Tobias Berger / Mbed 2 deprecated Robocode

Tobis Programm forked to not destroy your golden files

Dependencies:   mbed

Fork of Robocode by PES 2 - Gruppe 1

source/Robot.cpp@60:b57577b0072f, 2017-04-18 (annotated)

Committer:
cittecla
Date:
Tue Apr 18 16:19:18 2017 +0000
Revision:
60:b57577b0072f
Parent:
58:a78103b0bf2a
Child:
61:628f8a4e857c
work has been done on init

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cittecla 34:40d8d29b44b8 1 // Roboter file
cittecla 34:40d8d29b44b8 2
cittecla 34:40d8d29b44b8 3
cittecla 34:40d8d29b44b8 4 #include "mbed.h"
cittecla 34:40d8d29b44b8 5 #include "Robot.h"
cittecla 34:40d8d29b44b8 6 #include "EncoderCounter.h"
cittecla 34:40d8d29b44b8 7 #include "LowpassFilter.h"
cittecla 34:40d8d29b44b8 8 #include "IMU.h"
cittecla 34:40d8d29b44b8 9
cittecla 34:40d8d29b44b8 10 #include "IRSensor.h"
cittecla 34:40d8d29b44b8 11
aeschsim 55:a1e6fb87d648 12 //Define I2C-Servoboard Consts
aeschsim 55:a1e6fb87d648 13 #define ADRESS 0x40
aeschsim 55:a1e6fb87d648 14 #define MODE1 0x00
aeschsim 55:a1e6fb87d648 15 #define MODE2 0x01
aeschsim 55:a1e6fb87d648 16 #define PRESCALE 0xFE
aeschsim 55:a1e6fb87d648 17 #define LED0_ON_L 0x06
aeschsim 55:a1e6fb87d648 18 #define LED0_ON_H 0x07
aeschsim 55:a1e6fb87d648 19 #define LED0_OFF_L 0x08
cittecla 60:b57577b0072f 20 #define LED0_OFF_H 0x09
aeschsim 55:a1e6fb87d648 21
aeschsim 55:a1e6fb87d648 22 #define RESTART 0x80
aeschsim 55:a1e6fb87d648 23 #define SLEEP 0x10
aeschsim 55:a1e6fb87d648 24
cittecla 34:40d8d29b44b8 25
cittecla 34:40d8d29b44b8 26 const float PERIOD = 0.001f; // period of control task, given in [s]
cittecla 34:40d8d29b44b8 27 const float COUNTS_PER_TURN = 1200.0f; // resolution of encoder counter
cittecla 34:40d8d29b44b8 28 const float LOWPASS_FILTER_FREQUENCY = 300.0f; // frequency of lowpass filter for actual speed values, given in [rad/s]
cittecla 34:40d8d29b44b8 29 const float KN = 40.0f; // speed constant of motor, given in [rpm/V]
cittecla 34:40d8d29b44b8 30 const float KP = 0.2f; // speed controller gain, given in [V/rpm]
cittecla 34:40d8d29b44b8 31 const float MAX_VOLTAGE = 12.0f; // supply voltage for power stage in [V]
cittecla 34:40d8d29b44b8 32 const float MIN_DUTY_CYCLE = 0.02f; // minimum allowed value for duty cycle (2%)
cittecla 34:40d8d29b44b8 33 const float MAX_DUTY_CYCLE = 0.98f; // maximum allowed value for duty cycle (98%)
cittecla 34:40d8d29b44b8 34 const float correction_value = 2.45f; // correction value for desired speed
aeschsim 43:9f291a496db8 35
cittecla 34:40d8d29b44b8 36 LowpassFilter speedLeftFilter;
cittecla 34:40d8d29b44b8 37 LowpassFilter speedRightFilter;
cittecla 34:40d8d29b44b8 38
aeschsim 55:a1e6fb87d648 39 DigitalIn user(USER_BUTTON);
aeschsim 55:a1e6fb87d648 40
cittecla 34:40d8d29b44b8 41 //Motor stuff
cittecla 34:40d8d29b44b8 42 EncoderCounter counterLeft(PB_6, PB_7);
cittecla 34:40d8d29b44b8 43 EncoderCounter counterRight(PA_6, PC_7);
cittecla 34:40d8d29b44b8 44
cittecla 34:40d8d29b44b8 45 DigitalOut enableMotorDriver(PB_2);
cittecla 34:40d8d29b44b8 46 PwmOut pwmLeft(PA_8);
cittecla 34:40d8d29b44b8 47 PwmOut pwmRight(PA_9);
cittecla 34:40d8d29b44b8 48
cittecla 34:40d8d29b44b8 49 DigitalOut my_led(LED1);
cittecla 34:40d8d29b44b8 50
cittecla 34:40d8d29b44b8 51 //Periphery for distance sensors
cittecla 34:40d8d29b44b8 52 AnalogIn distance(PB_1);
aeschsim 55:a1e6fb87d648 53 AnalogIn distance2(PA_1);
cittecla 34:40d8d29b44b8 54 DigitalOut enable(PC_1);
cittecla 34:40d8d29b44b8 55 DigitalOut bit0(PH_1);
cittecla 34:40d8d29b44b8 56 DigitalOut bit1(PC_2);
cittecla 34:40d8d29b44b8 57 DigitalOut bit2(PC_3);
cittecla 34:40d8d29b44b8 58
cittecla 34:40d8d29b44b8 59 IRSensor sensors[6];
cittecla 34:40d8d29b44b8 60
cittecla 34:40d8d29b44b8 61 //indicator leds arround robot
cittecla 34:40d8d29b44b8 62 DigitalOut leds[] = { PC_8, PC_6, PB_12, PA_7, PC_0, PC_9 };
cittecla 34:40d8d29b44b8 63
cittecla 34:40d8d29b44b8 64
cittecla 34:40d8d29b44b8 65 //Periphery for the IMU
cittecla 34:40d8d29b44b8 66 SPI spi(PC_12, PC_11, PC_10);
cittecla 34:40d8d29b44b8 67 DigitalOut csG(PA_15);
cittecla 34:40d8d29b44b8 68 DigitalOut csXM(PD_2);
cittecla 34:40d8d29b44b8 69
cittecla 34:40d8d29b44b8 70 IMU imu(spi, csG, csXM);
cittecla 34:40d8d29b44b8 71
cittecla 34:40d8d29b44b8 72 //Periphery for I2C
cittecla 34:40d8d29b44b8 73 I2C i2c(PB_9, PB_8);
cittecla 34:40d8d29b44b8 74 DigitalOut Servo_enable(PA_10);
cittecla 34:40d8d29b44b8 75
aeschsim 55:a1e6fb87d648 76 //Color sensor
cittecla 60:b57577b0072f 77 DigitalIn red(PB_13);
cittecla 60:b57577b0072f 78 DigitalIn green(PC_4);
cittecla 34:40d8d29b44b8 79
cittecla 34:40d8d29b44b8 80 short previousValueCounterRight = 0;
cittecla 34:40d8d29b44b8 81 short previousValueCounterLeft = 0;
cittecla 34:40d8d29b44b8 82
cittecla 34:40d8d29b44b8 83 float desiredSpeedLeft = 0;
cittecla 34:40d8d29b44b8 84 float desiredSpeedRight = 0;
cittecla 34:40d8d29b44b8 85
cittecla 34:40d8d29b44b8 86 float actualSpeedLeft;
cittecla 34:40d8d29b44b8 87 float actualSpeedRight;
cittecla 34:40d8d29b44b8 88
cittecla 34:40d8d29b44b8 89
aeschsim 55:a1e6fb87d648 90 bool get_user()
aeschsim 55:a1e6fb87d648 91 {
aeschsim 55:a1e6fb87d648 92 return user;
aeschsim 55:a1e6fb87d648 93 }
cittecla 34:40d8d29b44b8 94
cittecla 34:40d8d29b44b8 95
cittecla 34:40d8d29b44b8 96 void Robot_init_all()
cittecla 34:40d8d29b44b8 97 {
cittecla 34:40d8d29b44b8 98 Speedcontroller_init();
cittecla 34:40d8d29b44b8 99 Sensor_init();
cittecla 57:1a395b6928ee 100 init_servo(60);
cittecla 34:40d8d29b44b8 101 }
cittecla 34:40d8d29b44b8 102
cittecla 34:40d8d29b44b8 103 //speed controll
cittecla 34:40d8d29b44b8 104 void Speedcontroller_init()
cittecla 34:40d8d29b44b8 105 {
cittecla 34:40d8d29b44b8 106 // Initialisieren der PWM Ausgaenge pwmLeft.period(0.00005f); // PWM Periode von 50 us
cittecla 34:40d8d29b44b8 107 pwmLeft.period(0.00005f); // Setzt die Periode auf 50 μs
cittecla 34:40d8d29b44b8 108 pwmRight.period(0.00005f);
cittecla 34:40d8d29b44b8 109 pwmLeft = 0.5f; // Duty-Cycle von 50% pwmRight.period(0.00005f); // PWM Periode von 50 us
cittecla 34:40d8d29b44b8 110 pwmRight = 0.5f; // Duty-Cycle von 50%
cittecla 34:40d8d29b44b8 111
cittecla 34:40d8d29b44b8 112 // Initialisieren von lokalen Variabeln
cittecla 34:40d8d29b44b8 113 previousValueCounterLeft = counterLeft.read();
cittecla 34:40d8d29b44b8 114 previousValueCounterRight = counterRight.read();
cittecla 34:40d8d29b44b8 115 speedLeftFilter.setPeriod(PERIOD);
cittecla 34:40d8d29b44b8 116 speedLeftFilter.setFrequency(LOWPASS_FILTER_FREQUENCY);
cittecla 34:40d8d29b44b8 117 speedRightFilter.setPeriod(PERIOD);
cittecla 34:40d8d29b44b8 118 speedRightFilter.setFrequency(LOWPASS_FILTER_FREQUENCY);
cittecla 34:40d8d29b44b8 119
cittecla 34:40d8d29b44b8 120 desiredSpeedLeft = 0.0f;
cittecla 34:40d8d29b44b8 121 desiredSpeedRight = 0.0f;
cittecla 34:40d8d29b44b8 122 actualSpeedLeft = 0.0f;
cittecla 34:40d8d29b44b8 123 actualSpeedRight = 0.0f;
cittecla 34:40d8d29b44b8 124
cittecla 34:40d8d29b44b8 125 Ticker t1;
cittecla 34:40d8d29b44b8 126 t1.attach( &speedCtrl, PERIOD);
cittecla 34:40d8d29b44b8 127
cittecla 34:40d8d29b44b8 128 //desiredSpeedLeft = 50.0f+correction_value; //50 RPM
cittecla 34:40d8d29b44b8 129 //desiredSpeedRight = -50.0f; //50 RPM
cittecla 34:40d8d29b44b8 130 enableMotorDriver = 1;
cittecla 34:40d8d29b44b8 131 }
cittecla 34:40d8d29b44b8 132
cittecla 34:40d8d29b44b8 133 void set_speed(float left, float right)
cittecla 34:40d8d29b44b8 134 {
cittecla 34:40d8d29b44b8 135 desiredSpeedLeft = left+correction_value; //50 RPM
cittecla 34:40d8d29b44b8 136 desiredSpeedRight = -right; //50 RPM
cittecla 34:40d8d29b44b8 137 }
cittecla 34:40d8d29b44b8 138
cittecla 34:40d8d29b44b8 139
cittecla 34:40d8d29b44b8 140 void speedCtrl()
cittecla 34:40d8d29b44b8 141 {
cittecla 34:40d8d29b44b8 142 // Berechnen die effektiven Drehzahlen der Motoren in [rpm]
cittecla 34:40d8d29b44b8 143 short valueCounterLeft = counterLeft.read();
cittecla 34:40d8d29b44b8 144 short valueCounterRight = counterRight.read();
cittecla 34:40d8d29b44b8 145 short countsInPastPeriodLeft = valueCounterLeft-previousValueCounterLeft;
cittecla 34:40d8d29b44b8 146 short countsInPastPeriodRight = valueCounterRight-previousValueCounterRight;
cittecla 34:40d8d29b44b8 147
cittecla 34:40d8d29b44b8 148 previousValueCounterLeft = valueCounterLeft;
cittecla 34:40d8d29b44b8 149 previousValueCounterRight = valueCounterRight;
cittecla 34:40d8d29b44b8 150 actualSpeedLeft = speedLeftFilter.filter((float)countsInPastPeriodLeft /COUNTS_PER_TURN/PERIOD*60.0f);
cittecla 34:40d8d29b44b8 151 actualSpeedRight = speedRightFilter.filter((float)countsInPastPeriodRight /COUNTS_PER_TURN/PERIOD*60.0f);
cittecla 34:40d8d29b44b8 152
cittecla 34:40d8d29b44b8 153 // Berechnen der Motorspannungen Uout
cittecla 34:40d8d29b44b8 154 float voltageLeft = KP*(desiredSpeedLeft-actualSpeedLeft)+desiredSpeedLeft/KN;
cittecla 34:40d8d29b44b8 155 float voltageRight = KP*(desiredSpeedRight-actualSpeedRight)+desiredSpeedRight/KN;
cittecla 34:40d8d29b44b8 156
cittecla 34:40d8d29b44b8 157 // Berechnen, Limitieren und Setzen der Duty-Cycle
cittecla 34:40d8d29b44b8 158 float dutyCycleLeft = 0.5f+0.5f*voltageLeft/MAX_VOLTAGE;
cittecla 34:40d8d29b44b8 159 if (dutyCycleLeft < MIN_DUTY_CYCLE) dutyCycleLeft = MIN_DUTY_CYCLE;
cittecla 34:40d8d29b44b8 160 else if (dutyCycleLeft > MAX_DUTY_CYCLE) dutyCycleLeft = MAX_DUTY_CYCLE;
cittecla 34:40d8d29b44b8 161
cittecla 34:40d8d29b44b8 162 pwmLeft = dutyCycleLeft;
cittecla 34:40d8d29b44b8 163 float dutyCycleRight = 0.5f+0.5f*voltageRight/MAX_VOLTAGE;
cittecla 34:40d8d29b44b8 164 if (dutyCycleRight < MIN_DUTY_CYCLE) dutyCycleRight = MIN_DUTY_CYCLE;
cittecla 34:40d8d29b44b8 165 else if (dutyCycleRight > MAX_DUTY_CYCLE) dutyCycleRight = MAX_DUTY_CYCLE;
cittecla 34:40d8d29b44b8 166
cittecla 34:40d8d29b44b8 167 pwmRight = dutyCycleRight;
cittecla 34:40d8d29b44b8 168 }
cittecla 34:40d8d29b44b8 169
cittecla 34:40d8d29b44b8 170 //Sensors
cittecla 34:40d8d29b44b8 171 void Sensor_init()
cittecla 34:40d8d29b44b8 172 {
cittecla 34:40d8d29b44b8 173 for( int ii = 0; ii<6; ++ii)
cittecla 34:40d8d29b44b8 174 sensors[ii].init(&distance, &bit0, &bit1, &bit2, ii);
cittecla 34:40d8d29b44b8 175 }
cittecla 34:40d8d29b44b8 176
cittecla 34:40d8d29b44b8 177 float getDistanceIR(int number)
cittecla 34:40d8d29b44b8 178 {
cittecla 34:40d8d29b44b8 179 return sensors[number];
cittecla 34:40d8d29b44b8 180 }
cittecla 34:40d8d29b44b8 181
aeschsim 55:a1e6fb87d648 182 //Color
aeschsim 55:a1e6fb87d648 183 bool get_color() {
aeschsim 55:a1e6fb87d648 184 if (red == 0 && green == 1) {
aeschsim 55:a1e6fb87d648 185 return 1;
aeschsim 55:a1e6fb87d648 186 } else {
aeschsim 55:a1e6fb87d648 187 return 0;
aeschsim 55:a1e6fb87d648 188 }
aeschsim 55:a1e6fb87d648 189 }
aeschsim 55:a1e6fb87d648 190
cittecla 34:40d8d29b44b8 191 //IMU
cittecla 34:40d8d29b44b8 192 float read_acc_x()
cittecla 34:40d8d29b44b8 193 {
cittecla 34:40d8d29b44b8 194 return imu.readAccelerationX();
cittecla 34:40d8d29b44b8 195 }
cittecla 34:40d8d29b44b8 196
cittecla 34:40d8d29b44b8 197 float read_acc_y()
cittecla 34:40d8d29b44b8 198 {
cittecla 34:40d8d29b44b8 199 return imu.readAccelerationY();
cittecla 34:40d8d29b44b8 200 }
cittecla 34:40d8d29b44b8 201
cittecla 34:40d8d29b44b8 202 float read_acc_z()
cittecla 34:40d8d29b44b8 203 {
cittecla 34:40d8d29b44b8 204 return imu.readAccelerationZ();
cittecla 34:40d8d29b44b8 205 }
cittecla 34:40d8d29b44b8 206
cittecla 34:40d8d29b44b8 207 float read_gyr_x()
cittecla 34:40d8d29b44b8 208 {
cittecla 34:40d8d29b44b8 209 return imu.readGyroX();
cittecla 34:40d8d29b44b8 210 }
cittecla 34:40d8d29b44b8 211
cittecla 34:40d8d29b44b8 212 float read_gyr_y()
cittecla 34:40d8d29b44b8 213 {
cittecla 34:40d8d29b44b8 214 return imu.readGyroY();
cittecla 34:40d8d29b44b8 215 }
cittecla 34:40d8d29b44b8 216
cittecla 34:40d8d29b44b8 217 float read_gyr_z()
cittecla 34:40d8d29b44b8 218 {
cittecla 34:40d8d29b44b8 219 return imu.readGyroZ();
cittecla 34:40d8d29b44b8 220 }
cittecla 34:40d8d29b44b8 221
cittecla 34:40d8d29b44b8 222 float read_heading()
cittecla 34:40d8d29b44b8 223 {
cittecla 38:3526c36e4c73 224 double deg = (double)(180.0f/(double)M_PI*imu.readHeading());
cittecla 38:3526c36e4c73 225 return deg;
cittecla 34:40d8d29b44b8 226 }
cittecla 34:40d8d29b44b8 227
cittecla 34:40d8d29b44b8 228
cittecla 34:40d8d29b44b8 229 // Servo I2C
aeschsim 55:a1e6fb87d648 230
aeschsim 55:a1e6fb87d648 231
aeschsim 55:a1e6fb87d648 232 void init_servo(int freq)
aeschsim 55:a1e6fb87d648 233 {
aeschsim 55:a1e6fb87d648 234 char data[2];
aeschsim 55:a1e6fb87d648 235
aeschsim 55:a1e6fb87d648 236 //Reset
aeschsim 55:a1e6fb87d648 237 data[0] = (char) MODE1;
aeschsim 55:a1e6fb87d648 238 data[1] = (char) SLEEP;
aeschsim 55:a1e6fb87d648 239 i2c.write((ADRESS<<1), data,2);
aeschsim 55:a1e6fb87d648 240
aeschsim 55:a1e6fb87d648 241 wait_ms(1);
aeschsim 55:a1e6fb87d648 242
aeschsim 55:a1e6fb87d648 243 float prescaleval = 25000000.0; //25MHz
aeschsim 55:a1e6fb87d648 244 prescaleval /= 4096.0f; //12-Bit
aeschsim 42:08b3aea29254 245 prescaleval /= (float)freq;
aeschsim 43:9f291a496db8 246 prescaleval -= 1.0f;
aeschsim 55:a1e6fb87d648 247 char prescale = (char)(prescaleval); //0x64 bei 50Hz
aeschsim 55:a1e6fb87d648 248
aeschsim 55:a1e6fb87d648 249 data[0] = (char) PRESCALE;
aeschsim 55:a1e6fb87d648 250 data[1] = prescale;
aeschsim 55:a1e6fb87d648 251 i2c.write((ADRESS<<1), data,2);
aeschsim 55:a1e6fb87d648 252
aeschsim 55:a1e6fb87d648 253 data[0] = (char) MODE1;
aeschsim 55:a1e6fb87d648 254 data[1] = 0x00; //wake up
aeschsim 55:a1e6fb87d648 255 i2c.write((ADRESS<<1), data,2);
aeschsim 55:a1e6fb87d648 256
aeschsim 55:a1e6fb87d648 257 wait_ms(1);
aeschsim 42:08b3aea29254 258
aeschsim 55:a1e6fb87d648 259 data[0] = (char) MODE1;
aeschsim 55:a1e6fb87d648 260 data[1] = 0x80; //do restart
aeschsim 55:a1e6fb87d648 261 i2c.write((ADRESS<<1), data,2);
aeschsim 55:a1e6fb87d648 262
aeschsim 55:a1e6fb87d648 263 wait_ms(1);
aeschsim 55:a1e6fb87d648 264
aeschsim 55:a1e6fb87d648 265 data[0] = (char) MODE2;
aeschsim 55:a1e6fb87d648 266 data[1] = (char) 0x04;
aeschsim 55:a1e6fb87d648 267 i2c.write((ADRESS<<1), data,2);
aeschsim 55:a1e6fb87d648 268
aeschsim 55:a1e6fb87d648 269 wait_ms(1);
aeschsim 55:a1e6fb87d648 270
aeschsim 55:a1e6fb87d648 271 printf("init done...\r\n");
aeschsim 55:a1e6fb87d648 272 }
aeschsim 42:08b3aea29254 273
aeschsim 55:a1e6fb87d648 274 void set_servo_position(int servo, int deg)
aeschsim 55:a1e6fb87d648 275 {
aeschsim 55:a1e6fb87d648 276 if (deg < 0 || deg > 4095) {
aeschsim 55:a1e6fb87d648 277 deg = 300;
cittecla 34:40d8d29b44b8 278 }
aeschsim 55:a1e6fb87d648 279 char data[2];
aeschsim 55:a1e6fb87d648 280 int16_t wert1 = (deg>>8);
aeschsim 55:a1e6fb87d648 281 int16_t wert2 = (deg & 0xFF);
aeschsim 55:a1e6fb87d648 282 printf("%x %x servo deg\r\n",wert1,wert2);
aeschsim 55:a1e6fb87d648 283
aeschsim 55:a1e6fb87d648 284 data[0] = (char)LED0_ON_L+(4*servo);
aeschsim 55:a1e6fb87d648 285 data[1] = 0x00;
aeschsim 55:a1e6fb87d648 286 i2c.write((ADRESS<<1), data,2);
aeschsim 55:a1e6fb87d648 287
aeschsim 55:a1e6fb87d648 288 data[0] = (char)LED0_ON_H+(4*servo);
aeschsim 55:a1e6fb87d648 289 data[1] = 0x00;
aeschsim 55:a1e6fb87d648 290 i2c.write((ADRESS<<1), data,2);
aeschsim 55:a1e6fb87d648 291
aeschsim 55:a1e6fb87d648 292 data[0] = (char)LED0_OFF_L+(4*servo);
aeschsim 55:a1e6fb87d648 293 data[1] = (char)wert2;
aeschsim 55:a1e6fb87d648 294 i2c.write((ADRESS<<1), data,2);
aeschsim 55:a1e6fb87d648 295
aeschsim 55:a1e6fb87d648 296 data[0] = (char)LED0_OFF_H+(4*servo);
aeschsim 55:a1e6fb87d648 297 data[1] = (char)wert1;
aeschsim 55:a1e6fb87d648 298 i2c.write((ADRESS<<1), data,2);
aeschsim 55:a1e6fb87d648 299 }
aeschsim 55:a1e6fb87d648 300
aeschsim 55:a1e6fb87d648 301 int getPWM(uint8_t servo)
aeschsim 55:a1e6fb87d648 302 {
aeschsim 55:a1e6fb87d648 303 char read = 255;
aeschsim 55:a1e6fb87d648 304 char secondread = 255;
aeschsim 55:a1e6fb87d648 305 char data;
aeschsim 55:a1e6fb87d648 306 data = (char)(LED0_ON_L+(4*servo));
aeschsim 55:a1e6fb87d648 307 i2c.write((ADRESS<<1), &data, 1, 1);
aeschsim 55:a1e6fb87d648 308 i2c.read((ADRESS<<1), &read, 1, 0);
aeschsim 55:a1e6fb87d648 309 data = (char)(LED0_ON_H+(4*servo));
aeschsim 55:a1e6fb87d648 310 i2c.write((ADRESS<<1), &data, 1, 1);
aeschsim 55:a1e6fb87d648 311 i2c.read((ADRESS<<1), &secondread, 1, 0);
aeschsim 55:a1e6fb87d648 312 printf("LED %d ON_L: %x ON_H: %x\r\n",servo, read, secondread);
aeschsim 55:a1e6fb87d648 313 return (int)read;
aeschsim 55:a1e6fb87d648 314 }
aeschsim 55:a1e6fb87d648 315
aeschsim 55:a1e6fb87d648 316 int getPRESCALE(void)
aeschsim 55:a1e6fb87d648 317 {
aeschsim 55:a1e6fb87d648 318 char read = 255;
aeschsim 55:a1e6fb87d648 319 char data;
aeschsim 55:a1e6fb87d648 320 data = (char)(PRESCALE);
aeschsim 55:a1e6fb87d648 321 i2c.write((ADRESS<<1), &data, 1, 1);
aeschsim 55:a1e6fb87d648 322 i2c.read((ADRESS<<1), &read, 1, 0);
aeschsim 55:a1e6fb87d648 323 printf("read Prescale value: >>%x<<\r\n",read);
aeschsim 55:a1e6fb87d648 324 return (int)read;
aeschsim 55:a1e6fb87d648 325 }
cittecla 34:40d8d29b44b8 326
cittecla 34:40d8d29b44b8 327 void enable_servos(){
aeschsim 55:a1e6fb87d648 328 Servo_enable = 0;
cittecla 34:40d8d29b44b8 329 }
cittecla 34:40d8d29b44b8 330
cittecla 34:40d8d29b44b8 331 void disable_servos(){
aeschsim 55:a1e6fb87d648 332 Servo_enable = 1;
cittecla 34:40d8d29b44b8 333 }