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Merge branch 'master' into ide-1.5.x

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This commit is contained in:
Cristian Maglie 2014-02-12 17:17:33 +01:00
commit a96c8cab12
36 changed files with 213 additions and 730 deletions
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12
app/src/processing/app/debug/Compiler.java
View File

@ -518,6 +518,18 @@ public class Compiler implements MessageConsumer {
}
}
if (s.contains("undefined reference to `SPIClass::begin()'") &&
s.contains("libraries/Robot_Control")) {
String error = _("Please import the SPI library from the Sketch > Import Library menu.");
exception = new RunnerException(error);
}
if (s.contains("undefined reference to `Wire'") &&
s.contains("libraries/Robot_Control")) {
String error = _("Please import the Wire library from the Sketch > Import Library menu.");
exception = new RunnerException(error);
}
System.err.print(s);
}

28
hardware/arduino/avr/variants/ethernet/pins_arduino.h
View File

@ -37,23 +37,23 @@
#define digitalPinHasPWM(p) ((p) == 3 || (p) == 5 || (p) == 6 || (p) == 9 || (p) == 10 || (p) == 11)
#endif
#define SS 10
#define MOSI 11
#define MISO 12
#define SCK 13
static const uint8_t SS = 10;
static const uint8_t MOSI = 11;
static const uint8_t MISO = 12;
static const uint8_t SCK = 13;
#define SDA 18
#define SCL 19
static const uint8_t SDA = 18;
static const uint8_t SCL = 19;
#define LED_BUILTIN 9
#define A0 14
#define A1 15
#define A2 16
#define A3 17
#define A4 18
#define A5 19
#define A6 20
#define A7 21
static const uint8_t A0 = 14;
static const uint8_t A1 = 15;
static const uint8_t A2 = 16;
static const uint8_t A3 = 17;
static const uint8_t A4 = 18;
static const uint8_t A5 = 19;
static const uint8_t A6 = 20;
static const uint8_t A7 = 21;
#define digitalPinToPCICR(p) (((p) >= 0 && (p) <= 21) ? (&PCICR) : ((uint8_t *)0))
#define digitalPinToPCICRbit(p) (((p) <= 7) ? 2 : (((p) <= 13) ? 0 : 1))

36
hardware/arduino/avr/variants/leonardo/pins_arduino.h
View File

@ -99,30 +99,30 @@
#define RXLED0 PORTB |= (1<<0)
#define RXLED1 PORTB &= ~(1<<0)
#define SDA 2
#define SCL 3
static const uint8_t SDA = 2;
static const uint8_t SCL = 3;
#define LED_BUILTIN 13
// Map SPI port to 'new' pins D14..D17
#define SS 17
#define MOSI 16
#define MISO 14
#define SCK 15
static const uint8_t SS = 17;
static const uint8_t MOSI = 16;
static const uint8_t MISO = 14;
static const uint8_t SCK = 15;
// Mapping of analog pins as digital I/O
// A6-A11 share with digital pins
#define A0 18
#define A1 19
#define A2 20
#define A3 21
#define A4 22
#define A5 23
#define A6 24 // D4
#define A7 25 // D6
#define A8 26 // D8
#define A9 27 // D9
#define A10 28 // D10
#define A11 29 // D12
static const uint8_t A0 = 18;
static const uint8_t A1 = 19;
static const uint8_t A2 = 20;
static const uint8_t A3 = 21;
static const uint8_t A4 = 22;
static const uint8_t A5 = 23;
static const uint8_t A6 = 24; // D4
static const uint8_t A7 = 25; // D6
static const uint8_t A8 = 26; // D8
static const uint8_t A9 = 27; // D9
static const uint8_t A10 = 28; // D10
static const uint8_t A11 = 29; // D12
#define digitalPinToPCICR(p) ((((p) >= 8 && (p) <= 11) || ((p) >= 14 && (p) <= 17) || ((p) >= A8 && (p) <= A10)) ? (&PCICR) : ((uint8_t *)0))
#define digitalPinToPCICRbit(p) 0

44
hardware/arduino/avr/variants/mega/pins_arduino.h
View File

@ -32,31 +32,31 @@
#define analogInputToDigitalPin(p) ((p < 16) ? (p) + 54 : -1)
#define digitalPinHasPWM(p) (((p) >= 2 && (p) <= 13) || ((p) >= 44 && (p)<= 46))
#define SS 53
#define MOSI 51
#define MISO 50
#define SCK 52
static const uint8_t SS = 53;
static const uint8_t MOSI = 51;
static const uint8_t MISO = 50;
static const uint8_t SCK = 52;
#define SDA 20
#define SCL 21
static const uint8_t SDA = 20;
static const uint8_t SCL = 21;
#define LED_BUILTIN 13
#define A0 54
#define A1 55
#define A2 56
#define A3 57
#define A4 58
#define A5 59
#define A6 60
#define A7 61
#define A8 62
#define A9 63
#define A10 64
#define A11 65
#define A12 66
#define A13 67
#define A14 68
#define A15 69
static const uint8_t A0 = 54;
static const uint8_t A1 = 55;
static const uint8_t A2 = 56;
static const uint8_t A3 = 57;
static const uint8_t A4 = 58;
static const uint8_t A5 = 59;
static const uint8_t A6 = 60;
static const uint8_t A7 = 61;
static const uint8_t A8 = 62;
static const uint8_t A9 = 63;
static const uint8_t A10 = 64;
static const uint8_t A11 = 65;
static const uint8_t A12 = 66;
static const uint8_t A13 = 67;
static const uint8_t A14 = 68;
static const uint8_t A15 = 69;
// A majority of the pins are NOT PCINTs, SO BE WARNED (i.e. you cannot use them as receive pins)
// Only pins available for RECEIVE (TRANSMIT can be on any pin):

78
hardware/arduino/avr/variants/robot_control/pins_arduino.h
View File

@ -43,52 +43,52 @@
#define D4 TKD4
#define D5 TKD5
#define RX 0
#define TX 1
#define SDA 2
#define SCL 3
static const uint8_t RX = 0;
static const uint8_t TX = 1;
static const uint8_t SDA = 2;
static const uint8_t SCL = 3;
// Map SPI port to 'new' pins D14..D17
#define SS 17
#define MOSI 16
#define MISO 14
#define SCK 15
static const uint8_t SS = 17;
static const uint8_t MOSI = 16;
static const uint8_t MISO = 14;
static const uint8_t SCK = 15;
// Mapping of analog pins as digital I/O
// A6-A11 share with digital pins
#define A0 18
#define A1 19
#define A2 20
#define A3 21
#define A4 22
#define A5 23
#define A6 24 // D4
#define A7 25 // D6
#define A8 26 // D8
#define A9 27 // D9
#define A10 28 // D10
#define A11 29 // D12
static const uint8_t A0 = 18;
static const uint8_t A1 = 19;
static const uint8_t A2 = 20;
static const uint8_t A3 = 21;
static const uint8_t A4 = 22;
static const uint8_t A5 = 23;
static const uint8_t A6 = 24; // D4
static const uint8_t A7 = 25; // D6
static const uint8_t A8 = 26; // D8
static const uint8_t A9 = 27; // D9
static const uint8_t A10 = 28; // D10
static const uint8_t A11 = 29; // D12
// Specific Mapping for the Control Board
#define KEY 18 // AD0
#define MUX_IN 24 // ADC8 - A6
#define MUXA 6 // D5 - TKD4
#define MUXB 11 // D11
#define MUXC 12 // D12 - TKD5
#define MUXD 13 // D13
#define BUZZ 5 // D5
#define POT 23 // AD5
#define DC_LCD 10 // D10
#define LCD_CS 9 // D9
#define RST_LCD 7 // D6
#define CARD_CS 8 // D8
#define TKD0 19 // ADC6 - A1
#define TKD1 20 // ADC5 - A2
#define TKD2 21 // ADC4 - A3
#define TKD3 22 // ADC1 - A4
#define TKD4 6 // D5 - MUXA
#define TKD5 12 // D12 - MUXC
#define LED1 17 // D17 - RX_Led
static const uint8_t KEY = 18; // AD0
static const uint8_t MUX_IN = 24; // ADC8 - A6
static const uint8_t MUXA = 6; // D5 - TKD4
static const uint8_t MUXB = 11; // D11
static const uint8_t MUXC = 12; // D12 - TKD5
static const uint8_t MUXD = 13; // D13
static const uint8_t BUZZ = 5; // D5
static const uint8_t POT = 23; // AD5
static const uint8_t DC_LCD = 10; // D10
static const uint8_t LCD_CS = 9; // D9
static const uint8_t RST_LCD = 7; // D6
static const uint8_t CARD_CS = 8; // D8
static const uint8_t TKD0 = 19; // ADC6 - A1
static const uint8_t TKD1 = 20; // ADC5 - A2
static const uint8_t TKD2 = 21; // ADC4 - A3
static const uint8_t TKD3 = 22; // ADC1 - A4
static const uint8_t TKD4 = 6; // D5 - MUXA
static const uint8_t TKD5 = 12; // D12 - MUXC
static const uint8_t LED1 = 17; // D17 - RX_Led
// __AVR_ATmega32U4__ has an unusual mapping of pins to channels
extern const uint8_t PROGMEM analog_pin_to_channel_PGM[];

72
hardware/arduino/avr/variants/robot_motor/pins_arduino.h
View File

@ -41,49 +41,49 @@
#define D8 TK4
#define D7 TK3
#define RX 0
#define TX 1
#define SDA 2
#define SCL 3
static const uint8_t RX = 0;
static const uint8_t TX = 1;
static const uint8_t SDA = 2;
static const uint8_t SCL = 3;
// Map SPI port to 'new' pins D14..D17
#define SS 17
#define MOSI 16
#define MISO 14
#define SCK 15
static const uint8_t SS = 17;
static const uint8_t MOSI = 16;
static const uint8_t MISO = 14;
static const uint8_t SCK = 15;
// Mapping of analog pins as digital I/O
// A6-A11 share with digital pins
#define A0 18
#define A1 19
#define A2 20
#define A3 21
#define A4 22
#define A5 23
#define A6 24 // D4
#define A7 25 // D6
#define A8 26 // D8
#define A9 27 // D9
#define A10 28 // D10
#define A11 29 // D12
static const uint8_t A0 = 18;
static const uint8_t A1 = 19;
static const uint8_t A2 = 20;
static const uint8_t A3 = 21;
static const uint8_t A4 = 22;
static const uint8_t A5 = 23;
static const uint8_t A6 = 24; // D4
static const uint8_t A7 = 25; // D6
static const uint8_t A8 = 26; // D8
static const uint8_t A9 = 27; // D9
static const uint8_t A10 = 28; // D10
static const uint8_t A11 = 29; // D12
// Specific Mapping for the Motor Board
#define MUX_IN 20 // A2
#define MUXA 7 // D7
#define MUXB 8 // D8
#define MUXC 11 // D11
#define MUXI 13 // D13
#define TRIM 21 // A3
#define SENSE_A 22 // A4
#define SENSE_B 23 // A5
#define IN_A1 6 // D6 - A7
#define IN_A2 5 // D5
#define IN_B1 10 // D10
#define IN_B2 9 // D9
#define TK1 18 // A0
#define TK2 19 // A1
#define TK3 4 // A6
#define TK4 12 // A11
static const uint8_t MUX_IN = 20; // A2
static const uint8_t MUXA = 7; // D7
static const uint8_t MUXB = 8; // D8
static const uint8_t MUXC = 11; // D11
static const uint8_t MUXI = 13; // D13
static const uint8_t TRIM = 21; // A3
static const uint8_t SENSE_A = 22; // A4
static const uint8_t SENSE_B = 23; // A5
static const uint8_t IN_A1 = 6; // D6 - A7
static const uint8_t IN_A2 = 5; // D5
static const uint8_t IN_B1 = 10; // D10
static const uint8_t IN_B2 = 9; // D9
static const uint8_t TK1 = 18; // A0
static const uint8_t TK2 = 19; // A1
static const uint8_t TK3 = 4; // A6
static const uint8_t TK4 = 12; // A11
// __AVR_ATmega32U4__ has an unusual mapping of pins to channels
extern const uint8_t PROGMEM analog_pin_to_channel_PGM[];

28
hardware/arduino/avr/variants/standard/pins_arduino.h
View File

@ -37,23 +37,23 @@
#define digitalPinHasPWM(p) ((p) == 3 || (p) == 5 || (p) == 6 || (p) == 9 || (p) == 10 || (p) == 11)
#endif
#define SS 10
#define MOSI 11
#define MISO 12
#define SCK 13
static const uint8_t SS = 10;
static const uint8_t MOSI = 11;
static const uint8_t MISO = 12;
static const uint8_t SCK = 13;
#define SDA 18
#define SCL 19
static const uint8_t SDA = 18;
static const uint8_t SCL = 19;
#define LED_BUILTIN 13
#define A0 14
#define A1 15
#define A2 16
#define A3 17
#define A4 18
#define A5 19
#define A6 20
#define A7 21
static const uint8_t A0 = 14;
static const uint8_t A1 = 15;
static const uint8_t A2 = 16;
static const uint8_t A3 = 17;
static const uint8_t A4 = 18;
static const uint8_t A5 = 19;
static const uint8_t A6 = 20;
static const uint8_t A7 = 21;
#define digitalPinToPCICR(p) (((p) >= 0 && (p) <= 21) ? (&PCICR) : ((uint8_t *)0))
#define digitalPinToPCICRbit(p) (((p) <= 7) ? 2 : (((p) <= 13) ? 0 : 1))

2
libraries/Robot_Control/examples/explore/R01_Logo/R01_Logo.ino
View File

@ -23,6 +23,8 @@
*/
#include <ArduinoRobot.h> // include the robot library
#include <Wire.h>
#include <SPI.h>
int commands[20]; // array for storing commands

2
libraries/Robot_Control/examples/explore/R02_Line_Follow/R02_Line_Follow.ino
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@ -18,6 +18,8 @@
*/
#include <ArduinoRobot.h> // include the robot library
#include <Wire.h>
#include <SPI.h>
long timerOrigin; // used for counting elapsed time

2
libraries/Robot_Control/examples/explore/R03_Disco_Bot/R03_Disco_Bot.ino
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@ -17,6 +17,8 @@
*/
#include <ArduinoRobot.h> // include the robot library
#include <Wire.h>
#include <SPI.h>
/* Dancing steps:
S: stop

2
libraries/Robot_Control/examples/explore/R04_Compass/R04_Compass.ino
View File

@ -21,6 +21,8 @@
// include the robot library
#include <ArduinoRobot.h>
#include <Wire.h>
#include <SPI.h>
int speedLeft;
int speedRight;

2
libraries/Robot_Control/examples/explore/R05_Inputs/R05_Inputs.ino
View File

@ -20,6 +20,8 @@
*/
#include <ArduinoRobot.h>
#include <Wire.h>
#include <SPI.h>
// default tempo and pitch of the music
int tempo = 60;

2
libraries/Robot_Control/examples/explore/R06_Wheel_Calibration/R06_Wheel_Calibration.ino
View File

@ -13,6 +13,8 @@
#include "scripts_library.h"
#include <ArduinoRobot.h>
#include <Wire.h>
#include <SPI.h>
void setup() {
Serial.begin(9600);

2
libraries/Robot_Control/examples/explore/R07_Runaway_Robot/R07_Runaway_Robot.ino
View File

@ -20,6 +20,8 @@
// include the robot library
#include <ArduinoRobot.h>
#include <Wire.h>
#include <SPI.h>
int sensorPin = M1; // pin is used by the sensor

2
libraries/Robot_Control/examples/explore/R08_Remote_Control/R08_Remote_Control.ino
View File

@ -27,6 +27,8 @@
#include <IRremote.h>
#include <IRremoteTools.h>
#include <ArduinoRobot.h>
#include <Wire.h>
#include <SPI.h>
// Define a few commands from your remote control
#define IR_CODE_FORWARD 284154405

2
libraries/Robot_Control/examples/explore/R09_Picture_Browser/R09_Picture_Browser.ino
View File

@ -34,6 +34,8 @@
*/
#include <ArduinoRobot.h> // include the robot library
#include <Wire.h>
#include <SPI.h>
const int NUM_PICS = 4; //Total number of pictures in Gallery

2
libraries/Robot_Control/examples/explore/R10_Rescue/R10_Rescue.ino
View File

@ -23,6 +23,8 @@
*/
#include <ArduinoRobot.h> // include the robot library
#include <Wire.h>
#include <SPI.h>
void setup() {
// initialize the Robot, SD card, display, and speaker

3
libraries/Robot_Control/examples/explore/R11_Hello_User/R11_Hello_User.ino
View File

@ -17,6 +17,9 @@
*/
#include <ArduinoRobot.h> // include the robot library
#include <Wire.h>
#include <SPI.h>
// include the utility function for ths sketch
// see the details below
#include <utility/RobotTextManager.h>

2
libraries/Robot_Control/examples/learn/AllIOPorts/AllIOPorts.ino
View File

@ -23,6 +23,8 @@
*/
#include <ArduinoRobot.h>
#include <Wire.h>
#include <SPI.h>
// use arrays to store the names of the pins to be read
uint8_t arr[] = { M0, M1, M2, M3, M4, M5, M6, M7 };

2
libraries/Robot_Control/examples/learn/Beep/Beep.ino
View File

@ -21,6 +21,8 @@
*/
#include <ArduinoRobot.h>
#include <Wire.h>
#include <SPI.h>
void setup() {
// initialize the robot

2
libraries/Robot_Control/examples/learn/CleanEEPROM/CleanEEPROM.ino
View File

@ -24,6 +24,8 @@
*/
#include <ArduinoRobot.h>
#include <Wire.h>
#include <SPI.h>
void setup() {
// initialize the robot

2
libraries/Robot_Control/examples/learn/Compass/Compass.ino
View File

@ -16,6 +16,8 @@
*/
#include <ArduinoRobot.h>
#include <Wire.h>
#include <SPI.h>
void setup() {
// initialize the robot

2
libraries/Robot_Control/examples/learn/IRArray/IRArray.ino
View File

@ -22,6 +22,8 @@
*/
#include <ArduinoRobot.h>
#include <Wire.h>
#include <SPI.h>
void setup() {
// initialize the robot

2
libraries/Robot_Control/examples/learn/LCDDebugPrint/LCDDebugPrint.ino
View File

@ -16,6 +16,8 @@
*/
#include <ArduinoRobot.h>
#include <Wire.h>
#include <SPI.h>
int value;

2
libraries/Robot_Control/examples/learn/LCDPrint/LCDPrint.ino
View File

@ -15,6 +15,8 @@
*/
#include <ArduinoRobot.h>
#include <Wire.h>
#include <SPI.h>
int value;

2
libraries/Robot_Control/examples/learn/LCDWriteText/LCDWriteText.ino
View File

@ -18,6 +18,8 @@
*/
#include <ArduinoRobot.h>
#include <Wire.h>
#include <SPI.h>
void setup() {
// initialize the robot

2
libraries/Robot_Control/examples/learn/LineFollowWithPause/LineFollowWithPause.ino
View File

@ -21,6 +21,8 @@
*/
#include <ArduinoRobot.h>
#include <Wire.h>
#include <SPI.h>
void setup() {
// initialize the robot

2
libraries/Robot_Control/examples/learn/Melody/Melody.ino
View File

@ -44,6 +44,8 @@
*/
#include <ArduinoRobot.h>
#include <Wire.h>
#include <SPI.h>
void setup() {
// initialize the robot

2
libraries/Robot_Control/examples/learn/MotorTest/MotorTest.ino
View File

@ -15,6 +15,8 @@
*/
#include <ArduinoRobot.h>
#include <Wire.h>
#include <SPI.h>
void setup() {
// initialize the robot

2
libraries/Robot_Control/examples/learn/SpeedByPotentiometer/SpeedByPotentiometer.ino
View File

@ -17,6 +17,8 @@
*/
#include <ArduinoRobot.h>
#include <Wire.h>
#include <SPI.h>
void setup() {
// initialize the robot

2
libraries/Robot_Control/examples/learn/TurnTest/TurnTest.ino
View File

@ -15,6 +15,8 @@
*/
#include <ArduinoRobot.h>
#include <Wire.h>
#include <SPI.h>
void setup() {
// initialize the robot

2
libraries/Robot_Control/examples/learn/keyboardTest/keyboardTest.ino
View File

@ -25,6 +25,8 @@
*/
#include <ArduinoRobot.h>
#include <Wire.h>
#include <SPI.h>
void setup() {
// initialize the serial port

2
libraries/Robot_Control/src/Motors.cpp
View File

@ -1 +1 @@
#include "ArduinoRobot.h" #include "EasyTransfer2.h" void RobotControl::motorsStop(){ messageOut.writeByte(COMMAND_MOTORS_STOP); messageOut.sendData(); } void RobotControl::motorsWrite(int speedLeft,int speedRight){ messageOut.writeByte(COMMAND_RUN); messageOut.writeInt(speedLeft); messageOut.writeInt(speedRight); messageOut.sendData(); } void RobotControl::motorsWritePct(int speedLeftPct, int speedRightPct){ int16_t speedLeft=255*speedLeftPct; int16_t speedRight=255*speedRightPct; motorsWrite(speedLeft,speedRight); } void RobotControl::pointTo(int angle){ int target=angle; uint8_t speed=80; target=target%360; if(target<0){ target+=360; } int direction=angle; while(1){ if(direction>0){ motorsWrite(speed,-speed);//right delay(10); }else{ motorsWrite(-speed,speed);//left delay(10); } int currentAngle=compassRead(); int diff=target-currentAngle; if(diff<-180) diff += 360; else if(diff> 180) diff -= 360; direction=-diff; if(abs(diff)<5){ motorsWrite(0,0); return; } } } void RobotControl::turn(int angle){ int originalAngle=compassRead(); int target=originalAngle+angle; pointTo(target); /*uint8_t speed=80; target=target%360; if(target<0){ target+=360; } int direction=angle; while(1){ if(direction>0){ motorsWrite(speed,speed);//right delay(10); }else{ motorsWrite(-speed,-speed);//left delay(10); } int currentAngle=compassRead(); int diff=target-currentAngle; if(diff<-180) diff += 360; else if(diff> 180) diff -= 360; direction=-diff; if(abs(diff)<5){ motorsWrite(0,0); return; } }*/ } void RobotControl::moveForward(int speed){ motorsWrite(speed,speed); } void RobotControl::moveBackward(int speed){ motorsWrite(speed,speed); } void RobotControl::turnLeft(int speed){ motorsWrite(speed,255); } void RobotControl::turnRight(int speed){ motorsWrite(255,speed); } /* int RobotControl::getIRrecvResult(){ messageOut.writeByte(COMMAND_GET_IRRECV); messageOut.sendData(); //delay(10); while(!messageIn.receiveData()); if(messageIn.readByte()==COMMAND_GET_IRRECV_RE){ return messageIn.readInt(); } return -1; } */
#include "ArduinoRobot.h" #include "EasyTransfer2.h" void RobotControl::motorsStop(){ messageOut.writeByte(COMMAND_MOTORS_STOP); messageOut.sendData(); } void RobotControl::motorsWrite(int speedLeft,int speedRight){ messageOut.writeByte(COMMAND_RUN); messageOut.writeInt(speedLeft); messageOut.writeInt(speedRight); messageOut.sendData(); } void RobotControl::motorsWritePct(int speedLeftPct, int speedRightPct){ int16_t speedLeft=255*speedLeftPct/100.0; int16_t speedRight=255*speedRightPct/100.0; motorsWrite(speedLeft,speedRight); } void RobotControl::pointTo(int angle){ int target=angle; uint8_t speed=80; target=target%360; if(target<0){ target+=360; } int direction=angle; while(1){ int currentAngle=compassRead(); int diff=target-currentAngle; direction=180-(diff+360)%360; if(direction>0){ motorsWrite(speed,-speed);//right delay(10); }else{ motorsWrite(-speed,speed);//left delay(10); } //if(diff<-180) // diff += 360; //else if(diff> 180) // diff -= 360; //direction=-diff; if(abs(diff)<5){ motorsStop(); return; } } } void RobotControl::turn(int angle){ int originalAngle=compassRead(); int target=originalAngle+angle; pointTo(target); /*uint8_t speed=80; target=target%360; if(target<0){ target+=360; } int direction=angle; while(1){ if(direction>0){ motorsWrite(speed,speed);//right delay(10); }else{ motorsWrite(-speed,-speed);//left delay(10); } int currentAngle=compassRead(); int diff=target-currentAngle; if(diff<-180) diff += 360; else if(diff> 180) diff -= 360; direction=-diff; if(abs(diff)<5){ motorsWrite(0,0); return; } }*/ } void RobotControl::moveForward(int speed){ motorsWrite(speed,speed); } void RobotControl::moveBackward(int speed){ motorsWrite(speed,speed); } void RobotControl::turnLeft(int speed){ motorsWrite(speed,255); } void RobotControl::turnRight(int speed){ motorsWrite(255,speed); } /* int RobotControl::getIRrecvResult(){ messageOut.writeByte(COMMAND_GET_IRRECV); messageOut.sendData(); //delay(10); while(!messageIn.receiveData()); if(messageIn.readByte()==COMMAND_GET_IRRECV_RE){ return messageIn.readInt(); } return -1; } */

527
libraries/Robot_Control/src/utility/twi.c
View File

@ -1,527 +0,0 @@
/*
twi.c - TWI/I2C library for Wiring & Arduino
Copyright (c) 2006 Nicholas Zambetti. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts
*/
#include <math.h>
#include <stdlib.h>
#include <inttypes.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <compat/twi.h>
#include "Arduino.h" // for digitalWrite
#ifndef cbi
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
#endif
#ifndef sbi
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
#endif
#include "pins_arduino.h"
#include "twi.h"
static volatile uint8_t twi_state;
static volatile uint8_t twi_slarw;
static volatile uint8_t twi_sendStop; // should the transaction end with a stop
static volatile uint8_t twi_inRepStart; // in the middle of a repeated start
static void (*twi_onSlaveTransmit)(void);
static void (*twi_onSlaveReceive)(uint8_t*, int);
static uint8_t twi_masterBuffer[TWI_BUFFER_LENGTH];
static volatile uint8_t twi_masterBufferIndex;
static volatile uint8_t twi_masterBufferLength;
static uint8_t twi_txBuffer[TWI_BUFFER_LENGTH];
static volatile uint8_t twi_txBufferIndex;
static volatile uint8_t twi_txBufferLength;
static uint8_t twi_rxBuffer[TWI_BUFFER_LENGTH];
static volatile uint8_t twi_rxBufferIndex;
static volatile uint8_t twi_error;
/*
* Function twi_init
* Desc readys twi pins and sets twi bitrate
* Input none
* Output none
*/
void twi_init(void)
{
// initialize state
twi_state = TWI_READY;
twi_sendStop = true; // default value
twi_inRepStart = false;
// activate internal pullups for twi.
digitalWrite(SDA, 1);
digitalWrite(SCL, 1);
// initialize twi prescaler and bit rate
cbi(TWSR, TWPS0);
cbi(TWSR, TWPS1);
TWBR = ((F_CPU / TWI_FREQ) - 16) / 2;
/* twi bit rate formula from atmega128 manual pg 204
SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR))
note: TWBR should be 10 or higher for master mode
It is 72 for a 16mhz Wiring board with 100kHz TWI */
// enable twi module, acks, and twi interrupt
TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA);
}
/*
* Function twi_slaveInit
* Desc sets slave address and enables interrupt
* Input none
* Output none
*/
void twi_setAddress(uint8_t address)
{
// set twi slave address (skip over TWGCE bit)
TWAR = address << 1;
}
/*
* Function twi_readFrom
* Desc attempts to become twi bus master and read a
* series of bytes from a device on the bus
* Input address: 7bit i2c device address
* data: pointer to byte array
* length: number of bytes to read into array
* sendStop: Boolean indicating whether to send a stop at the end
* Output number of bytes read
*/
uint8_t twi_readFrom(uint8_t address, uint8_t* data, uint8_t length, uint8_t sendStop)
{
uint8_t i;
// ensure data will fit into buffer
if(TWI_BUFFER_LENGTH < length){
return 0;
}
// wait until twi is ready, become master receiver
while(TWI_READY != twi_state){
continue;
}
twi_state = TWI_MRX;
twi_sendStop = sendStop;
// reset error state (0xFF.. no error occured)
twi_error = 0xFF;
// initialize buffer iteration vars
twi_masterBufferIndex = 0;
twi_masterBufferLength = length-1; // This is not intuitive, read on...
// On receive, the previously configured ACK/NACK setting is transmitted in
// response to the received byte before the interrupt is signalled.
// Therefor we must actually set NACK when the _next_ to last byte is
// received, causing that NACK to be sent in response to receiving the last
// expected byte of data.
// build sla+w, slave device address + w bit
twi_slarw = TW_READ;
twi_slarw |= address << 1;
if (true == twi_inRepStart) {
// if we're in the repeated start state, then we've already sent the start,
// (@@@ we hope), and the TWI statemachine is just waiting for the address byte.
// We need to remove ourselves from the repeated start state before we enable interrupts,
// since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning
// up. Also, don't enable the START interrupt. There may be one pending from the
// repeated start that we sent outselves, and that would really confuse things.
twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR
TWDR = twi_slarw;
TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START
}
else
// send start condition
TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA);
// wait for read operation to complete
while(TWI_MRX == twi_state){
continue;
}
if (twi_masterBufferIndex < length)
length = twi_masterBufferIndex;
// copy twi buffer to data
for(i = 0; i < length; ++i){
data[i] = twi_masterBuffer[i];
}
return length;
}
/*
* Function twi_writeTo
* Desc attempts to become twi bus master and write a
* series of bytes to a device on the bus
* Input address: 7bit i2c device address
* data: pointer to byte array
* length: number of bytes in array
* wait: boolean indicating to wait for write or not
* sendStop: boolean indicating whether or not to send a stop at the end
* Output 0 .. success
* 1 .. length to long for buffer
* 2 .. address send, NACK received
* 3 .. data send, NACK received
* 4 .. other twi error (lost bus arbitration, bus error, ..)
*/
uint8_t twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait, uint8_t sendStop)
{
uint8_t i;
// ensure data will fit into buffer
if(TWI_BUFFER_LENGTH < length){
return 1;
}
// wait until twi is ready, become master transmitter
while(TWI_READY != twi_state){
continue;
}
twi_state = TWI_MTX;
twi_sendStop = sendStop;
// reset error state (0xFF.. no error occured)
twi_error = 0xFF;
// initialize buffer iteration vars
twi_masterBufferIndex = 0;
twi_masterBufferLength = length;
// copy data to twi buffer
for(i = 0; i < length; ++i){
twi_masterBuffer[i] = data[i];
}
// build sla+w, slave device address + w bit
twi_slarw = TW_WRITE;
twi_slarw |= address << 1;
// if we're in a repeated start, then we've already sent the START
// in the ISR. Don't do it again.
//
if (true == twi_inRepStart) {
// if we're in the repeated start state, then we've already sent the start,
// (@@@ we hope), and the TWI statemachine is just waiting for the address byte.
// We need to remove ourselves from the repeated start state before we enable interrupts,
// since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning
// up. Also, don't enable the START interrupt. There may be one pending from the
// repeated start that we sent outselves, and that would really confuse things.
twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR
TWDR = twi_slarw;
TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START
}
else
// send start condition
TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE) | _BV(TWSTA); // enable INTs
// wait for write operation to complete
while(wait && (TWI_MTX == twi_state)){
continue;
}
if (twi_error == 0xFF)
return 0; // success
else if (twi_error == TW_MT_SLA_NACK)
return 2; // error: address send, nack received
else if (twi_error == TW_MT_DATA_NACK)
return 3; // error: data send, nack received
else
return 4; // other twi error
}
/*
* Function twi_transmit
* Desc fills slave tx buffer with data
* must be called in slave tx event callback
* Input data: pointer to byte array
* length: number of bytes in array
* Output 1 length too long for buffer
* 2 not slave transmitter
* 0 ok
*/
uint8_t twi_transmit(const uint8_t* data, uint8_t length)
{
uint8_t i;
// ensure data will fit into buffer
if(TWI_BUFFER_LENGTH < length){
return 1;
}
// ensure we are currently a slave transmitter
if(TWI_STX != twi_state){
return 2;
}
// set length and copy data into tx buffer
twi_txBufferLength = length;
for(i = 0; i < length; ++i){
twi_txBuffer[i] = data[i];
}
return 0;
}
/*
* Function twi_attachSlaveRxEvent
* Desc sets function called before a slave read operation
* Input function: callback function to use
* Output none
*/
void twi_attachSlaveRxEvent( void (*function)(uint8_t*, int) )
{
twi_onSlaveReceive = function;
}
/*
* Function twi_attachSlaveTxEvent
* Desc sets function called before a slave write operation
* Input function: callback function to use
* Output none
*/
void twi_attachSlaveTxEvent( void (*function)(void) )
{
twi_onSlaveTransmit = function;
}
/*
* Function twi_reply
* Desc sends byte or readys receive line
* Input ack: byte indicating to ack or to nack
* Output none
*/
void twi_reply(uint8_t ack)
{
// transmit master read ready signal, with or without ack
if(ack){
TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT) | _BV(TWEA);
}else{
TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT);
}
}
/*
* Function twi_stop
* Desc relinquishes bus master status
* Input none
* Output none
*/
void twi_stop(void)
{
// send stop condition
TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTO);
// wait for stop condition to be exectued on bus
// TWINT is not set after a stop condition!
while(TWCR & _BV(TWSTO)){
continue;
}
// update twi state
twi_state = TWI_READY;
}
/*
* Function twi_releaseBus
* Desc releases bus control
* Input none
* Output none
*/
void twi_releaseBus(void)
{
// release bus
TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT);
// update twi state
twi_state = TWI_READY;
}
SIGNAL(TWI_vect)
{
switch(TW_STATUS){
// All Master
case TW_START: // sent start condition
case TW_REP_START: // sent repeated start condition
// copy device address and r/w bit to output register and ack
TWDR = twi_slarw;
twi_reply(1);
break;
// Master Transmitter
case TW_MT_SLA_ACK: // slave receiver acked address
case TW_MT_DATA_ACK: // slave receiver acked data
// if there is data to send, send it, otherwise stop
if(twi_masterBufferIndex < twi_masterBufferLength){
// copy data to output register and ack
TWDR = twi_masterBuffer[twi_masterBufferIndex++];
twi_reply(1);
}else{
if (twi_sendStop)
twi_stop();
else {
twi_inRepStart = true; // we're gonna send the START
// don't enable the interrupt. We'll generate the start, but we
// avoid handling the interrupt until we're in the next transaction,
// at the point where we would normally issue the start.
TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ;
twi_state = TWI_READY;
}
}
break;
case TW_MT_SLA_NACK: // address sent, nack received
twi_error = TW_MT_SLA_NACK;
twi_stop();
break;
case TW_MT_DATA_NACK: // data sent, nack received
twi_error = TW_MT_DATA_NACK;
twi_stop();
break;
case TW_MT_ARB_LOST: // lost bus arbitration
twi_error = TW_MT_ARB_LOST;
twi_releaseBus();
break;
// Master Receiver
case TW_MR_DATA_ACK: // data received, ack sent
// put byte into buffer
twi_masterBuffer[twi_masterBufferIndex++] = TWDR;
case TW_MR_SLA_ACK: // address sent, ack received
// ack if more bytes are expected, otherwise nack
if(twi_masterBufferIndex < twi_masterBufferLength){
twi_reply(1);
}else{
twi_reply(0);
}
break;
case TW_MR_DATA_NACK: // data received, nack sent
// put final byte into buffer
twi_masterBuffer[twi_masterBufferIndex++] = TWDR;
if (twi_sendStop)
twi_stop();
else {
twi_inRepStart = true; // we're gonna send the START
// don't enable the interrupt. We'll generate the start, but we
// avoid handling the interrupt until we're in the next transaction,
// at the point where we would normally issue the start.
TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ;
twi_state = TWI_READY;
}
break;
case TW_MR_SLA_NACK: // address sent, nack received
twi_stop();
break;
// TW_MR_ARB_LOST handled by TW_MT_ARB_LOST case
// Slave Receiver
case TW_SR_SLA_ACK: // addressed, returned ack
case TW_SR_GCALL_ACK: // addressed generally, returned ack
case TW_SR_ARB_LOST_SLA_ACK: // lost arbitration, returned ack
case TW_SR_ARB_LOST_GCALL_ACK: // lost arbitration, returned ack
// enter slave receiver mode
twi_state = TWI_SRX;
// indicate that rx buffer can be overwritten and ack
twi_rxBufferIndex = 0;
twi_reply(1);
break;
case TW_SR_DATA_ACK: // data received, returned ack
case TW_SR_GCALL_DATA_ACK: // data received generally, returned ack
// if there is still room in the rx buffer
if(twi_rxBufferIndex < TWI_BUFFER_LENGTH){
// put byte in buffer and ack
twi_rxBuffer[twi_rxBufferIndex++] = TWDR;
twi_reply(1);
}else{
// otherwise nack
twi_reply(0);
}
break;
case TW_SR_STOP: // stop or repeated start condition received
// put a null char after data if there's room
if(twi_rxBufferIndex < TWI_BUFFER_LENGTH){
twi_rxBuffer[twi_rxBufferIndex] = '\0';
}
// sends ack and stops interface for clock stretching
twi_stop();
// callback to user defined callback
twi_onSlaveReceive(twi_rxBuffer, twi_rxBufferIndex);
// since we submit rx buffer to "wire" library, we can reset it
twi_rxBufferIndex = 0;
// ack future responses and leave slave receiver state
twi_releaseBus();
break;
case TW_SR_DATA_NACK: // data received, returned nack
case TW_SR_GCALL_DATA_NACK: // data received generally, returned nack
// nack back at master
twi_reply(0);
break;
// Slave Transmitter
case TW_ST_SLA_ACK: // addressed, returned ack
case TW_ST_ARB_LOST_SLA_ACK: // arbitration lost, returned ack
// enter slave transmitter mode
twi_state = TWI_STX;
// ready the tx buffer index for iteration
twi_txBufferIndex = 0;
// set tx buffer length to be zero, to verify if user changes it
twi_txBufferLength = 0;
// request for txBuffer to be filled and length to be set
// note: user must call twi_transmit(bytes, length) to do this
twi_onSlaveTransmit();
// if they didn't change buffer & length, initialize it
if(0 == twi_txBufferLength){
twi_txBufferLength = 1;
twi_txBuffer[0] = 0x00;
}
// transmit first byte from buffer, fall
case TW_ST_DATA_ACK: // byte sent, ack returned
// copy data to output register
TWDR = twi_txBuffer[twi_txBufferIndex++];
// if there is more to send, ack, otherwise nack
if(twi_txBufferIndex < twi_txBufferLength){
twi_reply(1);
}else{
twi_reply(0);
}
break;
case TW_ST_DATA_NACK: // received nack, we are done
case TW_ST_LAST_DATA: // received ack, but we are done already!
// ack future responses
twi_reply(1);
// leave slave receiver state
twi_state = TWI_READY;
break;
// All
case TW_NO_INFO: // no state information
break;
case TW_BUS_ERROR: // bus error, illegal stop/start
twi_error = TW_BUS_ERROR;
twi_stop();
break;
}
}

53
libraries/Robot_Control/src/utility/twi.h
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@ -1,53 +0,0 @@
/*
twi.h - TWI/I2C library for Wiring & Arduino
Copyright (c) 2006 Nicholas Zambetti. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#ifndef twi_h
#define twi_h
#include <inttypes.h>
//#define ATMEGA8
#ifndef TWI_FREQ
#define TWI_FREQ 100000L
#endif
#ifndef TWI_BUFFER_LENGTH
#define TWI_BUFFER_LENGTH 32
#endif
#define TWI_READY 0
#define TWI_MRX 1
#define TWI_MTX 2
#define TWI_SRX 3
#define TWI_STX 4
void twi_init(void);
void twi_setAddress(uint8_t);
uint8_t twi_readFrom(uint8_t, uint8_t*, uint8_t, uint8_t);
uint8_t twi_writeTo(uint8_t, uint8_t*, uint8_t, uint8_t, uint8_t);
uint8_t twi_transmit(const uint8_t*, uint8_t);
void twi_attachSlaveRxEvent( void (*)(uint8_t*, int) );
void twi_attachSlaveTxEvent( void (*)(void) );
void twi_reply(uint8_t);
void twi_stop(void);
void twi_releaseBus(void);
#endif

12
libraries/Robot_Motor/src/ArduinoRobotMotorBoard.cpp
View File

@ -170,20 +170,20 @@ void RobotMotorBoard::motorsWrite(int speedL, int speedR){
speedL*=(1-motorAdjustment);
}
if(speedL>0){
analogWrite(IN_A1,speedL);
if(speedR>0){
analogWrite(IN_A1,speedR);
analogWrite(IN_A2,0);
}else{
analogWrite(IN_A1,0);
analogWrite(IN_A2,-speedL);
analogWrite(IN_A2,-speedR);
}
if(speedR>0){
analogWrite(IN_B1,speedR);
if(speedL>0){
analogWrite(IN_B1,speedL);
analogWrite(IN_B2,0);
}else{
analogWrite(IN_B1,0);
analogWrite(IN_B2,-speedR);
analogWrite(IN_B2,-speedL);
}
}
void RobotMotorBoard::motorsWritePct(int speedLpct, int speedRpct){