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FireFly library: variant kept in the 2014 GitLab archive

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GPS include disabled, out-of-reach flag instead of the 7-segment error. Exact date unknown; dated at the archive's first commit (Feb 2014).
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mangavalk committed 2014-02-17 11:44:17 +01:00
1 parent 6e50819e01
commit 413f52c008
10 files changed
+1585 -1583
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2011-firefly-mega-ssc32/firmware/2012-library/hexapod/IRremote.cpp
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2011-firefly-mega-ssc32/firmware/2012-library/hexapod/IRremote.h
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@@ -1,101 +1,101 @@
/* /*
* IRremote * IRremote
* Version 0.1 July, 2009 * Version 0.1 July, 2009
* Copyright 2009 Ken Shirriff * Copyright 2009 Ken Shirriff
* For details, see http://arcfn.com/2009/08/multi-protocol-infrared-remote-library.htm http://arcfn.com * For details, see http://arcfn.com/2009/08/multi-protocol-infrared-remote-library.htm http://arcfn.com
* *
* Interrupt code based on NECIRrcv by Joe Knapp * Interrupt code based on NECIRrcv by Joe Knapp
* http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1210243556 * http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1210243556
* Also influenced by http://zovirl.com/2008/11/12/building-a-universal-remote-with-an-arduino/ * Also influenced by http://zovirl.com/2008/11/12/building-a-universal-remote-with-an-arduino/
*/ */
#ifndef IRremote_h #ifndef IRremote_h
#define IRremote_h #define IRremote_h
// The following are compile-time library options. // The following are compile-time library options.
// If you change them, recompile the library. // If you change them, recompile the library.
// If DEBUG is defined, a lot of debugging output will be printed during decoding. // If DEBUG is defined, a lot of debugging output will be printed during decoding.
// TEST must be defined for the IRtest unittests to work. It will make some // TEST must be defined for the IRtest unittests to work. It will make some
// methods virtual, which will be slightly slower, which is why it is optional. // methods virtual, which will be slightly slower, which is why it is optional.
// #define DEBUG // #define DEBUG
// #define TEST // #define TEST
// Results returned from the decoder // Results returned from the decoder
class decode_results { class decode_results {
public: public:
int decode_type; // NEC, SONY, RC5, UNKNOWN int decode_type; // NEC, SONY, RC5, UNKNOWN
unsigned long value; // Decoded value unsigned long value; // Decoded value
int bits; // Number of bits in decoded value int bits; // Number of bits in decoded value
volatile unsigned int *rawbuf; // Raw intervals in .5 us ticks volatile unsigned int *rawbuf; // Raw intervals in .5 us ticks
int rawlen; // Number of records in rawbuf. int rawlen; // Number of records in rawbuf.
}; };
// Values for decode_type // Values for decode_type
#define NEC 1 #define NEC 1
#define SONY 2 #define SONY 2
#define RC5 3 #define RC5 3
#define RC6 4 #define RC6 4
#define DISH 5 #define DISH 5
#define SHARP 6 #define SHARP 6
#define UNKNOWN -1 #define UNKNOWN -1
// Decoded value for NEC when a repeat code is received // Decoded value for NEC when a repeat code is received
#define REPEAT 0xffffffff #define REPEAT 0xffffffff
// main class for receiving IR // main class for receiving IR
class IRrecv class IRrecv
{ {
public: public:
IRrecv(int recvpin); IRrecv(int recvpin);
void blink13(int blinkflag); void blink13(int blinkflag);
int decode(decode_results *results); int decode(decode_results *results);
void enableIRIn(); void enableIRIn();
void resume(); void resume();
private: private:
// These are called by decode // These are called by decode
int getRClevel(decode_results *results, int *offset, int *used, int t1); int getRClevel(decode_results *results, int *offset, int *used, int t1);
long decodeNEC(decode_results *results); long decodeNEC(decode_results *results);
long decodeSony(decode_results *results); long decodeSony(decode_results *results);
long decodeRC5(decode_results *results); long decodeRC5(decode_results *results);
long decodeRC6(decode_results *results); long decodeRC6(decode_results *results);
long decodeHash(decode_results *results); long decodeHash(decode_results *results);
int compare(unsigned int oldval, unsigned int newval); int compare(unsigned int oldval, unsigned int newval);
} }
; ;
// Only used for testing; can remove virtual for shorter code // Only used for testing; can remove virtual for shorter code
#ifdef TEST #ifdef TEST
#define VIRTUAL virtual #define VIRTUAL virtual
#else #else
#define VIRTUAL #define VIRTUAL
#endif #endif
class IRsend class IRsend
{ {
public: public:
IRsend() {} IRsend() {}
void sendNEC(unsigned long data, int nbits); void sendNEC(unsigned long data, int nbits);
void sendSony(unsigned long data, int nbits); void sendSony(unsigned long data, int nbits);
void sendRaw(unsigned int buf[], int len, int hz); void sendRaw(unsigned int buf[], int len, int hz);
void sendRC5(unsigned long data, int nbits); void sendRC5(unsigned long data, int nbits);
void sendRC6(unsigned long data, int nbits); void sendRC6(unsigned long data, int nbits);
void sendDISH(unsigned long data, int nbits); void sendDISH(unsigned long data, int nbits);
void sendSharp(unsigned long data, int nbits); void sendSharp(unsigned long data, int nbits);
// private: // private:
void enableIROut(int khz); void enableIROut(int khz);
VIRTUAL void mark(int usec); VIRTUAL void mark(int usec);
VIRTUAL void space(int usec); VIRTUAL void space(int usec);
} }
; ;
// Some useful constants // Some useful constants
#define USECPERTICK 50 // microseconds per clock interrupt tick #define USECPERTICK 50 // microseconds per clock interrupt tick
#define RAWBUF 76 // Length of raw duration buffer #define RAWBUF 76 // Length of raw duration buffer
// Marks tend to be 100us too long, and spaces 100us too short // Marks tend to be 100us too long, and spaces 100us too short
// when received due to sensor lag. // when received due to sensor lag.
#define MARK_EXCESS 100 #define MARK_EXCESS 100
#endif #endif
2011-firefly-mega-ssc32/firmware/2012-library/hexapod/IRremoteInt.h
+398 -398
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/* /*
* IRremote * IRremote
* Version 0.1 July, 2009 * Version 0.1 July, 2009
* Copyright 2009 Ken Shirriff * Copyright 2009 Ken Shirriff
* For details, see http://arcfn.com/2009/08/multi-protocol-infrared-remote-library.html * For details, see http://arcfn.com/2009/08/multi-protocol-infrared-remote-library.html
* *
* Modified by Paul Stoffregen <paul@pjrc.com> to support other boards and timers * Modified by Paul Stoffregen <paul@pjrc.com> to support other boards and timers
* *
* Interrupt code based on NECIRrcv by Joe Knapp * Interrupt code based on NECIRrcv by Joe Knapp
* http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1210243556 * http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1210243556
* Also influenced by http://zovirl.com/2008/11/12/building-a-universal-remote-with-an-arduino/ * Also influenced by http://zovirl.com/2008/11/12/building-a-universal-remote-with-an-arduino/
*/ */
#ifndef IRremoteint_h #ifndef IRremoteint_h
#define IRremoteint_h #define IRremoteint_h
#include <Arduino.h> #include <Arduino.h>
// define which timer to use // define which timer to use
// //
// Uncomment the timer you wish to use on your board. If you // Uncomment the timer you wish to use on your board. If you
// are using another library which uses timer2, you have options // are using another library which uses timer2, you have options
// to switch IRremote to use a different timer. // to switch IRremote to use a different timer.
// Arduino Mega // Arduino Mega
#if defined(__AVR_ATmega1280__) #if defined(__AVR_ATmega1280__)
//#define IR_USE_TIMER1 // tx = pin 11 //#define IR_USE_TIMER1 // tx = pin 11
#define IR_USE_TIMER2 // tx = pin 9 #define IR_USE_TIMER2 // tx = pin 9
//#define IR_USE_TIMER3 // tx = pin 5 //#define IR_USE_TIMER3 // tx = pin 5
//#define IR_USE_TIMER4 // tx = pin 6 //#define IR_USE_TIMER4 // tx = pin 6
//#define IR_USE_TIMER5 // tx = pin 46 //#define IR_USE_TIMER5 // tx = pin 46
// Teensy 1.0 // Teensy 1.0
#elif defined(__AVR_AT90USB162__) #elif defined(__AVR_AT90USB162__)
#define IR_USE_TIMER1 // tx = pin 17 #define IR_USE_TIMER1 // tx = pin 17
// Teensy 2.0 // Teensy 2.0
#elif defined(__AVR_ATmega32U4__) #elif defined(__AVR_ATmega32U4__)
//#define IR_USE_TIMER1 // tx = pin 14 //#define IR_USE_TIMER1 // tx = pin 14
//#define IR_USE_TIMER3 // tx = pin 9 //#define IR_USE_TIMER3 // tx = pin 9
#define IR_USE_TIMER4_HS // tx = pin 10 #define IR_USE_TIMER4_HS // tx = pin 10
// Teensy++ 1.0 & 2.0 // Teensy++ 1.0 & 2.0
#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__) #elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
//#define IR_USE_TIMER1 // tx = pin 25 //#define IR_USE_TIMER1 // tx = pin 25
#define IR_USE_TIMER2 // tx = pin 1 #define IR_USE_TIMER2 // tx = pin 1
//#define IR_USE_TIMER3 // tx = pin 16 //#define IR_USE_TIMER3 // tx = pin 16
// Sanguino // Sanguino
#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__) #elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__)
//#define IR_USE_TIMER1 // tx = pin 13 //#define IR_USE_TIMER1 // tx = pin 13
#define IR_USE_TIMER2 // tx = pin 14 #define IR_USE_TIMER2 // tx = pin 14
// Arduino Duemilanove, Diecimila, LilyPad, Mini, Fio, etc // Arduino Duemilanove, Diecimila, LilyPad, Mini, Fio, etc
#else #else
//#define IR_USE_TIMER1 // tx = pin 9 //#define IR_USE_TIMER1 // tx = pin 9
#define IR_USE_TIMER2 // tx = pin 3 #define IR_USE_TIMER2 // tx = pin 3
#endif #endif
#ifdef F_CPU #ifdef F_CPU
#define SYSCLOCK F_CPU // main Arduino clock #define SYSCLOCK F_CPU // main Arduino clock
#else #else
#define SYSCLOCK 16000000 // main Arduino clock #define SYSCLOCK 16000000 // main Arduino clock
#endif #endif
#define ERR 0 #define ERR 0
#define DECODED 1 #define DECODED 1
// defines for setting and clearing register bits // defines for setting and clearing register bits
#ifndef cbi #ifndef cbi
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
#endif #endif
#ifndef sbi #ifndef sbi
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
#endif #endif
// pulse parameters in usec // pulse parameters in usec
#define NEC_HDR_MARK 9000 #define NEC_HDR_MARK 9000
#define NEC_HDR_SPACE 4500 #define NEC_HDR_SPACE 4500
#define NEC_BIT_MARK 560 #define NEC_BIT_MARK 560
#define NEC_ONE_SPACE 1600 #define NEC_ONE_SPACE 1600
#define NEC_ZERO_SPACE 560 #define NEC_ZERO_SPACE 560
#define NEC_RPT_SPACE 2250 #define NEC_RPT_SPACE 2250
#define SONY_HDR_MARK 2400 #define SONY_HDR_MARK 2400
#define SONY_HDR_SPACE 600 #define SONY_HDR_SPACE 600
#define SONY_ONE_MARK 1200 #define SONY_ONE_MARK 1200
#define SONY_ZERO_MARK 600 #define SONY_ZERO_MARK 600
#define SONY_RPT_LENGTH 45000 #define SONY_RPT_LENGTH 45000
#define RC5_T1 889 #define RC5_T1 889
#define RC5_RPT_LENGTH 46000 #define RC5_RPT_LENGTH 46000
#define RC6_HDR_MARK 2666 #define RC6_HDR_MARK 2666
#define RC6_HDR_SPACE 889 #define RC6_HDR_SPACE 889
#define RC6_T1 444 #define RC6_T1 444
#define RC6_RPT_LENGTH 46000 #define RC6_RPT_LENGTH 46000
#define SHARP_BIT_MARK 245 #define SHARP_BIT_MARK 245
#define SHARP_ONE_SPACE 1805 #define SHARP_ONE_SPACE 1805
#define SHARP_ZERO_SPACE 795 #define SHARP_ZERO_SPACE 795
#define SHARP_GAP 600000 #define SHARP_GAP 600000
#define SHARP_TOGGLE_MASK 0x3FF #define SHARP_TOGGLE_MASK 0x3FF
#define SHARP_RPT_SPACE 3000 #define SHARP_RPT_SPACE 3000
#define DISH_HDR_MARK 400 #define DISH_HDR_MARK 400
#define DISH_HDR_SPACE 6100 #define DISH_HDR_SPACE 6100
#define DISH_BIT_MARK 400 #define DISH_BIT_MARK 400
#define DISH_ONE_SPACE 1700 #define DISH_ONE_SPACE 1700
#define DISH_ZERO_SPACE 2800 #define DISH_ZERO_SPACE 2800
#define DISH_RPT_SPACE 6200 #define DISH_RPT_SPACE 6200
#define DISH_TOP_BIT 0x8000 #define DISH_TOP_BIT 0x8000
#define SHARP_BITS 15 #define SHARP_BITS 15
#define DISH_BITS 16 #define DISH_BITS 16
#define TOLERANCE 25 // percent tolerance in measurements #define TOLERANCE 25 // percent tolerance in measurements
#define LTOL (1.0 - TOLERANCE/100.) #define LTOL (1.0 - TOLERANCE/100.)
#define UTOL (1.0 + TOLERANCE/100.) #define UTOL (1.0 + TOLERANCE/100.)
#define _GAP 5000 // Minimum map between transmissions #define _GAP 5000 // Minimum map between transmissions
#define GAP_TICKS (_GAP/USECPERTICK) #define GAP_TICKS (_GAP/USECPERTICK)
#define TICKS_LOW(us) (int) (((us)*LTOL/USECPERTICK)) #define TICKS_LOW(us) (int) (((us)*LTOL/USECPERTICK))
#define TICKS_HIGH(us) (int) (((us)*UTOL/USECPERTICK + 1)) #define TICKS_HIGH(us) (int) (((us)*UTOL/USECPERTICK + 1))
#ifndef DEBUG #ifndef DEBUG
#define MATCH(measured_ticks, desired_us) ((measured_ticks) >= TICKS_LOW(desired_us) && (measured_ticks) <= TICKS_HIGH(desired_us)) #define MATCH(measured_ticks, desired_us) ((measured_ticks) >= TICKS_LOW(desired_us) && (measured_ticks) <= TICKS_HIGH(desired_us))
#define MATCH_MARK(measured_ticks, desired_us) MATCH(measured_ticks, (desired_us) + MARK_EXCESS) #define MATCH_MARK(measured_ticks, desired_us) MATCH(measured_ticks, (desired_us) + MARK_EXCESS)
#define MATCH_SPACE(measured_ticks, desired_us) MATCH((measured_ticks), (desired_us) - MARK_EXCESS) #define MATCH_SPACE(measured_ticks, desired_us) MATCH((measured_ticks), (desired_us) - MARK_EXCESS)
// Debugging versions are in IRremote.cpp // Debugging versions are in IRremote.cpp
#endif #endif
// receiver states // receiver states
#define STATE_IDLE 2 #define STATE_IDLE 2
#define STATE_MARK 3 #define STATE_MARK 3
#define STATE_SPACE 4 #define STATE_SPACE 4
#define STATE_STOP 5 #define STATE_STOP 5
// information for the interrupt handler // information for the interrupt handler
typedef struct { typedef struct {
uint8_t recvpin; // pin for IR data from detector uint8_t recvpin; // pin for IR data from detector
uint8_t rcvstate; // state machine uint8_t rcvstate; // state machine
uint8_t blinkflag; // TRUE to enable blinking of pin 13 on IR processing uint8_t blinkflag; // TRUE to enable blinking of pin 13 on IR processing
unsigned int timer; // state timer, counts 50uS ticks. unsigned int timer; // state timer, counts 50uS ticks.
unsigned int rawbuf[RAWBUF]; // raw data unsigned int rawbuf[RAWBUF]; // raw data
uint8_t rawlen; // counter of entries in rawbuf uint8_t rawlen; // counter of entries in rawbuf
} }
irparams_t; irparams_t;
// Defined in IRremote.cpp // Defined in IRremote.cpp
extern volatile irparams_t irparams; extern volatile irparams_t irparams;
// IR detector output is active low // IR detector output is active low
#define MARK 0 #define MARK 0
#define SPACE 1 #define SPACE 1
#define TOPBIT 0x80000000 #define TOPBIT 0x80000000
#define NEC_BITS 32 #define NEC_BITS 32
#define SONY_BITS 12 #define SONY_BITS 12
#define MIN_RC5_SAMPLES 11 #define MIN_RC5_SAMPLES 11
#define MIN_RC6_SAMPLES 1 #define MIN_RC6_SAMPLES 1
// defines for timer2 (8 bits) // defines for timer2 (8 bits)
#if defined(IR_USE_TIMER2) #if defined(IR_USE_TIMER2)
#define TIMER_RESET #define TIMER_RESET
#define TIMER_ENABLE_PWM (TCCR2A |= _BV(COM2B1)) #define TIMER_ENABLE_PWM (TCCR2A |= _BV(COM2B1))
#define TIMER_DISABLE_PWM (TCCR2A &= ~(_BV(COM2B1))) #define TIMER_DISABLE_PWM (TCCR2A &= ~(_BV(COM2B1)))
#define TIMER_ENABLE_INTR (TIMSK2 = _BV(OCIE2A)) #define TIMER_ENABLE_INTR (TIMSK2 = _BV(OCIE2A))
#define TIMER_DISABLE_INTR (TIMSK2 - 0) #define TIMER_DISABLE_INTR (TIMSK2 - 0)
#define TIMER_INTR_NAME TIMER2_COMPA_vect #define TIMER_INTR_NAME TIMER2_COMPA_vect
#define TIMER_CONFIG_KHZ(val) ({ \ #define TIMER_CONFIG_KHZ(val) ({ \
const uint8_t pwmval = SYSCLOCK / 2000 / (val); \ const uint8_t pwmval = SYSCLOCK / 2000 / (val); \
TCCR2A = _BV(WGM20); \ TCCR2A = _BV(WGM20); \
TCCR2B = _BV(WGM22) | _BV(CS20); \ TCCR2B = _BV(WGM22) | _BV(CS20); \
OCR2A = pwmval; \ OCR2A = pwmval; \
OCR2B = pwmval / 3; \ OCR2B = pwmval / 3; \
}) })
#define TIMER_COUNT_TOP (SYSCLOCK * USECPERTICK / 1000000) #define TIMER_COUNT_TOP (SYSCLOCK * USECPERTICK / 1000000)
#if (TIMER_COUNT_TOP < 256) #if (TIMER_COUNT_TOP < 256)
#define TIMER_CONFIG_NORMAL() ({ \ #define TIMER_CONFIG_NORMAL() ({ \
TCCR2A = _BV(WGM21); \ TCCR2A = _BV(WGM21); \
TCCR2B = _BV(CS20); \ TCCR2B = _BV(CS20); \
OCR2A = TIMER_COUNT_TOP; \ OCR2A = TIMER_COUNT_TOP; \
TCNT2 = 0; \ TCNT2 = 0; \
}) })
#else #else
#define TIMER_CONFIG_NORMAL() ({ \ #define TIMER_CONFIG_NORMAL() ({ \
TCCR2A = _BV(WGM21); \ TCCR2A = _BV(WGM21); \
TCCR2B = _BV(CS21); \ TCCR2B = _BV(CS21); \
OCR2A = TIMER_COUNT_TOP / 8; \ OCR2A = TIMER_COUNT_TOP / 8; \
TCNT2 = 0; \ TCNT2 = 0; \
}) })
#endif #endif
#if defined(CORE_OC2B_PIN) #if defined(CORE_OC2B_PIN)
#define TIMER_PWM_PIN CORE_OC2B_PIN /* Teensy */ #define TIMER_PWM_PIN CORE_OC2B_PIN /* Teensy */
#elif defined(__AVR_ATmega1280__) #elif defined(__AVR_ATmega1280__)
#define TIMER_PWM_PIN 9 /* Arduino Mega */ #define TIMER_PWM_PIN 9 /* Arduino Mega */
#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__) #elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__)
#define TIMER_PWM_PIN 14 /* Sanguino */ #define TIMER_PWM_PIN 14 /* Sanguino */
#else #else
#define TIMER_PWM_PIN 3 /* Arduino Duemilanove, Diecimila, LilyPad, etc */ #define TIMER_PWM_PIN 3 /* Arduino Duemilanove, Diecimila, LilyPad, etc */
#endif #endif
// defines for timer1 (16 bits) // defines for timer1 (16 bits)
#elif defined(IR_USE_TIMER1) #elif defined(IR_USE_TIMER1)
#define TIMER_RESET #define TIMER_RESET
#define TIMER_ENABLE_PWM (TCCR1A |= _BV(COM1A1)) #define TIMER_ENABLE_PWM (TCCR1A |= _BV(COM1A1))
#define TIMER_DISABLE_PWM (TCCR1A &= ~(_BV(COM1A1))) #define TIMER_DISABLE_PWM (TCCR1A &= ~(_BV(COM1A1)))
#define TIMER_ENABLE_INTR (TIMSK1 = _BV(OCIE1A)) #define TIMER_ENABLE_INTR (TIMSK1 = _BV(OCIE1A))
#define TIMER_DISABLE_INTR (TIMSK1 = 0) #define TIMER_DISABLE_INTR (TIMSK1 = 0)
#define TIMER_INTR_NAME TIMER1_COMPA_vect #define TIMER_INTR_NAME TIMER1_COMPA_vect
#define TIMER_CONFIG_KHZ(val) ({ \ #define TIMER_CONFIG_KHZ(val) ({ \
const uint16_t pwmval = SYSCLOCK / 2000 / (val); \ const uint16_t pwmval = SYSCLOCK / 2000 / (val); \
TCCR1A = _BV(WGM11); \ TCCR1A = _BV(WGM11); \
TCCR1B = _BV(WGM13) | _BV(CS10); \ TCCR1B = _BV(WGM13) | _BV(CS10); \
ICR1 = pwmval; \ ICR1 = pwmval; \
OCR1A = pwmval / 3; \ OCR1A = pwmval / 3; \
}) })
#define TIMER_CONFIG_NORMAL() ({ \ #define TIMER_CONFIG_NORMAL() ({ \
TCCR1A = 0; \ TCCR1A = 0; \
TCCR1B = _BV(WGM12) | _BV(CS10); \ TCCR1B = _BV(WGM12) | _BV(CS10); \
OCR1A = SYSCLOCK * USECPERTICK / 1000000; \ OCR1A = SYSCLOCK * USECPERTICK / 1000000; \
TCNT1 = 0; \ TCNT1 = 0; \
}) })
#if defined(CORE_OC1A_PIN) #if defined(CORE_OC1A_PIN)
#define TIMER_PWM_PIN CORE_OC1A_PIN /* Teensy */ #define TIMER_PWM_PIN CORE_OC1A_PIN /* Teensy */
#elif defined(__AVR_ATmega1280__) #elif defined(__AVR_ATmega1280__)
#define TIMER_PWM_PIN 11 /* Arduino Mega */ #define TIMER_PWM_PIN 11 /* Arduino Mega */
#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__) #elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__)
#define TIMER_PWM_PIN 13 /* Sanguino */ #define TIMER_PWM_PIN 13 /* Sanguino */
#else #else
#define TIMER_PWM_PIN 9 /* Arduino Duemilanove, Diecimila, LilyPad, etc */ #define TIMER_PWM_PIN 9 /* Arduino Duemilanove, Diecimila, LilyPad, etc */
#endif #endif
// defines for timer3 (16 bits) // defines for timer3 (16 bits)
#elif defined(IR_USE_TIMER3) #elif defined(IR_USE_TIMER3)
#define TIMER_RESET #define TIMER_RESET
#define TIMER_ENABLE_PWM (TCCR3A |= _BV(COM3A1)) #define TIMER_ENABLE_PWM (TCCR3A |= _BV(COM3A1))
#define TIMER_DISABLE_PWM (TCCR3A &= ~(_BV(COM3A1))) #define TIMER_DISABLE_PWM (TCCR3A &= ~(_BV(COM3A1)))
#define TIMER_ENABLE_INTR (TIMSK3 = _BV(OCIE3A)) #define TIMER_ENABLE_INTR (TIMSK3 = _BV(OCIE3A))
#define TIMER_DISABLE_INTR (TIMSK3 = 0) #define TIMER_DISABLE_INTR (TIMSK3 = 0)
#define TIMER_INTR_NAME TIMER3_COMPA_vect #define TIMER_INTR_NAME TIMER3_COMPA_vect
#define TIMER_CONFIG_KHZ(val) ({ \ #define TIMER_CONFIG_KHZ(val) ({ \
const uint16_t pwmval = SYSCLOCK / 2000 / (val); \ const uint16_t pwmval = SYSCLOCK / 2000 / (val); \
TCCR3A = _BV(WGM31); \ TCCR3A = _BV(WGM31); \
TCCR3B = _BV(WGM33) | _BV(CS30); \ TCCR3B = _BV(WGM33) | _BV(CS30); \
ICR3 = pwmval; \ ICR3 = pwmval; \
OCR3A = pwmval / 3; \ OCR3A = pwmval / 3; \
}) })
#define TIMER_CONFIG_NORMAL() ({ \ #define TIMER_CONFIG_NORMAL() ({ \
TCCR3A = 0; \ TCCR3A = 0; \
TCCR3B = _BV(WGM32) | _BV(CS30); \ TCCR3B = _BV(WGM32) | _BV(CS30); \
OCR3A = SYSCLOCK * USECPERTICK / 1000000; \ OCR3A = SYSCLOCK * USECPERTICK / 1000000; \
TCNT3 = 0; \ TCNT3 = 0; \
}) })
#if defined(CORE_OC3A_PIN) #if defined(CORE_OC3A_PIN)
#define TIMER_PWM_PIN CORE_OC3A_PIN /* Teensy */ #define TIMER_PWM_PIN CORE_OC3A_PIN /* Teensy */
#elif defined(__AVR_ATmega1280__) #elif defined(__AVR_ATmega1280__)
#define TIMER_PWM_PIN 5 /* Arduino Mega */ #define TIMER_PWM_PIN 5 /* Arduino Mega */
#else #else
#error "Please add OC3A pin number here\n" #error "Please add OC3A pin number here\n"
#endif #endif
// defines for timer4 (10 bits, high speed option) // defines for timer4 (10 bits, high speed option)
#elif defined(IR_USE_TIMER4_HS) #elif defined(IR_USE_TIMER4_HS)
#define TIMER_RESET #define TIMER_RESET
#define TIMER_ENABLE_PWM (TCCR4A |= _BV(COM4A1)) #define TIMER_ENABLE_PWM (TCCR4A |= _BV(COM4A1))
#define TIMER_DISABLE_PWM (TCCR4A &= ~(_BV(COM4A1))) #define TIMER_DISABLE_PWM (TCCR4A &= ~(_BV(COM4A1)))
#define TIMER_ENABLE_INTR (TIMSK4 = _BV(TOIE4)) #define TIMER_ENABLE_INTR (TIMSK4 = _BV(TOIE4))
#define TIMER_DISABLE_INTR (TIMSK4 = 0) #define TIMER_DISABLE_INTR (TIMSK4 = 0)
#define TIMER_INTR_NAME TIMER4_OVF_vect #define TIMER_INTR_NAME TIMER4_OVF_vect
#define TIMER_CONFIG_KHZ(val) ({ \ #define TIMER_CONFIG_KHZ(val) ({ \
const uint16_t pwmval = SYSCLOCK / 2000 / (val); \ const uint16_t pwmval = SYSCLOCK / 2000 / (val); \
TCCR4A = (1<<PWM4A); \ TCCR4A = (1<<PWM4A); \
TCCR4B = _BV(CS40); \ TCCR4B = _BV(CS40); \
TCCR4C = 0; \ TCCR4C = 0; \
TCCR4D = (1<<WGM40); \ TCCR4D = (1<<WGM40); \
TCCR4E = 0; \ TCCR4E = 0; \
TC4H = pwmval >> 8; \ TC4H = pwmval >> 8; \
OCR4C = pwmval; \ OCR4C = pwmval; \
TC4H = (pwmval / 3) >> 8; \ TC4H = (pwmval / 3) >> 8; \
OCR4A = (pwmval / 3) & 255; \ OCR4A = (pwmval / 3) & 255; \
}) })
#define TIMER_CONFIG_NORMAL() ({ \ #define TIMER_CONFIG_NORMAL() ({ \
TCCR4A = 0; \ TCCR4A = 0; \
TCCR4B = _BV(CS40); \ TCCR4B = _BV(CS40); \
TCCR4C = 0; \ TCCR4C = 0; \
TCCR4D = 0; \ TCCR4D = 0; \
TCCR4E = 0; \ TCCR4E = 0; \
TC4H = (SYSCLOCK * USECPERTICK / 1000000) >> 8; \ TC4H = (SYSCLOCK * USECPERTICK / 1000000) >> 8; \
OCR4C = (SYSCLOCK * USECPERTICK / 1000000) & 255; \ OCR4C = (SYSCLOCK * USECPERTICK / 1000000) & 255; \
TC4H = 0; \ TC4H = 0; \
TCNT4 = 0; \ TCNT4 = 0; \
}) })
#if defined(CORE_OC4A_PIN) #if defined(CORE_OC4A_PIN)
#define TIMER_PWM_PIN CORE_OC4A_PIN /* Teensy */ #define TIMER_PWM_PIN CORE_OC4A_PIN /* Teensy */
#else #else
#error "Please add OC4A pin number here\n" #error "Please add OC4A pin number here\n"
#endif #endif
// defines for timer4 (16 bits) // defines for timer4 (16 bits)
#elif defined(IR_USE_TIMER4) #elif defined(IR_USE_TIMER4)
#define TIMER_RESET #define TIMER_RESET
#define TIMER_ENABLE_PWM (TCCR4A |= _BV(COM4A1)) #define TIMER_ENABLE_PWM (TCCR4A |= _BV(COM4A1))
#define TIMER_DISABLE_PWM (TCCR4A &= ~(_BV(COM4A1))) #define TIMER_DISABLE_PWM (TCCR4A &= ~(_BV(COM4A1)))
#define TIMER_ENABLE_INTR (TIMSK4 = _BV(OCIE4A)) #define TIMER_ENABLE_INTR (TIMSK4 = _BV(OCIE4A))
#define TIMER_DISABLE_INTR (TIMSK4 = 0) #define TIMER_DISABLE_INTR (TIMSK4 = 0)
#define TIMER_INTR_NAME TIMER4_COMPA_vect #define TIMER_INTR_NAME TIMER4_COMPA_vect
#define TIMER_CONFIG_KHZ(val) ({ \ #define TIMER_CONFIG_KHZ(val) ({ \
const uint16_t pwmval = SYSCLOCK / 2000 / (val); \ const uint16_t pwmval = SYSCLOCK / 2000 / (val); \
TCCR4A = _BV(WGM41); \ TCCR4A = _BV(WGM41); \
TCCR4B = _BV(WGM43) | _BV(CS40); \ TCCR4B = _BV(WGM43) | _BV(CS40); \
ICR4 = pwmval; \ ICR4 = pwmval; \
OCR4A = pwmval / 3; \ OCR4A = pwmval / 3; \
}) })
#define TIMER_CONFIG_NORMAL() ({ \ #define TIMER_CONFIG_NORMAL() ({ \
TCCR4A = 0; \ TCCR4A = 0; \
TCCR4B = _BV(WGM42) | _BV(CS40); \ TCCR4B = _BV(WGM42) | _BV(CS40); \
OCR4A = SYSCLOCK * USECPERTICK / 1000000; \ OCR4A = SYSCLOCK * USECPERTICK / 1000000; \
TCNT4 = 0; \ TCNT4 = 0; \
}) })
#if defined(CORE_OC4A_PIN) #if defined(CORE_OC4A_PIN)
#define TIMER_PWM_PIN CORE_OC4A_PIN #define TIMER_PWM_PIN CORE_OC4A_PIN
#elif defined(__AVR_ATmega1280__) #elif defined(__AVR_ATmega1280__)
#define TIMER_PWM_PIN 6 /* Arduino Mega */ #define TIMER_PWM_PIN 6 /* Arduino Mega */
#else #else
#error "Please add OC4A pin number here\n" #error "Please add OC4A pin number here\n"
#endif #endif
// defines for timer5 (16 bits) // defines for timer5 (16 bits)
#elif defined(IR_USE_TIMER5) #elif defined(IR_USE_TIMER5)
#define TIMER_RESET #define TIMER_RESET
#define TIMER_ENABLE_PWM (TCCR5A |= _BV(COM5A1)) #define TIMER_ENABLE_PWM (TCCR5A |= _BV(COM5A1))
#define TIMER_DISABLE_PWM (TCCR5A &= ~(_BV(COM5A1))) #define TIMER_DISABLE_PWM (TCCR5A &= ~(_BV(COM5A1)))
#define TIMER_ENABLE_INTR (TIMSK5 = _BV(OCIE5A)) #define TIMER_ENABLE_INTR (TIMSK5 = _BV(OCIE5A))
#define TIMER_DISABLE_INTR (TIMSK5 = 0) #define TIMER_DISABLE_INTR (TIMSK5 = 0)
#define TIMER_INTR_NAME TIMER5_COMPA_vect #define TIMER_INTR_NAME TIMER5_COMPA_vect
#define TIMER_CONFIG_KHZ(val) ({ \ #define TIMER_CONFIG_KHZ(val) ({ \
const uint16_t pwmval = SYSCLOCK / 2000 / (val); \ const uint16_t pwmval = SYSCLOCK / 2000 / (val); \
TCCR5A = _BV(WGM51); \ TCCR5A = _BV(WGM51); \
TCCR5B = _BV(WGM53) | _BV(CS50); \ TCCR5B = _BV(WGM53) | _BV(CS50); \
ICR5 = pwmval; \ ICR5 = pwmval; \
OCR5A = pwmval / 3; \ OCR5A = pwmval / 3; \
}) })
#define TIMER_CONFIG_NORMAL() ({ \ #define TIMER_CONFIG_NORMAL() ({ \
TCCR5A = 0; \ TCCR5A = 0; \
TCCR5B = _BV(WGM52) | _BV(CS50); \ TCCR5B = _BV(WGM52) | _BV(CS50); \
OCR5A = SYSCLOCK * USECPERTICK / 1000000; \ OCR5A = SYSCLOCK * USECPERTICK / 1000000; \
TCNT5 = 0; \ TCNT5 = 0; \
}) })
#if defined(CORE_OC5A_PIN) #if defined(CORE_OC5A_PIN)
#define TIMER_PWM_PIN CORE_OC5A_PIN #define TIMER_PWM_PIN CORE_OC5A_PIN
#elif defined(__AVR_ATmega1280__) #elif defined(__AVR_ATmega1280__)
#define TIMER_PWM_PIN 46 /* Arduino Mega */ #define TIMER_PWM_PIN 46 /* Arduino Mega */
#else #else
#error "Please add OC5A pin number here\n" #error "Please add OC5A pin number here\n"
#endif #endif
#else // unknown timer #else // unknown timer
#error "Internal code configuration error, no known IR_USE_TIMER# defined\n" #error "Internal code configuration error, no known IR_USE_TIMER# defined\n"
#endif #endif
// defines for blinking the LED // defines for blinking the LED
#if defined(CORE_LED0_PIN) #if defined(CORE_LED0_PIN)
#define BLINKLED CORE_LED0_PIN #define BLINKLED CORE_LED0_PIN
#define BLINKLED_ON() (digitalWrite(CORE_LED0_PIN, HIGH)) #define BLINKLED_ON() (digitalWrite(CORE_LED0_PIN, HIGH))
#define BLINKLED_OFF() (digitalWrite(CORE_LED0_PIN, LOW)) #define BLINKLED_OFF() (digitalWrite(CORE_LED0_PIN, LOW))
#elif defined(__AVR_ATmega1280__) #elif defined(__AVR_ATmega1280__)
#define BLINKLED 13 #define BLINKLED 13
#define BLINKLED_ON() (PORTB |= B10000000) #define BLINKLED_ON() (PORTB |= B10000000)
#define BLINKLED_OFF() (PORTB &= B01111111) #define BLINKLED_OFF() (PORTB &= B01111111)
#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__) #elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__)
#define BLINKLED 0 #define BLINKLED 0
#define BLINKLED_ON() (PORTD |= B00000001) #define BLINKLED_ON() (PORTD |= B00000001)
#define BLINKLED_OFF() (PORTD &= B11111110) #define BLINKLED_OFF() (PORTD &= B11111110)
#else #else
#define BLINKLED 13 #define BLINKLED 13
#define BLINKLED_ON() (PORTB |= B00100000) #define BLINKLED_ON() (PORTB |= B00100000)
#define BLINKLED_OFF() (PORTB &= B11011111) #define BLINKLED_OFF() (PORTB &= B11011111)
#endif #endif
#endif #endif
2011-firefly-mega-ssc32/firmware/2012-library/hexapod/InverseKinemetics.cpp
+10 -8
View File
@@ -3,6 +3,7 @@
//Variables //Variables
boolean error; boolean error;
boolean OOF; // OutOfReach
void RL3 (int i, Data *DataLine) void RL3 (int i, Data *DataLine)
{ {
@@ -72,7 +73,7 @@ float T3 (Data *DataLine)
void setleg (int i, Data *DataLine) void setleg (int i, Data *DataLine)
{ {
Segment Seg; //Segment Seg;
if (i < 3) if (i < 3)
{ {
@@ -90,8 +91,8 @@ void setleg (int i, Data *DataLine)
} }
else else
{ {
error = true; OOF = true;
Seg.sevenSegWrite('e'); //Seg.sevenSegWrite('e');
} }
} }
else else
@@ -110,18 +111,19 @@ void setleg (int i, Data *DataLine)
} }
else else
{ {
error = true; OOF = true;
Seg.sevenSegWrite('e'); //Seg.sevenSegWrite('e');
} }
} }
} }
void InverseKinemetics::IK(Data *DataLine) void InverseKinemetics::IK(Data *DataLine)
{ {
Segment Seg; //Segment Seg;
Seg.sevenSegWrite('o'); //Seg.sevenSegWrite('o');
error = false; error = false;
OOF = false;
for (int i=0; i<6; i++) for (int i=0; i<6; i++)
setleg(i, DataLine); setleg(i, DataLine);
@@ -132,7 +134,7 @@ void InverseKinemetics::IK(Data *DataLine)
if (i != 0) if (i != 0)
Serial.print(", "); Serial.print(", ");
else else
Serial.print("### InverseKinemetics->ServosPosition's are: "); Serial.print("### InverseKinemetics->ServoData[" + i + "]: ");
Serial.print(DataLine->ServoData[i].x); Serial.print(DataLine->ServoData[i].x);
Serial.print(", "); Serial.print(", ");
2011-firefly-mega-ssc32/firmware/2012-library/hexapod/Segment.cpp
+83 -83
View File
@@ -1,84 +1,84 @@
// 7Segment // 7Segment
#include "Arduino.h" #include "Arduino.h"
#include "Segment.h" #include "Segment.h"
byte seven_seg_digits[][8] = { byte seven_seg_digits[][8] = {
{ 0,1,1,1,1,1,0,1 }, // = 0 { 0,1,1,1,1,1,0,1 }, // = 0
{ 0,1,1,0,0,0,0,0 }, // = 1 { 0,1,1,0,0,0,0,0 }, // = 1
{ 0,0,1,1,1,1,1,0 }, // = 2 { 0,0,1,1,1,1,1,0 }, // = 2
{ 0,1,1,1,1,0,1,0 }, // = 3 { 0,1,1,1,1,0,1,0 }, // = 3
{ 0,1,1,0,0,0,1,1 }, // = 4 { 0,1,1,0,0,0,1,1 }, // = 4
{ 0,1,0,1,1,0,1,1 }, // = 5 { 0,1,0,1,1,0,1,1 }, // = 5
{ 0,1,0,1,1,1,1,1 }, // = 6 { 0,1,0,1,1,1,1,1 }, // = 6
{ 0,1,1,1,0,0,0,0 }, // = 7 { 0,1,1,1,0,0,0,0 }, // = 7
{ 0,1,1,1,1,1,1,1 }, // = 8 { 0,1,1,1,1,1,1,1 }, // = 8
{ 0,1,1,1,1,0,1,1 }, // = 9 { 0,1,1,1,1,0,1,1 }, // = 9
{ 1,1,1,1,0,1,1,1 }, // = A { 1,1,1,1,0,1,1,1 }, // = A
{ 1,1,0,0,1,1,1,1 }, // = B { 1,1,0,0,1,1,1,1 }, // = B
{ 1,0,0,1,1,1,0,1 }, // = C { 1,0,0,1,1,1,0,1 }, // = C
{ 1,1,0,0,1,1,1,1 }, // = D { 1,1,0,0,1,1,1,1 }, // = D
{ 1,0,0,1,1,1,1,1 }, // = E { 1,0,0,1,1,1,1,1 }, // = E
{ 1,0,0,1,0,1,1,1 }, // = F { 1,0,0,1,0,1,1,1 }, // = F
{ 1,1,0,1,1,0,1,1 }, // = S { 1,1,0,1,1,0,1,1 }, // = S
{ 0,0,0,0,0,0,0,0 }, // = NULL { 0,0,0,0,0,0,0,0 }, // = NULL
{ 1,0,0,1,0,1,0,1 } // = R { 1,0,0,1,0,1,0,1 } // = R
}; };
Segment::Segment() { Segment::Segment() {
for (int i=0; i<8; i++) for (int i=0; i<8; i++)
pinMode(6+i, OUTPUT); pinMode(6+i, OUTPUT);
} }
/*void Segment::sevenSegWrite(byte digit) { /*void Segment::sevenSegWrite(byte digit) {
byte pin = 6; byte pin = 6;
for (byte segCount = 0; segCount < 8; ++segCount) { for (byte segCount = 0; segCount < 8; ++segCount) {
digitalWrite(pin, !seven_seg_digits[digit][segCount]); digitalWrite(pin, !seven_seg_digits[digit][segCount]);
++pin; ++pin;
} }
}*/ }*/
void Segment::sevenSegWrite(char chr) { void Segment::sevenSegWrite(char chr) {
byte pin = 6; byte pin = 6;
byte digit; byte digit;
if(chr <= 9) digit = chr; if(chr <= 9) digit = chr;
else if (chr <= 'f') digit = 10 + (chr -'a'); else if (chr <= 'f') digit = 10 + (chr -'a');
else if (chr == 's') digit = 16; else if (chr == 's') digit = 16;
else if (chr == 'r') digit = 18; else if (chr == 'r') digit = 18;
else digit = Cls; else digit = Cls;
for (byte segCount = 0; segCount < 8; ++segCount) { for (byte segCount = 0; segCount < 8; ++segCount) {
digitalWrite(pin, !seven_seg_digits[digit][segCount]); digitalWrite(pin, !seven_seg_digits[digit][segCount]);
++pin; ++pin;
} }
} }
/*void Segment::BlinksevenSegWrite(byte digit) { /*void Segment::BlinksevenSegWrite(byte digit) {
byte pin = 6; byte pin = 6;
for (byte segCount = 0; segCount < 8; ++segCount) { for (byte segCount = 0; segCount < 8; ++segCount) {
digitalWrite(pin, !seven_seg_digits[digit][segCount]); digitalWrite(pin, !seven_seg_digits[digit][segCount]);
++pin; ++pin;
} }
delay(100); delay(100);
sevenSegWrite((byte)17); sevenSegWrite((byte)17);
}*/ }*/
void Segment::BlinksevenSegWrite(char chr) { void Segment::BlinksevenSegWrite(char chr) {
byte pin = 6; byte pin = 6;
byte digit; byte digit;
if(chr <= 9) digit = chr; if(chr <= 9) digit = chr;
else if (chr <= 'f') digit = 10 + (chr -'a'); else if (chr <= 'f') digit = 10 + (chr -'a');
else if (chr == 's') digit = 16; else if (chr == 's') digit = 16;
else digit = Cls; else digit = Cls;
for (byte segCount = 0; segCount < 8; ++segCount) { for (byte segCount = 0; segCount < 8; ++segCount) {
digitalWrite(pin, !seven_seg_digits[digit][segCount]); digitalWrite(pin, !seven_seg_digits[digit][segCount]);
++pin; ++pin;
} }
delay(100); delay(100);
sevenSegWrite(Cls); sevenSegWrite(Cls);
} }
2011-firefly-mega-ssc32/firmware/2012-library/hexapod/Segment.h
+19 -19
View File
@@ -1,20 +1,20 @@
// 7 Segment driver. // 7 Segment driver.
#ifndef SEGMENT_H #ifndef SEGMENT_H
#define SEGMENT_H #define SEGMENT_H
#include "Arduino.h" #include "Arduino.h"
#define Cls 17 #define Cls 17
class Segment class Segment
{ {
public: public:
Segment(); Segment();
//void sevenSegWrite(byte digit); //void sevenSegWrite(byte digit);
void sevenSegWrite(char chr); void sevenSegWrite(char chr);
//void BlinksevenSegWrite(byte digit); //void BlinksevenSegWrite(byte digit);
void BlinksevenSegWrite(char chr); void BlinksevenSegWrite(char chr);
}; };
#endif #endif
2011-firefly-mega-ssc32/firmware/2012-library/hexapod/TinyGPS.h
+1 -1
View File
@@ -23,7 +23,7 @@ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
#ifndef TinyGPS_h #ifndef TinyGPS_h
#define TinyGPS_h #define TinyGPS_h
#if defined(ARDUINO) && ARDUINO >= 100 #if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h" #include "Arduino.h"
#else #else
#include "WProgram.h" #include "WProgram.h"
2011-firefly-mega-ssc32/firmware/2012-library/hexapod/WiiChuck.h
+189 -189
View File
@@ -1,190 +1,190 @@
#ifndef WiiChuck_h #ifndef WiiChuck_h
#define WiiChuck_h #define WiiChuck_h
#include "Arduino.h" #include "Arduino.h"
#include "Wire.h" #include "Wire.h"
#include "math.h" #include "math.h"
// these may need to be adjusted for each nunchuck for calibration // these may need to be adjusted for each nunchuck for calibration
#define ZEROX 510 #define ZEROX 510
#define ZEROY 490 #define ZEROY 490
#define ZEROZ 460 #define ZEROZ 460
#define RADIUS 210 // probably pretty universal #define RADIUS 210 // probably pretty universal
#define DEFAULT_ZERO_JOY_X 124 #define DEFAULT_ZERO_JOY_X 124
#define DEFAULT_ZERO_JOY_Y 132 #define DEFAULT_ZERO_JOY_Y 132
#define MAXANGLE 90 #define MAXANGLE 90
#define MINANGLE -90 #define MINANGLE -90
class WiiChuck { class WiiChuck {
private: private:
byte cnt; byte cnt;
uint8_t status[6]; // array to store wiichuck output uint8_t status[6]; // array to store wiichuck output
byte averageCounter; byte averageCounter;
int i; int i;
int total; int total;
uint8_t zeroJoyX; // these are about where mine are uint8_t zeroJoyX; // these are about where mine are
uint8_t zeroJoyY; // use calibrateJoy when the stick is at zero to correct uint8_t zeroJoyY; // use calibrateJoy when the stick is at zero to correct
int lastJoyX; int lastJoyX;
int lastJoyY; int lastJoyY;
int angles[3]; int angles[3];
boolean lastZ, lastC; boolean lastZ, lastC;
public: public:
byte joyX; byte joyX;
byte joyY; byte joyY;
boolean buttonZ; boolean buttonZ;
boolean buttonC; boolean buttonC;
boolean plugd; boolean plugd;
void begin() void begin()
{ {
Wire.begin(); Wire.begin();
cnt = 0; cnt = 0;
averageCounter = 0; averageCounter = 0;
Wire.beginTransmission (0x52); // transmit to device 0x52 Wire.beginTransmission (0x52); // transmit to device 0x52
Wire.write((byte)0x40); // sends memory address Wire.write((byte)0x40); // sends memory address
Wire.write((byte)0x00); // sends memory address Wire.write((byte)0x00); // sends memory address
Wire.endTransmission (); // stop transmitting Wire.endTransmission (); // stop transmitting
update(); update();
for (i = 0; i<3;i++) { for (i = 0; i<3;i++) {
angles[i] = 0; angles[i] = 0;
} }
zeroJoyX = DEFAULT_ZERO_JOY_X; zeroJoyX = DEFAULT_ZERO_JOY_X;
zeroJoyY = DEFAULT_ZERO_JOY_Y; zeroJoyY = DEFAULT_ZERO_JOY_Y;
} }
void calibrateJoy() { void calibrateJoy() {
zeroJoyX = joyX; zeroJoyX = joyX;
zeroJoyY = joyY; zeroJoyY = joyY;
} }
void CheckifPlugd() void CheckifPlugd()
{ {
if (this->plugd == false){ if (this->plugd == false){
this->begin(); this->begin();
#ifdef GLCD #ifdef GLCD
GLCD.CursorTo(1, 1); GLCD.CursorTo(1, 1);
GLCD.print("No Chuck"); GLCD.print("No Chuck");
delay(100); delay(100);
#endif #endif
this->begin(); this->begin();
if (this->plugd) if (this->plugd)
this->calibrateJoy(); this->calibrateJoy();
} }
} }
void update() { void update() {
Wire.requestFrom (0x52, 6); // request data from nunchuck Wire.requestFrom (0x52, 6); // request data from nunchuck
while (Wire.available ()) { while (Wire.available ()) {
// receive byte as an integer // receive byte as an integer
status[cnt] = _nunchuk_decode_byte((byte)Wire.read()); // status[cnt] = _nunchuk_decode_byte((byte)Wire.read()); //
cnt++; cnt++;
} }
if (cnt > 5) { if (cnt > 5) {
lastZ = buttonZ; lastZ = buttonZ;
lastC = buttonC; lastC = buttonC;
lastJoyX = readJoyX(); lastJoyX = readJoyX();
lastJoyY = readJoyY(); lastJoyY = readJoyY();
cnt = 0; cnt = 0;
joyX = (status[0]); joyX = (status[0]);
joyY = (status[1]); joyY = (status[1]);
for (i = 0; i < 3; i++) for (i = 0; i < 3; i++)
angles[i] = (status[i+2] << 2) + ((status[5] & (B00000011 << ((i+1)*2) ) >> ((i+1)*2))); angles[i] = (status[i+2] << 2) + ((status[5] & (B00000011 << ((i+1)*2) ) >> ((i+1)*2)));
buttonZ = !( status[5] & B00000001); buttonZ = !( status[5] & B00000001);
buttonC = !((status[5] & B00000010) >> 1); buttonC = !((status[5] & B00000010) >> 1);
_send_zero(); // send the request for next bytes _send_zero(); // send the request for next bytes
plugd = true; plugd = true;
} }
else if (cnt == 0) else if (cnt == 0)
plugd = false; plugd = false;
} }
float readAccelX() { float readAccelX() {
return (float)angles[0] - ZEROX; return (float)angles[0] - ZEROX;
} }
float readAccelY() { float readAccelY() {
return (float)angles[1] - ZEROY; return (float)angles[1] - ZEROY;
} }
float readAccelZ() { float readAccelZ() {
return (float)angles[2] - ZEROZ; return (float)angles[2] - ZEROZ;
} }
boolean zPressed() { boolean zPressed() {
return (buttonZ && ! lastZ); return (buttonZ && ! lastZ);
} }
boolean cPressed() { boolean cPressed() {
return (buttonC && ! lastC); return (buttonC && ! lastC);
} }
// for using the joystick like a directional button // for using the joystick like a directional button
boolean rightJoy(int thresh=60) { boolean rightJoy(int thresh=60) {
return (readJoyX() > thresh and lastJoyX <= thresh); return (readJoyX() > thresh and lastJoyX <= thresh);
} }
// for using the joystick like a directional button // for using the joystick like a directional button
boolean leftJoy(int thresh=60) { boolean leftJoy(int thresh=60) {
return (readJoyX() < -thresh and lastJoyX >= -thresh); return (readJoyX() < -thresh and lastJoyX >= -thresh);
} }
int readJoyX() { int readJoyX() {
return (int) joyX - zeroJoyX; return (int) joyX - zeroJoyX;
} }
int readJoyY() { int readJoyY() {
return (int)joyY - zeroJoyY; return (int)joyY - zeroJoyY;
} }
// R, the radius, generally hovers around 210 (at least it does with mine) // R, the radius, generally hovers around 210 (at least it does with mine)
int R() { int R() {
return sqrt(readAccelX() * readAccelX() +readAccelY() * readAccelY() + readAccelZ() * readAccelZ()); return sqrt(readAccelX() * readAccelX() +readAccelY() * readAccelY() + readAccelZ() * readAccelZ());
} }
// returns roll degrees // returns roll degrees
int readRoll() { int readRoll() {
return (int)(atan2(readAccelX(),readAccelZ())/ M_PI * 180.0); return (int)(atan2(readAccelX(),readAccelZ())/ M_PI * 180.0);
} }
// returns pitch in degrees // returns pitch in degrees
int readPitch() { int readPitch() {
return (int) (acos(readAccelY()/RADIUS)/ M_PI * 180.0); // optionally swap 'RADIUS' for 'R()' return (int) (acos(readAccelY()/RADIUS)/ M_PI * 180.0); // optionally swap 'RADIUS' for 'R()'
} }
private: private:
byte _nunchuk_decode_byte (byte x) byte _nunchuk_decode_byte (byte x)
{ {
x = (x ^ 0x17) + 0x17; x = (x ^ 0x17) + 0x17;
return x; return x;
} }
void _send_zero() void _send_zero()
{ {
Wire.beginTransmission (0x52); // transmit to device 0x52 Wire.beginTransmission (0x52); // transmit to device 0x52
Wire.write ((byte)0x00); // sends one byte Wire.write ((byte)0x00); // sends one byte
Wire.endTransmission (); // stop transmitting Wire.endTransmission (); // stop transmitting
} }
}; };
#endif #endif
2011-firefly-mega-ssc32/firmware/2012-library/hexapod/concept_informatie.txt
+61 -61
View File
@@ -1,62 +1,62 @@
class gedrag{ class gedrag{
private: private:
data_line PositieInformatie; data_line PositieInformatie;
body_struct main_positie; body_struct main_positie;
int HuidigePositieinProgramma; int HuidigePositieinProgramma;
int matrix[..] MatrixmetdeGedragPatroonen; int matrix[..] MatrixmetdeGedragPatroonen;
public: public:
run() run()
{ {
/* /*
run normaal gedrag patroon. run normaal gedrag patroon.
[loop patroon dat niet word beinvloed door userinput] [loop patroon dat niet word beinvloed door userinput]
vraag aankomende gedrag op uit matrix, vraag aankomende gedrag op uit matrix,
-bereken de nieuwe posities -bereken de nieuwe posities
--sla deze op in cache --sla deze op in cache
---wacht tot de watchdog een timeout geeft ---wacht tot de watchdog een timeout geeft
----geef de cache door aan de servo controller. ----geef de cache door aan de servo controller.
[loop patroon dat WORD beinvloed door userinput] [loop patroon dat WORD beinvloed door userinput]
vraag aankomende gedrag op uit matrix met userinput, vraag aankomende gedrag op uit matrix met userinput,
-bereken de nieuwe posities -bereken de nieuwe posities
--sla deze op in cache --sla deze op in cache
---loop tot de watchdog een timeout geeft ---loop tot de watchdog een timeout geeft
----geef de cache door aan de servo controller. ----geef de cache door aan de servo controller.
*/ */
}; };
quite() quite()
{ {
while() while()
{ {
/* /*
maak routine af om terug te gaan naar de main positie. maak routine af om terug te gaan naar de main positie.
daarna return 0; daarna return 0;
verplaats de body in een neutrale positie verplaats de body in een neutrale positie
+als niet mogeleijk verplaats de poten die problemen geven +als niet mogeleijk verplaats de poten die problemen geven
-mogelijk ga verder met de poten een voor een in de goode positie te zetten -mogelijk ga verder met de poten een voor een in de goode positie te zetten
*/ */
} }
}; };
exit() exit()
{ {
/* /*
NOOD, stop nu en return positie; NOOD, stop nu en return positie;
*/ */
}; };
userinput() userinput()
{ {
/* /*
Mogelijkheid tot user input. Mogelijkheid tot user input.
*/ */
}; };
}; };
2011-firefly-mega-ssc32/firmware/2012-library/hexapod/hexapod.h
+1 -1
View File
@@ -17,7 +17,7 @@
//Addons //Addons
#include "Segment.h" #include "Segment.h"
#include "IRremote.h" #include "IRremote.h"
#include "TinyGPS.h" //#include "TinyGPS.h"
//#include "WiiChuck.h" //#include "WiiChuck.h"
//#include "Wire.h" //#include "Wire.h"