| /roboti/istrobot/camerus/SW/876/backup/camerus.c |
|---|
| 0,0 → 1,657 |
| //********* Robot Camerus pro IstRobot 2007 ************ |
| //"$Id: camerus.c 253 2007-04-24 09:26:46Z kakl $" |
| //***************************************************** |
| #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 0xD0 |
| #define ODODO_TUNEL 0xFFF |
| #define ODODO_PRERUSENI 0xFFF//0xB4 |
| // 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 |
| int16 ble; |
| 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 |
| { |
| if((cas>(CASMIN+15))&&(cas<(CASMAX-15))) // Nebyla minule cara moc u kraje? |
| { |
| gap++; |
| if(gap>=3) // Trva preruseni cary alespon 2 snimky? |
| { |
| cas=CASAVR-CASMIN; |
| // disp(0xAA); |
| } |
| } |
| } |
| else |
| { |
| gap=0; |
| }; |
| /* |
| 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>=4) // 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 |
| cas=CASAVR-CASMIN; |
| disp(0xAA); |
| } |
| 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; |
| }; |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/backup/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/backup/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(255); // !!! 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(255); |
| 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/bak/camerus.c |
|---|
| 0,0 → 1,633 |
| //********* Robot Camerus pro IstRobot 2007 ************ |
| //"$Id: camerus.c 253 2007-04-24 09:26:46Z kakl $" |
| //***************************************************** |
| #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 30 // Rozumna rychlost pro priblizeni se k preruseni |
| #define BRZDNA_DRAHA 0x20 // 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 log) |
| { |
| int8 n,i; |
| 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++; |
| }; |
| write_eeprom(EEMAX,log); // Zapis poctu zaznamu na konec EEPROM |
| } |
| // Zaznam do Logu do RAM |
| void LogLog(int8 flag, int16 gap) |
| { |
| 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]=flag; // Typ zaznamu |
| if(log<MAXLOG) log++; // Ukazatel na dalsi zaznam |
| last_log_odo=timer_pom+gap; // 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(0,16); // 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(log-1); // 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; |
| }; |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/bak/diag.c |
|---|
| 0,0 → 1,67 |
| //--- 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; |
| SaveLog(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/bak/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) |
| touch=0; // Indikator detekce cary pri objizdeni |
| 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(220); |
| output_high(MOT_L); |
| output_low(MOT_R); |
| odocounter=get_timer1(); |
| 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(log-1); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| brzda(); |
| goto cihla; // Znovu zacni cihlu objizdet |
| }; |
| set_pwm1_duty(0); |
| set_pwm2_duty(220); // !!! 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 ------ |
| 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(log-1); // 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+20)) cas-=20; |
| } |
| else |
| { |
| if(cas<(CASMAX-20)) cas+=20; |
| }; |
| }; |
| // 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(20); //!!! pred zatuhlejma prevodovkama tam bylo 20 a 200 |
| set_pwm2_duty(250); |
| 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/bak2/camerus.c |
|---|
| 0,0 → 1,633 |
| //********* Robot Camerus pro IstRobot 2007 ************ |
| //"$Id: camerus.c 253 2007-04-24 09:26:46Z kakl $" |
| //***************************************************** |
| #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 60 // Rozumna rychlost pro objizdeni cihly |
| #define RR_PRERUSENI 50 // Rozumna rychlost pro priblizeni se k preruseni |
| #define BRZDNA_DRAHA 0x20 // 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 log) |
| { |
| int8 n,i; |
| 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++; |
| }; |
| write_eeprom(EEMAX,log); // Zapis poctu zaznamu na konec EEPROM |
| } |
| // Zaznam do Logu do RAM |
| void LogLog(int8 flag, int16 gap) |
| { |
| 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]=flag; // Typ zaznamu |
| if(log<MAXLOG) log++; // Ukazatel na dalsi zaznam |
| last_log_odo=timer_pom+gap; // 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(0,16); // 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(log-1); // 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; |
| }; |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/bak2/diag.c |
|---|
| 0,0 → 1,67 |
| //--- 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; |
| SaveLog(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/bak2/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(log-1); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| brzda(); |
| goto cihla; // Znovu zacni cihlu objizdet |
| }; |
| set_pwm1_duty(0); |
| set_pwm2_duty(220); // !!! 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(log-1); // 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+20)) cas-=20; |
| } |
| else |
| { |
| if(cas<(CASMAX-20)) cas+=20; |
| }; |
| }; |
| // 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(20); //!!! pred zatuhlejma prevodovkama tam bylo 20 a 200 |
| set_pwm2_duty(250); |
| 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.c |
|---|
| 0,0 → 1,661 |
| //********* 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_PROBLEM1 0xFFF |
| #define ODODO_PROBLEM2 0xFFF |
| #define ODODO_PROBLEM3 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 |
| int16 odo_problem1, odo_problem2, odo_problem3; // 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 |
| int16 ble; |
| 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_problem1=ODODO_PROBLEM1-BRZDNA_DRAHA; |
| odo_problem2=ODODO_PROBLEM2-BRZDNA_DRAHA; |
| odo_problem3=ODODO_PROBLEM3-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 |
| { |
| if((cas>(CASMIN+15))&&(cas<(CASMAX-15))) // Nebyla minule cara moc u kraje? |
| { |
| gap++; |
| if(gap>=3) // Trva preruseni cary alespon 2 snimky? |
| { |
| cas=CASAVR-CASMIN; |
| // disp(0xAA); |
| } |
| } |
| } |
| else |
| { |
| gap=0; |
| }; |
| /* |
| 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>=4) // 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 |
| cas=CASAVR-CASMIN; |
| disp(0xAA); |
| } |
| 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; |
| if((ododo>odo_problem1)&&(ododo<(odo_problem1+8))) rr=RR_PRERUSENI; |
| if((ododo>odo_problem2)&&(ododo<(odo_problem2+8))) rr=RR_PRERUSENI; |
| if((ododo>odo_problem3)&&(ododo<(odo_problem3+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/jiny_zapis_do_eeprom/camerus.c |
|---|
| 0,0 → 1,634 |
| //********* Robot Camerus pro IstRobot 2007 ************ |
| //"$Id: camerus.c 253 2007-04-24 09:26:46Z kakl $" |
| //***************************************************** |
| #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 0x20 // 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; |
| }; |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/jiny_zapis_do_eeprom/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/jiny_zapis_do_eeprom/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/pred_finale/camerus.c |
|---|
| 0,0 → 1,657 |
| //********* Robot Camerus pro IstRobot 2007 ************ |
| //"$Id: camerus.c 253 2007-04-24 09:26:46Z kakl $" |
| //***************************************************** |
| #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 0xD0 |
| #define ODODO_TUNEL 0xFFF |
| #define ODODO_PRERUSENI 0xFFF//0xB4 |
| // 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 |
| int16 ble; |
| 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 |
| { |
| if((cas>(CASMIN+15))&&(cas<(CASMAX-15))) // Nebyla minule cara moc u kraje? |
| { |
| gap++; |
| if(gap>=3) // Trva preruseni cary alespon 2 snimky? |
| { |
| cas=CASAVR-CASMIN; |
| // disp(0xAA); |
| } |
| } |
| } |
| else |
| { |
| gap=0; |
| }; |
| /* |
| 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>=4) // 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 |
| cas=CASAVR-CASMIN; |
| disp(0xAA); |
| } |
| 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; |
| }; |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/pred_finale/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/pred_finale/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(255); // !!! 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(255); |
| 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/pred_soutezi_rano/camerus.c |
|---|
| 0,0 → 1,633 |
| //********* Robot Camerus pro IstRobot 2007 ************ |
| //"$Id: camerus.c 253 2007-04-24 09:26:46Z kakl $" |
| //***************************************************** |
| #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 0x20 // 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 xlog) |
| { |
| int8 n,i; |
| 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++; |
| }; |
| 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(log-1); // 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; |
| }; |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/pred_soutezi_rano/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; |
| SaveLog(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/pred_soutezi_rano/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(log-1); // 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(log-1); // 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/robotchallenge/camerus.c |
|---|
| 0,0 → 1,456 |
| //********* Robot Camerus pro IstRobot 2007 ************ |
| //"$Id: camerus.c 214 2007-03-23 14:55:54Z 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_A4 // Ze snimace z odometrie z praveho kola / nove je to na RC0 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 TRESHOLD 128 |
| #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; |
| // 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_EXT |
| EXT_isr() // Preruseni od prekazky |
| { |
| set_pwm1_duty(0); // zabrzdi |
| set_pwm2_duty(0); |
| output_high(MOT_L); |
| output_high(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; |
| }; |
| SetServo((CASAVR-CASMIN)); // rovne |
| delay_ms(100); |
| brzda(); |
| //!!! 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_R.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 |
| //... 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()<TRESHOLD) {cas=CASMIN; break;}; // Prejeli jsme caru vlevo |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(40); |
| if(read_adc()<TRESHOLD) {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()<TRESHOLD) cas=CASMIN; |
| set_adc_channel(RMAX); // Pravy UV sensor |
| for(n=0;n<20;n++) if(input(HREF)) goto next_snap; |
| if(read_adc()<TRESHOLD) cas=CASMAX; |
| }; |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/robotchallenge/objizdka_R.c |
|---|
| 0,0 → 1,167 |
| // **** Objeti cihly vpravo **** RRRR |
| int8 n,i; |
| int16 j; |
| set_adc_channel(RMAX); |
| SetServo(CASMIN); // max. doleva L |
| set_pwm1_duty(0); // vzad |
| set_pwm2_duty(0); |
| output_low(MOT_L); |
| output_high(MOT_R); |
| odocounter=get_timer1(); // Poznamenej aktualni stav odometrie |
| while(get_timer1()<(odocounter+8)); // Popojed definovanou vzdalenost |
| set_pwm1_duty(0); // reverz (zabrzdi) |
| set_pwm2_duty(255); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| delay_ms(215); |
| brzda(); |
| disp(1); |
| SetServo((CASAVR-CASMIN)); // rovne S |
| set_pwm1_duty(160); // vpred |
| set_pwm2_duty(160); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| odocounter=get_timer1(); // Poznamenej aktualni stav odometrie |
| for(n=1;n<=7;n++) |
| { |
| while(get_timer1()<(odocounter+n)); // Popojed |
| SetServoQ((CASAVR-CASMIN)); |
| }; |
| i=0; |
| disp(2); |
| set_pwm1_duty(130); |
| set_pwm2_duty(140); |
| odocounter=get_timer1(); |
| for(n=1;n<=10;n++) |
| { |
| while(get_timer1()<(odocounter+n)); |
| SetServoQ((CASAVR-CASMIN)-i); |
| set_pwm1_duty(130-i); |
| i+=8; |
| }; |
| disp(3); |
| odocounter=get_timer1(); |
| for(n=1;n<=7;n++) |
| { |
| while(get_timer1()<(odocounter+n)); |
| SetServoQ((CASAVR-CASMIN)-i); |
| set_pwm1_duty(130-i); |
| i-=8; |
| }; |
| disp(4); |
| odocounter=get_timer1(); |
| for(n=1;n<=7;n++) |
| { |
| while(get_timer1()<(odocounter+n)); |
| SetServoQ((CASAVR-CASMIN)-i); |
| set_pwm1_duty(130-i); |
| i+=8; |
| }; |
| disp(5); |
| odocounter=get_timer1(); |
| //!!!!for(n=1;n<=5;n++) |
| for(n=1;n<=4;n++) |
| { |
| while(get_timer1()<(odocounter+n)); |
| SetServoQ((CASAVR-CASMIN)-i); |
| set_pwm1_duty(130-i); |
| i-=16; |
| }; |
| disp(6); |
| set_pwm1_duty(80); // vpred |
| set_pwm2_duty(80); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| odocounter=get_timer1(); // Poznamenej aktualni stav odometrie |
| for(n=1;n<=3;n++) |
| { |
| while(get_timer1()<(odocounter+n)); |
| SetServoQ((CASAVR-CASMIN)); |
| }; |
| disp(7); |
| while(true) |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(40); |
| if(read_adc()<TRESHOLD) {delay_us(600); if(read_adc()<TRESHOLD) {cas=CASMIN; break;}; }; // Prejeli jsme caru vlevo |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(40); |
| if(read_adc()<TRESHOLD) {delay_us(600); if(read_adc()<TRESHOLD) {cas=CASMAX; break;}; }; // Prejeli jsme caru vpravo |
| } |
| if(cas==CASMIN) |
| { |
| set_adc_channel(RMAX); // Pravy UV sensor |
| for(j=0;j<10000;j++) |
| { |
| if(input(HREF)) {SetServoQ(CASMIN); while(input(HREF));}; // doleva |
| if (read_adc()<TRESHOLD) break; |
| } |
| } |
| else |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| for(j=0;j<10000;j++) |
| { |
| if(input(HREF)) {SetServoQ(CASMAX); while(input(HREF));}; // doprava |
| if (read_adc()<TRESHOLD) break; |
| } |
| } |
| set_adc_channel(RMAX); // Pravy UV sensor |
| set_pwm1_duty(0); // zabrzdi |
| set_pwm2_duty(0); |
| output_high(MOT_L); |
| output_high(MOT_R); |
| SetServo(CASAVR-CASMIN); // doprostred |
| delay_ms(100); |
| brzda(); |
| // Tady jsou s velkou pravdepodobnosti obe cidla za carou a jsme kolmo k care |
| SetServo(CASMIN); // max. doleva L |
| set_pwm1_duty(0); // vzad |
| set_pwm2_duty(0); |
| output_low(MOT_L); |
| output_high(MOT_R); |
| while (read_adc()>TRESHOLD); |
| odocounter=get_timer1(); // Poznamenej aktualni stav odometrie |
| while(get_timer1()<(odocounter+4)); // Popojed definovanou vzdalenost |
| set_pwm1_duty(0); // reverz (zabrzdi) |
| set_pwm2_duty(255); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| SetServo(CASAVR-CASMIN); // doprostred |
| delay_ms(100); |
| brzda(); |
| set_pwm1_duty(255); // max. vpred |
| set_pwm2_duty(255); |
| output_low(MOT_L); |
| output_low(MOT_R); |
| odocounter=get_timer1(); // Poznamenej aktualni stav odometrie |
| while(get_timer1()<(odocounter+2)) // Ujed kousek |
| { |
| set_adc_channel(LMAX); // Levy UV sensor |
| delay_us(40); |
| if(read_adc()<TRESHOLD) {cas=CASMIN; break;}; // Prejeli jsme caru vlevo |
| set_adc_channel(RMAX); // Pravy UV sensor |
| delay_us(40); |
| if(read_adc()<TRESHOLD) {cas=CASMAX; break;}; // Prejeli jsme caru vpravo |
| cas=CASAVR-CASMIN; // Cara je rovne |
| }; |
| stav=cihla; // Stav po objeti cihly, uz zadna cihla asi nebude |
| //odocounter=get_timer1(); // Poznamenej aktualni stav odometrie |
| //rr=60; // Nerozumna rychlost pro rozjeti |
| /roboti/istrobot/camerus/SW/876/zatuhle_prevodovky/camerus.c |
|---|
| 0,0 → 1,632 |
| //********* Robot Camerus pro IstRobot 2007 ************ |
| //"$Id: camerus.c 252 2007-04-24 08:53:01Z kakl $" |
| //***************************************************** |
| #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 25 // Rozumna rychlost pro objizdeni cihly |
| #define RR_PRERUSENI 20 // Rozumna rychlost pro priblizeni se k preruseni |
| #define BRZDNA_DRAHA 0x20 // 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 log) |
| { |
| int8 n,i; |
| 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++; |
| }; |
| write_eeprom(EEMAX,log); // Zapis poctu zaznamu na konec EEPROM |
| } |
| // Zaznam do Logu do RAM |
| void LogLog(int8 flag, int16 gap) |
| { |
| 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]=flag; // Typ zaznamu |
| if(log<MAXLOG) log++; // Ukazatel na dalsi zaznam |
| last_log_odo=timer_pom+gap; // 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=read_adc()>>3; // 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 |
| 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(0,16); // 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(log-1); // 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; |
| }; |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/zatuhle_prevodovky/diag.c |
|---|
| 0,0 → 1,67 |
| //--- 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; |
| SaveLog(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/zatuhle_prevodovky/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) |
| touch=0; // Indikator detekce cary pri objizdeni |
| 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); |
| odocounter=get_timer1(); |
| 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(log-1); // Zapis Black Boxu do EEPROM |
| delay_ms(TUHOS); //!!! Zatuhle prevodovky |
| brzda(); |
| goto cihla; // Znovu zacni cihlu objizdet |
| }; |
| set_pwm1_duty(0); |
| set_pwm2_duty(255); // !!! 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 ------ |
| 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(log-1); // 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+20)) cas-=20; |
| } |
| else |
| { |
| if(cas<(CASMAX-20)) cas+=20; |
| }; |
| }; |
| // 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(255); |
| 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/zmensena brzdna draha na 0x15/camerus.c |
|---|
| 0,0 → 1,634 |
| //********* Robot Camerus pro IstRobot 2007 ************ |
| //"$Id: camerus.c 253 2007-04-24 09:26:46Z kakl $" |
| //***************************************************** |
| #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; |
| }; |
| } |
| } |
| /roboti/istrobot/camerus/SW/876/zmensena brzdna draha na 0x15/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/zmensena brzdna draha na 0x15/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/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(255); // !!! 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(255); |
| 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/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/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/camerus.pdf |
|---|
| Cannot display: file marked as a binary type. |
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|---|
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|---|
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| /roboti/istrobot/camerus/DOC/prevodovky/prevodovka.fcb |
|---|
| 0,0 → 1,137 |
| G90 G40 |
| M40 |
| M6 T1 |
| M3 S6000 |
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| G0 Z50. |
| X12.49 |
| Z2.5 |
| G1 Z-3.4 |
| G0 Z50. |
| X4 |
| Z2.5 |
| G1 Z-3.4 |
| G0 Z50. |
| M30 |
| M9 |
| M6 T2 |
| M3 S6000 |
| G0 X-3.071 Y-10.594 |
| G0 Z2.5 |
| G1 Z0 F100.0 |
| X-7.035 Y-11.131 Z-0.5 |
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| X-3.071 Y-10.594 |
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| G0 z50 |
| M6 T1 |
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| M30 |
| /roboti/istrobot/camerus/DOC/prevodovky/README.txt |
|---|
| 0,0 → 1,3 |
| Pøevodovka 5:1 pro motor speed 300 |
| Pøi zalepování loisek je nutno dbát, aby loisko v èele u motoru bylo na stranì motoru srovnáno s rovinou èela, jinak by docházelo k vyklánìní osy pøevodovky. |
| /roboti/istrobot/camerus/DOC/Fotky/P3110001.JPG |
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| +application/octet-stream |
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| /roboti/istrobot/camerus/ToDo.txt |
|---|
| 0,0 → 1,11 |
| - Tlaèítko na vypnutí, pøípadnì (IRDA) |
| - vyrobit modul na oci |
| - Udìlat podsvìtlení, aby se robot líbil porotì. |
| +- 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/HW/CAM_AMA/BOARD.pdf |
|---|
| 0,0 → 1,159 |
| %PDF-1.3 |
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| Y179100D02* |
| X674500Y169100D01* |
| X669500* |
| X672000Y179100* |
| X656200Y120000D02* |
| X677000D01* |
| X656200Y179100D02* |
| X677000D01* |
| X662909Y152362D02* |
| X660636D01* |
| X660636D02* |
| X660409Y149550D01* |
| X660636Y149862* |
| X660636D02* |
| X661318Y150175D01* |
| X662000* |
| X662682Y149862* |
| X662682D02* |
| 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* |
| X216581Y175833I-4492J4882D01* |
| G03* |
| X216158Y176600I-423J267D01* |
| 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* |
| X637200Y148363I-1299J-2136D01* |
| G01* |
| Y141763D01* |
| G02* |
| X634700Y139263I-2500J-0D01* |
| G01* |
| X628100D01* |
| G02* |
| X625600Y141763I0J2500D01* |
| G01* |
| Y148363D01* |
| G02* |
| X626115Y149883I2500J-0D01* |
| G03* |
| X625718Y150687I-397J304D01* |
| G01* |
| X599595D01* |
| G03* |
| X599241Y150541I-0J-500D01* |
| G01* |
| X590758Y142058D01* |
| G02* |
| X587753Y140813I-3005J3005D01* |
| G01* |
| X582726D01* |
| G03* |
| X582289Y140555I0J-500D01* |
| G02* |
| X580100Y139263I-2189J1208D01* |
| G01* |
| X573500D01* |
| G02* |
| X571000Y141763I0J2500D01* |
| G01* |
| Y148363D01* |
| G02* |
| X571515Y149883I2500J-0D01* |
| G03* |
| X571118Y150687I-397J304D01* |
| G01* |
| X569150D01* |
| G03* |
| X568796Y150541I-0J-500D01* |
| G01* |
| X556299Y138043D01* |
| G03* |
| X556153Y137661I353J-353D01* |
| G02* |
| X549907Y143908I-6623J-376D01* |
| G03* |
| X550288Y144054I28J499D01* |
| G01* |
| X564177Y157942D01* |
| G02* |
| X567182Y159187I3005J-3005D01* |
| G01* |
| X572661D01* |
| G03* |
| X572990Y159310I0J500D01* |
| G02* |
| X581273Y151245I3810J-4373D01* |
| G03* |
| X581399Y150499I386J-319D01* |
| G02* |
| X582289Y149571I-1299J-2136D01* |
| G03* |
| X582726Y149313I437J242D01* |
| G01* |
| X585786D01* |
| G03* |
| X586139Y149459I-0J500D01* |
| G01* |
| X594622Y157942D01* |
| G02* |
| X597627Y159187I3005J-3005D01* |
| G01* |
| X627261D01* |
| G03* |
| X627590Y159310I0J500D01* |
| G37* |
| G74* |
| * |
| G75* |
| G36* |
| G01* |
| X617000Y172750D02* |
| Y163750D01* |
| G02* |
| X614500Y161250I-2500J0D01* |
| G01* |
| X585682D01* |
| G02* |
| X583182Y163750I-0J2500D01* |
| G01* |
| Y172750D01* |
| G02* |
| X585682Y175250I2500J0D01* |
| G01* |
| X614500D01* |
| G02* |
| X617000Y172750I0J-2500D01* |
| G37* |
| G74* |
| * |
| G75* |
| G36* |
| G01* |
| X330753Y143908D02* |
| G02* |
| X324506Y137661I376J-6623D01* |
| G03* |
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| G01* |
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| G03* |
| X311510Y150687I-353J-354D01* |
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| G01* |
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| G74* |
| * |
| G75* |
| G36* |
| G01* |
| X221810D02* |
| G02* |
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| G01* |
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| G02* |
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| G01* |
| X136700D01* |
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| X134200Y141763I0J2500D01* |
| G01* |
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| X135401Y150499I2500J-0D01* |
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| X135527Y151245I-260J427D01* |
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| G02* |
| X143810Y159310I-1967J-5456D01* |
| G03* |
| X144139Y159187I329J377D01* |
| G01* |
| X174073D01* |
| G02* |
| X177078Y157942I-0J-4250D01* |
| G01* |
| X185561Y149459D01* |
| G03* |
| X185914Y149313I353J354D01* |
| G01* |
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| G03* |
| X189111Y149571I-0J500D01* |
| G02* |
| X190001Y150499I2189J-1208D01* |
| G03* |
| X190127Y151245I-260J427D01* |
| G02* |
| X198410Y159310I4473J3692D01* |
| G03* |
| X198739Y159187I329J377D01* |
| G01* |
| X204534D01* |
| G02* |
| X207539Y157942I-0J-4250D01* |
| G01* |
| X221428Y144054D01* |
| G03* |
| X221810Y143908I353J353D01* |
| G37* |
| G74* |
| * |
| G75* |
| G36* |
| G01* |
| X189000Y172750D02* |
| Y163750D01* |
| G02* |
| X186500Y161250I-2500J0D01* |
| G01* |
| X142955D01* |
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| G03* |
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| X140455Y163750I907J2330D01* |
| G01* |
| Y172750D01* |
| G02* |
| X142955Y175250I2500J0D01* |
| G01* |
| X186500D01* |
| G02* |
| X189000Y172750I0J-2500D01* |
| G37* |
| G74* |
| * |
| * |
| G04 PC Copper Outlines (1)* |
| G04 Layer Name LEDpanel.pcb - dark (1)* |
| %LPD*% |
| * |
| * |
| G04 PC Area=Custom_Thermal* |
| * |
| G04 PC Custom Flashes* |
| G04 Layer Name LEDpanel.pcb - flashes* |
| %LPD*% |
| * |
| * |
| G04 PC Circuitry* |
| G04 Layer Name LEDpanel.pcb - circuitry* |
| %LPD*% |
| * |
| G54D12* |
| G01X391000Y142000D03* |
| G54D13* |
| X604000Y134000D03* |
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| G54D25* |
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| Y166000D01* |
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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 |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| 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 |
| Property changes: |
| 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 |
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| (Device R) |
| (timestamp 000000EF) |
| ("Source Package" RL090) |
| (Value RL090))) |
| (place R4 |
| (property |
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| (Device R) |
| (timestamp 000000FF) |
| ("Source Package" RL090) |
| (Value RL090))) |
| (place R5 |
| (property |
| ("PCB Footprint" RL090) |
| (Device R) |
| (timestamp 0000010F) |
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| (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 |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /roboti/istrobot/camerus/. |
|---|
| Property changes: |
| Added: svn:ignore |
| +*.bak |
| +*.BAK |
| +*.cof |
| +*.err |
| +*.hex |
| +*.lst |
| +*.sta |
| +*.sym |
| +*.tre |
