remote.c File Reference

#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include "../roomba/roomba.h"
#include "../rtos/os.h"
#include "../uart/uart.h"

Go to the source code of this file.

Macros
#define	F_CPU   16000000
#define	QSize   10

Typedefs
typedef enum laser_states	LASER_STATES
typedef enum servo_states	SERVO_STATES

Enumerations
enum	laser_states { OFF = 0, ON }
enum	servo_states {   FULL_BACK = 0, HALF_BACK, DEAD_ZONE, HALF_FORWARD,   FULL_FORWARD }

Functions
int	buffer_isFull (int *front, int *rear)
int	buffer_isEmpty (int *front, int *rear)
void	buffer_enqueue (int val, int *queue, int *front, int *rear)
int	buffer_dequeue (int *queue, int *front, int *rear)
void	enablePORTL6 ()
void	disablePORTL6 ()
void	enablePORTL2 ()
void	disablePORTL2 ()
void	enablePORTL5 ()
void	disablePORTL5 ()
void	enablePORTH3 ()
void	disablePORTH3 ()
void	ADC_init ()
void	Servo_Init ()
void	Idle ()
void	Laser_Task ()
void	Servo_Task ()
void	Set_Photocell_Threshold ()
void	LightSensor_Task ()
void	Get_Sensor_Data ()
void	Reverse ()
void	Bump_Back ()
void	Manual_Drive ()
void	Auto_Drive ()
void	Roomba_Task ()
void	Bluetooth_Send ()
void	Bluetooth_Receive ()
void	a_main ()

Variables
uint8_t	LASER = 0
uint8_t	SERVO = 1
uint8_t	PHOTO = 2
uint8_t	SCREEN = 3
uint8_t	ROOMBA = 4
uint8_t	MODE = 5
uint8_t	IdlePID
uint8_t	RoombaTestPID
uint8_t	RoombaTaskPID
uint8_t	BluetoothSendPID
uint8_t	BluetoothReceivePID
uint8_t	LaserTaskPID
uint8_t	ServoTaskPID
uint8_t	LightSensorTaskPID
uint8_t	GetSensorDataTaskPID
int	laserState
int	servoState
int	lastServoState
char	roombaState
int	wallState
int	bumpState
uint16_t	photocellReading
uint16_t	photoThreshold
int	AUTO
int	servoQueue [QSize]
int	servoFront
int	servoRear
int	laserQueue [QSize]
int	laserFront
int	laserRear
int	roombaQueue [QSize]
int	roombaFront
int	roombaRear
MUTEX	laserMutex
MUTEX	servoMutex
MUTEX	sensorMutex

Macro Definition Documentation

#define F_CPU   16000000

Definition at line 1 of file remote.c.

#define QSize   10

Queue globals

Definition at line 58 of file remote.c.

Typedef Documentation

typedef enum laser_states LASER_STATES

typedef enum servo_states SERVO_STATES

Enumeration Type Documentation

enum laser_states

Enumerator
OFF
ON

Definition at line 42 of file remote.c.

enum servo_states

Enumerator
FULL_BACK
HALF_BACK
DEAD_ZONE
HALF_FORWARD
FULL_FORWARD

Definition at line 47 of file remote.c.

Function Documentation

void a_main

(

)

Application level main function. Creates the required tasks and then terminates

Definition at line 548 of file remote.c.

void ADC_init

(

)

Initializes A to D conversion.

Definition at line 173 of file remote.c.

void Auto_Drive

(

)

Auto mode, Drive straight forward.

Definition at line 426 of file remote.c.

void Bluetooth_Receive

(

)

Receive the joystick, laser, and mode data from the base station over bluetooth.

Definition at line 486 of file remote.c.

void Bluetooth_Send

(

)

Send the photocell reading back to the base station.

Definition at line 472 of file remote.c.

int buffer_dequeue	(	int *	queue,
		int *	front,
		int *	rear
	)

Dequeues the value from the specified buffer and returns it.

Definition at line 105 of file remote.c.

void buffer_enqueue	(	int	val,
		int *	queue,
		int *	front,
		int *	rear
	)

Enqueues the value into the specified buffer.

Definition at line 94 of file remote.c.

int buffer_isEmpty	(	int *	front,
		int *	rear
	)

Returns 1 if the buffer is empty.

Definition at line 87 of file remote.c.

int buffer_isFull	(	int *	front,
		int *	rear
	)

Returns 1 if the buffer is full.

Definition at line 80 of file remote.c.

void Bump_Back

(

)

Drive straight backwards

Definition at line 386 of file remote.c.

void disablePORTH3

(

)

Sets PORTH3 to low.

Definition at line 162 of file remote.c.

void disablePORTL2

(

)

Sets PORTL2 to low.

Definition at line 136 of file remote.c.

void disablePORTL5

(

)

Sets PORTL5 to low.

Definition at line 149 of file remote.c.

void disablePORTL6

(

)

Sets PORTL6 to low.

Definition at line 123 of file remote.c.

void enablePORTH3

(

)

Sets PORTH3 to high.

Definition at line 156 of file remote.c.

void enablePORTL2

(

)

Sets PORTL2 to high.

Definition at line 130 of file remote.c.

void enablePORTL5

(

)

Sets PORTL5 to high.

Definition at line 143 of file remote.c.

void enablePORTL6

(

)

Sets PORTL6 to high.

Definition at line 117 of file remote.c.

void Get_Sensor_Data

(

)

Get the bumper and virtual wall data packets from the Roomba.

Definition at line 335 of file remote.c.

void Idle

(

)

Idle task to run when nothing else is ready.

Definition at line 198 of file remote.c.

void Laser_Task

(

)

Checks the laserQueue, if something is available to dequeue, do it and turn the laser state on or off depending on the value.

Definition at line 207 of file remote.c.

void LightSensor_Task

(

)

Sample the lightsensor and if a spike is detected, then the roomba is hit and it is time to die. Every half a second also recalculate the threshold value to account for the roomba moving between light and dark places.

Definition at line 295 of file remote.c.

void Manual_Drive

(

)

Drive in the direction the joystick is pointing.

Definition at line 393 of file remote.c.

void Reverse

(

)

Do the opposite of the Roombas current state.

Definition at line 353 of file remote.c.

void Roomba_Task

(

)

Determine what movement to make based on sensors, and whether it is in manual or auto mode.

Definition at line 433 of file remote.c.

void Servo_Init

(

)

Initializes Timer4 to control the servo. Timer4 is configured as phase and frequency PWM mode with a prescaler of 64 and non-inverted PWM. OCR4A=375 Then sets the servo to the middle. 0 degrees = 125, 90 degrees = 375, and 180 degrees= 625.

Definition at line 181 of file remote.c.

void Servo_Task

(

)

Slowly move the servo to the desired goal (servoState). If the servo is in the deadzone, do not move.

Definition at line 229 of file remote.c.

void Set_Photocell_Threshold

(

)

Takes three readings from the photocells and averages them to get a threshold for what the room is currently like.

Definition at line 260 of file remote.c.

Variable Documentation

int AUTO

Definition at line 37 of file remote.c.

uint8_t BluetoothReceivePID

Definition at line 21 of file remote.c.

uint8_t BluetoothSendPID

Definition at line 20 of file remote.c.

int bumpState

Definition at line 32 of file remote.c.

uint8_t GetSensorDataTaskPID

Definition at line 25 of file remote.c.

uint8_t IdlePID

Definition at line 17 of file remote.c.

uint8_t LASER = 0

Definition at line 10 of file remote.c.

int laserFront

Definition at line 65 of file remote.c.

MUTEX laserMutex

Definition at line 73 of file remote.c.

int laserQueue[QSize]

Definition at line 64 of file remote.c.

int laserRear

Definition at line 66 of file remote.c.

int laserState

Definition at line 27 of file remote.c.

uint8_t LaserTaskPID

Definition at line 22 of file remote.c.

int lastServoState

Definition at line 29 of file remote.c.

uint8_t LightSensorTaskPID

Definition at line 24 of file remote.c.

uint8_t MODE = 5

Definition at line 15 of file remote.c.

uint8_t PHOTO = 2

Definition at line 12 of file remote.c.

uint16_t photocellReading

Definition at line 34 of file remote.c.

uint16_t photoThreshold

Definition at line 35 of file remote.c.

uint8_t ROOMBA = 4

Definition at line 14 of file remote.c.

int roombaFront

Definition at line 69 of file remote.c.

int roombaQueue[QSize]

Definition at line 68 of file remote.c.

int roombaRear

Definition at line 70 of file remote.c.

char roombaState

Definition at line 30 of file remote.c.

uint8_t RoombaTaskPID

Definition at line 19 of file remote.c.

uint8_t RoombaTestPID

Definition at line 18 of file remote.c.

uint8_t SCREEN = 3

Definition at line 13 of file remote.c.

MUTEX sensorMutex

Definition at line 75 of file remote.c.

uint8_t SERVO = 1

Definition at line 11 of file remote.c.

int servoFront

Definition at line 61 of file remote.c.

MUTEX servoMutex

Definition at line 74 of file remote.c.

int servoQueue[QSize]

Definition at line 60 of file remote.c.

int servoRear

Definition at line 62 of file remote.c.

int servoState

Definition at line 28 of file remote.c.

uint8_t ServoTaskPID

Definition at line 23 of file remote.c.

int wallState

Definition at line 31 of file remote.c.