123000D01*
G03*
X123000Y122500I500J0D01*
G01*
X648200D01*
G03*
X648700Y123000I-0J500D01*
G37*
G74*
*
*
G04 PC Void Outlines (0)*
G04 Layer Name LEDpanel.pcb - clear (0)*
%LPC*%
*
*
G04 PC Area=ANP000000*
G75*
G36*
G01*
X627590Y159310D02*
G02*
X635873Y151245I3810J-4373D01*
G03*
X635999Y150499I386J-319D01*
G02*
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G01*
Y141763D01*
G02*
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G01*
X628100D01*
G02*
X625600Y141763I0J2500D01*
G01*
Y148363D01*
G02*
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G03*
X625718Y150687I-397J304D01*
G01*
X599595D01*
G03*
X599241Y150541I-0J-500D01*
G01*
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G02*
X587753Y140813I-3005J3005D01*
G01*
X582726D01*
G03*
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G02*
X580100Y139263I-2189J1208D01*
G01*
X573500D01*
G02*
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G01*
Y148363D01*
G02*
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G03*
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G01*
X569150D01*
G03*
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G01*
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G03*
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G02*
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G03*
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G01*
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G02*
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G01*
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G03*
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G02*
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G03*
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G02*
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G03*
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G01*
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G03*
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G01*
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G02*
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G01*
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G03*
X627590Y159310I0J500D01*
G37*
G74*
*
G75*
G36*
G01*
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Y163750D01*
G02*
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G01*
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G02*
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G01*
Y172750D01*
G02*
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G01*
X614500D01*
G02*
X617000Y172750I0J-2500D01*
G37*
G74*
*
G75*
G36*
G01*
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G02*
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G03*
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G01*
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G03*
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G01*
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G03*
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G02*
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G01*
Y141763D01*
G02*
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G01*
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G02*
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G03*
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G01*
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G02*
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G01*
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G03*
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G01*
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G03*
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G02*
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G01*
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G02*
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G01*
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G02*
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G01*
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G02*
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G03*
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G02*
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G03*
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G01*
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G02*
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G01*
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G03*
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G01*
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G03*
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G02*
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G03*
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G02*
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G03*
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G01*
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G02*
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G01*
X330371Y144054D01*
G03*
X330753Y143908I354J353D01*
G37*
G74*
*
G75*
G36*
G01*
X221810D02*
G02*
X215563Y137661I376J-6623D01*
G03*
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G01*
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G03*
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G01*
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G03*
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G02*
X200400Y148363I-1985J-1520D01*
G01*
Y141763D01*
G02*
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G01*
X191300D01*
G02*
X189111Y140555I0J2500D01*
G03*
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G01*
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G02*
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G01*
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G03*
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G01*
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G03*
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G02*
X145800Y148363I-1985J-1520D01*
G01*
Y141763D01*
G02*
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G01*
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G02*
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G01*
Y148363D01*
G02*
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G03*
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G02*
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G03*
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G02*
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G03*
X144139Y159187I329J377D01*
G01*
X174073D01*
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/roboti/istrobot/camerus/HW/CAM_PROFI/V2.rep
0,0 → 1,22
 
 
Photo-Plotter Apertures Report
==============================
Position Width Hgt/ID Shape Qty
======== ===== ====== ===== ===
12 70 0 SQR 1
13 236.22 0 RND 4
25 10 0 RND 306
31 70 0 RND 1
42 45 0 RND 17
43 66 0 SQR 10
44 66 0 RND 10
45 65 0 SQR 3
46 82.68 0 RND 10
47 35 0 RND 32
48 25 0 RND 25
 
 
 
 
 
/roboti/istrobot/camerus/HW/PCB/LEDpanel.pcb
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svn:mime-type = application/octet-stream
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Added: svn:mime-type
+application/octet-stream
\ No newline at end of property
/roboti/istrobot/camerus/HW/SCH/LEDPANEL.DSN
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream
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Added: svn:mime-type
+application/octet-stream
\ No newline at end of property
/roboti/istrobot/camerus/HW/SCH/LEDPANEL.ONL
0,0 → 1,274
(PCB LEDPANEL
(description
(timeStamp "2007 03 11 21 45 48")
(program "CAPTURE.EXE" (Version "10.5.0.p001 CIS - D"))
(source "Original data from OrCAD/CAPTURE schematic")
(title "LEDpanel")
(date "Sunday, March 11, 2007")
(document "D:\\KAKLIK\\PROJEKTY\\ROBOTI\\ISTROBOT\\CAMERUS\\HW\\SCH\\LEDPANEL.DSN")
(revision "")
(organization "")
(address1 "")
(address2 "")
(address3 "")
(address4 "")
(partvaluecombine "{Value}")
(pcbfootprintcombine "{Device},{Value}@{PCB Footprint}"))
(structure )
(placement
(component JUMP3
(place J1
(property
("PCB Footprint" JUMP3)
(Device JUMP3)
(timestamp 000003DB)
("Source Package" JUMP3)
(Value JUMP3))))
(component RL090
(place R1
(property
("PCB Footprint" RL090)
(Device R)
(timestamp 000000CF)
("Source Package" RL090)
(Value RL090)))
(place R2
(property
("PCB Footprint" RL090)
(Device R)
(timestamp 000000DF)
("Source Package" RL090)
(Value RL090)))
(place R3
(property
("PCB Footprint" RL090)
(Device R)
(timestamp 000000EF)
("Source Package" RL090)
(Value RL090)))
(place R4
(property
("PCB Footprint" RL090)
(Device R)
(timestamp 000000FF)
("Source Package" RL090)
(Value RL090)))
(place R5
(property
("PCB Footprint" RL090)
(Device R)
(timestamp 0000010F)
("Source Package" RL090)
(Value RL090))))
(component LED5mm
(place D10
(property
("PCB Footprint" LED5)
(Device LED)
(timestamp 000000B6)
("Source Package" LED5mm)
(Value LED5mm)))
(place D1
(property
("PCB Footprint" LED5)
(Device LED)
(timestamp 00000026)
("Source Package" LED5mm)
(Value LED5mm)))
(place D2
(property
("PCB Footprint" LED5)
(Device LED)
(timestamp 00000036)
("Source Package" LED5mm)
(Value LED5mm)))
(place D3
(property
("PCB Footprint" LED5)
(Device LED)
(timestamp 00000046)
("Source Package" LED5mm)
(Value LED5mm)))
(place D4
(property
("PCB Footprint" LED5)
(Device LED)
(timestamp 00000056)
("Source Package" LED5mm)
(Value LED5mm)))
(place D5
(property
("PCB Footprint" LED5)
(Device LED)
(timestamp 00000066)
("Source Package" LED5mm)
(Value LED5mm)))
(place D6
(property
("PCB Footprint" LED5)
(Device LED)
(timestamp 00000076)
("Source Package" LED5mm)
(Value LED5mm)))
(place D7
(property
("PCB Footprint" LED5)
(Device LED)
(timestamp 00000086)
("Source Package" LED5mm)
(Value LED5mm)))
(place D8
(property
("PCB Footprint" LED5)
(Device LED)
(timestamp 00000096)
("Source Package" LED5mm)
(Value LED5mm)))
(place D9
(property
("PCB Footprint" LED5)
(Device LED)
(timestamp 000000A6)
("Source Package" LED5mm)
(Value LED5mm))))
(component "C-ELYT-CE025X6"
(place C1
(property
("PCB Footprint" CE025X6)
(Device "C-ELYT")
(timestamp 000003AA)
("Source Package" "C-ELYT-CE025X6")
(Value 1000uF))))
(component HOLE_M3
(place M1
(property
("PCB Footprint" HOLE_M3)
(Device PAD)
(timestamp 00000619)
("Source Package" HOLE_M3)
(Value HOLE_M3)))
(place M2
(property
("PCB Footprint" HOLE_M3)
(Device PAD)
(timestamp 00000643)
("Source Package" HOLE_M3)
(Value HOLE_M3)))
(place M3
(property
("PCB Footprint" HOLE_M3)
(Device PAD)
(timestamp 0000066D)
("Source Package" HOLE_M3)
(Value HOLE_M3)))
(place M4
(property
("PCB Footprint" HOLE_M3)
(Device PAD)
(timestamp 00000697)
("Source Package" HOLE_M3)
(Value HOLE_M3)))))
(library
(image RL090
(property
(sourcelib C:\\LIBRARY\\ORCAD9X\\COM_RLC.OLB)
(Device R))
(pin 999 1
(property
(pinname 1)
(pintype 4)))
(pin 999 2
(property
(pinname 2)
(pintype 4))))
(image "C-ELYT-CE025X6"
(property
(sourcelib C:\\LIBRARY\\ORCAD9X\\COM_RLC.OLB)
(Device "C-ELYT"))
(pin 999 A
(property
(pinname A)
(pintype 4)))
(pin 999 C
(property
(pinname C)
(pintype 4))))
(image HOLE_M3
(property
(sourcelib C:\\LIBRARY\\ORCAD9X\\PAD.OLB)
(Device PAD))
(pin 999 1
(property
(pinname PIN)
(pintype 4))))
(image JUMP3
(property
(sourcelib C:\\LIBRARY\\ORCAD9X\\JUMP.OLB)
(Device JUMP3))
(pin 999 1
(property
(pinname 1)
(pintype 4)))
(pin 999 2
(property
(pinname 2)
(pintype 4)))
(pin 999 3
(property
(pinname 3)
(pintype 4))))
(image LED5mm
(property
(sourcelib C:\\LIBRARY\\ORCAD9X\\COM_OPTO.OLB)
(Device LED))
(pin 999 A
(property
(pinname A)
(pintype 4)))
(pin 999 C
(property
(pinname C)
(pintype 4)))))
(network
(net VCC
(property
(nettype S))
(pins
R3-2 C1-A J1-2 R5-2 R1-2 R2-2 R4-2))
(net GND
(property
(nettype S))
(pins
D8-C C1-C D4-C M1-1 D2-C M3-1 M4-1 D6-C J1-3
J1-1 M2-1 D10-C))
(net N00380
(pins
R1-1 D1-A))
(net N00388
(pins
D1-C D2-A))
(net N00433
(pins
D4-A D3-C))
(net N00446
(pins
D3-A R2-1))
(net N00494
(pins
R3-1 D5-A))
(net N00649
(pins
D5-C D6-A))
(net N00715
(pins
D7-A R4-1))
(net N00793
(pins
R5-1 D9-A))
(net N00822
(pins
D9-C D10-A))
(net N00885
(pins
D7-C D8-A)))
)
/roboti/istrobot/camerus/HW/SCH/LEDPANEL.asc
0,0 → 1,51
*PADS-PCB*
*PART*
C1 C-ELYT,1000uF@CE025X6
D1 LED,LED5mm@LED5
D10 LED,LED5mm@LED5
D2 LED,LED5mm@LED5
D3 LED,LED5mm@LED5
D4 LED,LED5mm@LED5
D5 LED,LED5mm@LED5
D6 LED,LED5mm@LED5
D7 LED,LED5mm@LED5
D8 LED,LED5mm@LED5
D9 LED,LED5mm@LED5
J1 JUMP3,JUMP3@JUMP3
M1 PAD,HOLE_M3@HOLE_M3
M2 PAD,HOLE_M3@HOLE_M3
M3 PAD,HOLE_M3@HOLE_M3
M4 PAD,HOLE_M3@HOLE_M3
R1 R,RL090@RL090
R2 R,RL090@RL090
R3 R,RL090@RL090
R4 R,RL090@RL090
R5 R,RL090@RL090
 
*NET*
*SIGNAL* VCC
R3.2 C1.A J1.2 R5.2 R1.2 R2.2 R4.2
*SIGNAL* GND
D8.C C1.C D4.C M1.1 D2.C M3.1 M4.1 D6.C
J1.3 J1.1 M2.1 D10.C
*SIGNAL* N00380
R1.1 D1.A
*SIGNAL* N00388
D1.C D2.A
*SIGNAL* N00433
D4.A D3.C
*SIGNAL* N00446
D3.A R2.1
*SIGNAL* N00494
R3.1 D5.A
*SIGNAL* N00649
D5.C D6.A
*SIGNAL* N00715
D7.A R4.1
*SIGNAL* N00793
R5.1 D9.A
*SIGNAL* N00822
D9.C D10.A
*SIGNAL* N00885
D7.C D8.A
*END*
/roboti/istrobot/camerus/HW/SCH/LEDPANEL_0.DBK
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\ No newline at end of property
/roboti/istrobot/camerus/ToDo.txt
0,0 → 1,18
- Tlaèítko na vypnutí, pøípadnì (IRDA)
- vyrobit modul na oci
 
- Pøedìlat modul LEDROBOT, nadimenzovat ho na vìtší proud.
- napajení elektroniky udìlat pøes spínaný zdroj (aby nevadily vybité baterie)
 
- pøilepit zatáèecí koleèko k osièce, aby se nemuselo, poøád rovnat.
 
- Udìlat podsvìtlení, aby se robot líbil porotì.
 
- Modul s kroutitkama 6 kroutitek
 
- modul s LED, nebo neosadit stabilizator do modulu LEDrobot
 
- vymyslet postup kalibrace kamery (jak vizualizovat co kamera vidi)
- co pouzit LEDbar?
 
- projit problemy lonske konstrukce
/roboti/istrobot/camerus/.
Property changes:
Added: svn:ignore
+*.bak
+*.BAK
+*.cof
+*.err
+*.hex
+*.lst
+*.sta
+*.sym
+*.tre