0,0 → 1,350 |
#include "tank.h" |
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#define DEBUG |
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#define TXo PIN_A3 // To the transmitter modulator |
#include "AX25.c" // podprogram pro prenos telemetrie |
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unsigned int8 sensors; // pomocna promenna pro cteni cidel na caru |
unsigned int8 line; // na ktere strane byla detekovana cara |
unsigned int8 speed; // rychlost zataceni |
unsigned int8 rovinka; // pocitadlo pro zjisteni rovneho useku |
unsigned int8 last; // kde byla cara, kdyz byly minule cidla mimo |
unsigned int8 movement; // obsahuje aktualni smer zataceni |
unsigned int8 dira; // pocita dobu po kterou je ztracena cara |
unsigned int8 cihla; // urcuje za jak dlouho muze byt znova detekovana cihla |
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// Konstanty pro dynamiku pohybu |
#define T_DIRA 85 // po jakem case zataceni se detekuje dira |
#define INC_SPEED 1 // prirustek rychlosti v jednom kroku |
#define FW_POMALU 230 // trochu mimo caru vnitrni pas |
#define FW_ZATACKA 200 // rychlost vnejsiho kola pri zataceni |
#define FW_STREDNE 240 // trochu mimo caru vnejsi pas |
#define COUVANI 650 // couvnuti zpet na caru, po detekci diry |
#define PRES_DIRU 350 |
#define MAX_ROVINKA (255-FW_STREDNE) |
#define TRESHOLD 10 // rozhodovaci uroven komparatoru, 0xF = 0.75*Vdd |
#define BUMPER_TRESHOLD 128 |
#define CIK_CAK 30000 |
#define T_CIHLA 100 // perioda detekce cihly |
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//motory //Napred vypnout potom zapnout! |
#define FR output_low(PIN_B5); output_high(PIN_B4) // Vpred |
#define FL output_low(PIN_B7); output_high(PIN_B6) |
#define BR output_low(PIN_B4); output_high(PIN_B5) // Vzad |
#define BL output_low(PIN_B6); output_high(PIN_B7) |
#define STOPR output_low(PIN_B4);output_low(PIN_B5) // Zastav |
#define STOPL output_low(PIN_B6);output_low(PIN_B7) |
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#define L 0b10 // left |
#define R 0b01 // right |
#define S 0b11 // straight |
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//cidla |
#define RSENSOR C2OUT // Senzory na caru |
#define LSENSOR C1OUT |
#define BUMPER PIN_A4 // Senzor na cihlu |
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#define DIAG_SERVO PIN_B3 // Propojka pro diagnosticky mod |
#define DIAG_SENSORS PIN_B2 // Propojka pro diagnosticky mod |
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#DEFINE SOUND_HI PIN_A6 // komplementarni vystupy pro piezo pipak |
#DEFINE SOUND_LO PIN_A7 |
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char AXstring[40]; // Buffer pro prenos telemetrie |
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// makro pro PWM |
#define GO(motor, direction, power) if(get_timer0()<=power) \ |
{direction##motor;} else {stop##motor;} |
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#int_TIMER2 |
void TIMER2_isr() |
{ |
if (speed<255) speed+=INC_SPEED; |
if (rovinka<MAX_ROVINKA) rovinka++; |
if (dira<=T_DIRA) dira++; |
if (cihla>0) cihla--; |
} |
// Primitivni Pipani |
void beep(unsigned int16 period, unsigned int16 length) |
{ |
unsigned int16 nn; |
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for(nn=length; nn>0; nn--) |
{ |
output_high(SOUND_HI);output_low(SOUND_LO); |
delay_us(period); |
output_high(SOUND_LO);output_low(SOUND_HI); |
delay_us(period); |
} |
} |
/******************************************************************************/ |
void diagnostika() |
{ |
unsigned int16 n; |
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while (input(DIAG_SERVO)) // Propojka, ktera spousti diagnostiku |
{ |
for (n=500; n<800; n+=100) |
{ |
beep(n,n); //beep UP |
}; |
Delay_ms(1000); |
//zastav vse |
STOPL; STOPR; |
//pravy pas |
FR; Delay_ms(1000); STOPR; Delay_ms(1000); |
BR; Delay_ms(1000); STOPR; Delay_ms(1000); |
Beep(880,100); Delay_ms(1000); |
//levy pas |
FL; Delay_ms(1000); STOPL; Delay_ms(1000); |
BL; Delay_ms(1000); STOPL; Delay_ms(1000); |
Beep(880,100); Delay_ms(1000); |
//oba pasy |
FL; FR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
BL; BR; Delay_ms(1000); STOPL; STOPR; Delay_ms(1000); |
}; |
while (input(DIAG_SENSORS)) |
{ |
int ls, rs; |
while(!input(BUMPER)){beep(1100,100); Delay_ms(50);} |
set_adc_channel(RSENSOR); |
Delay_us(20); |
rs=read_adc(); |
set_adc_channel(LSENSOR); |
Delay_us(20); |
ls=read_adc(); |
sprintf(AXstring,"L: %U R: %U\0", ls, rs); // Convert DATA to String. |
SendPacket(&AXstring[0]); |
delay_ms(1000); |
}; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void cikcak() |
{ |
unsigned int16 n; |
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line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
if (line!=0) return; |
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n=0; |
switch(movement) // podivej se na druhou stranu nez se jelo |
{ |
case L: |
FL;BR; |
movement=R; |
break; |
case R: |
FR;BL; |
movement=L; |
break; |
case S: |
FR;BL; |
movement=L; |
n=CIK_CAK/2; |
break; |
} |
while (0==(RSENSOR|LSENSOR)) // zkontroluj caru |
{ |
if (n==CIK_CAK) // zmen smer zataceni |
{ |
n=0; |
switch(movement) |
{ |
case L: |
FL;BR; |
movement=R; |
break; |
case R: |
FR;BL; |
movement=L; |
break; |
} |
} |
n++; |
} |
switch(movement) |
{ |
case L: |
FL;BR; |
movement=R; |
break; |
case R: |
FR;BL; |
movement=L; |
break; |
} |
Delay_ms(50); |
STOPL;STOPR; // nasli jsme caru |
line=S; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void objizdka() // objede cihlu |
{ |
unsigned int16 n; |
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BL;BR;Delay_ms(200); |
STOPR;STOPL; |
beep(900,1000); |
movement=S; |
cikcak(); |
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BR; FL; Delay_ms(215); // otoc se 70° do prava |
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FR; FL; Delay_ms(600); // popojed rovne |
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BL; Delay_ms(50); // otoc se 90° do leva |
STOPL; FR; Delay_ms(550); |
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FR; FL; Delay_ms(100); // popojed rovne na slepo |
for(n=600;n>0;n--) // popojed rovne ale kontroluj caru |
{ |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
if (line!=0) {Delay_ms(50); break;} |
Delay_ms(1); |
} |
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BR; // otoc se 60° do prava |
for(n=600;n>0;n--) |
{ |
line = RSENSOR; // cteni senzoru na caru |
line |= LSENSOR << 1; |
if (line!=0) break; |
Delay_ms(1); |
} |
STOPR; STOPL; |
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movement=R; |
cikcak(); |
cihla=T_DIRA; |
dira=0; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void prejeddiru() // vyresi diru |
{ |
unsigned int16 n; |
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STOPL;STOPR; |
beep(800,500); |
switch (movement) //vrat se zpet na caru |
{ |
case L: |
for (n=COUVANI;n>0;n--) {GO(R,B,speed); Delay_ms(1);} |
STOPL;STOPR; |
break; |
case R: |
for (n=COUVANI;n>0;n--) {GO(L,B,speed); Delay_ms(1);} |
STOPL;STOPR; |
break; |
case S: |
goto sem; |
break; |
} |
beep(800,500); |
FR;FL; Delay_ms(PRES_DIRU); // popojedem dopredu mozna tam bude cara |
sem: |
STOPL; STOPR; |
movement=S; |
cikcak(); // najdi caru |
cihla=T_DIRA; |
dira=0; |
} |
/////////////////////////////////////////////////////////////////////////////// |
void main() |
{ |
unsigned int16 n; // pro FOR |
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STOPL; STOPR; // prepne vystupy na ovladani motoru na output a zastavi |
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setup_oscillator(OSC_4MHZ|OSC_INTRC); // 4 MHz interni RC oscilator |
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port_b_pullups(TRUE); // pullups pro piano na diagnostiku |
setup_spi(FALSE); |
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); // Casovac pro PWM |
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setup_timer_2(T2_DIV_BY_4,255,10); // Casovac pro regulaci |
// preruseni kazdych 10ms |
setup_adc_ports(sAN2|VSS_VDD); // nastaveni A/D prevodniku pro naraznik |
setup_adc(ADC_CLOCK_INTERNAL); |
set_adc_channel(2); |
setup_timer_1(T1_INTERNAL|T1_DIV_BY_1); // Casovac pro naraznik |
setup_ccp1(CCP_COMPARE_RESET_TIMER); |
CCP_1=(2^10)-1; // prevod kazdou 1ms |
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setup_comparator(A0_VR_A1_VR); // inicializace komparatoru pro cidla cary |
setup_vref(VREF_HIGH|TRESHOLD); // 32 kroku od 0.25 do 0.75 Vdd |
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Beep(1000,200); //double beep |
Delay_ms(50); |
Beep(1000,200); |
Delay_ms(1000); // 1s |
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// povoleni rizeni rychlosti zataceni pres preruseni |
enable_interrupts(INT_TIMER2); |
enable_interrupts(GLOBAL); |
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/*---------------------------------------------------------------------------*/ |
sensors=S; |
line=S; |
last=S; |
movement=S; |
speed=FW_POMALU; |
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diagnostika(); |
cikcak(); // toc se, abys nasel caru |
Delay_ms(500); |
Beep(1000,200); |
Delay_ms(500); |
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while(true) // hlavni smycka (jizda podle cary) |
{ |
sensors = RSENSOR; // cteni senzoru na caru |
sensors |= LSENSOR << 1; |
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if ((read_adc(ADC_READ_ONLY)<BUMPER_TRESHOLD) && (cihla==0)) objizdka(); |
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switch (sensors) // zatacej podle toho, kde vidis caru |
{ |
case S: // rovne |
FL; FR; // pokud se jede dlouho rovne, tak pridej |
dira=0; |
movement=S; |
continue; |
case L: // trochu vlevo |
GO(L, F, FW_POMALU+rovinka); GO(R, F, FW_STREDNE+rovinka); |
line=L; |
dira=0; |
movement=L; |
continue; |
case R: // trochu vpravo |
GO(R, F, FW_POMALU+rovinka); GO(L, F, FW_STREDNE+rovinka); |
line=R; |
dira=0; |
movement=R; |
continue; |
default: // kdyz jsou obe cidla mimo caru, tak pokracuj dal |
} |
rovinka=0; |
if (dira>=T_DIRA) prejeddiru(); |
if (last!=line) // pokud si prejel caru z jedne strany na druhou stranu, tak zabrzdi |
{ |
last=line; |
speed=FW_ZATACKA; |
} |
if (L==line) // kdyz jsou obe cidla mimo caru, zatoc na caru |
{ |
STOPL; |
GO(R, F, speed); |
movement=L; |
} |
else |
{ |
STOPR; |
GO(L, F, speed); |
movement=R; |
} |
} // while(true) |
} |
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