/************************************************** *****************************
*
* File Name: RechteckDemo.c
* Project : Demo
*
* Description: This file contains RechteckDemo
*
* Ver. Date Author Comments
* ------- ---------- -------------- ------------------------------
* 1.00 14.08.2003 Jan Grewe build
* 2.00 22.10.2003 Jan Grewe angepasst auf asuro.c Ver.2.10
*
* Copyright (c) 2003 DLR Robotics & Mechatronics
************************************************** ***************************/
/************************************************** *************************
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* any later version. *
************************************************** *************************/
#include "asuro.h"
#define LEFT 0
#define RIGHT 1
#define LINE 0
#define EDGE 1
SIGNAL (SIG_ADC)
{
static unsigned char tmp[2],flag[2],toggle;
static unsigned char state = LINE, posFlag[2] = {FALSE,FALSE};
static unsigned char pos[2] = {0,0};
static unsigned char rightSpeed = 200, leftSpeed = 200;
tmp[toggle]= ADCH;
if (toggle) ADMUX = (1 <<ADLAR) | (1 <<REFS0) | WHEEL_RIGHT;
else ADMUX = (1 <<ADLAR) | (1 <<REFS0) | WHEEL_LEFT;
if ( (tmp[toggle] < 128) && (flag[toggle] == TRUE)) {
pos[toggle] ++;
flag[toggle] = FALSE;
}
if ( (tmp[toggle] > 128) && (flag[toggle] == FALSE)) {
pos[toggle] ++;
flag[toggle] = TRUE;
}
toggle ^= 1;
if (state == LINE) {
if (pos[LEFT] > 100) {
leftSpeed = 0;
pos[LEFT] = 0;
posFlag[LEFT] = TRUE;
}
if (pos[RIGHT] > 100) {
rightSpeed = 0;
pos[RIGHT] = 0;
posFlag[RIGHT] = TRUE;
}
if (posFlag[RIGHT] == TRUE && posFlag[LEFT] == TRUE) {
state = EDGE;
leftSpeed = 180;
}
}
if (state == EDGE) {
if (pos[LEFT] > 50) {
leftSpeed = 0;
pos[LEFT] = 0;
posFlag[LEFT] = posFlag[RIGHT] = FALSE;
state = LINE;
leftSpeed = rightSpeed = 200;
}
}
MotorSpeed(leftSpeed,rightSpeed);
}
void RechteckDemo(void)
{
Init();
cli();
MotorSpeed(200,200);
DDRC &= ~ ((1<<PC0) | (1<<PC1)); // Input => no break LED
ODOMETRIE_LED_ON;
ADCSRA = (1<<ADEN) | (1<<ADFR) | (1<<ADIE) | (1<<ADSC) | (1<<ADPS0) | (1<<ADPS1) | (1<<ADPS2); // clk/128
ADMUX = (1<<ADLAR) | (1<<REFS0) | WHEEL_LEFT; // AVCC reference with external capacitor
sei();
for(;;);
}