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@136:906ac19fb850, 2017-05-22 (annotated)

Committer:
PESGruppe1
Date:
Mon May 22 13:18:13 2017 +0000
Revision:
136:906ac19fb850
Parent:
132:8ae08f41bb43 
New finepostitioning mit vor und zur?ckdrehen 1 grad;

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 120:cdf7a6751f9e 25 #define servo0center 350
cittecla 120:cdf7a6751f9e 26 #define servo2center 480
aeschsim 73:f7657ddb7827 27
cittecla 89:7f9d6e641a01 28 DigitalIn user(USER_BUTTON);
cittecla 34:40d8d29b44b8 29
cittecla 34:40d8d29b44b8 30 const float PERIOD = 0.001f; // period of control task, given in [s]
cittecla 34:40d8d29b44b8 31 const float COUNTS_PER_TURN = 1200.0f; // resolution of encoder counter
cittecla 34:40d8d29b44b8 32 const float LOWPASS_FILTER_FREQUENCY = 300.0f; // frequency of lowpass filter for actual speed values, given in [rad/s]
cittecla 34:40d8d29b44b8 33 const float KN = 40.0f; // speed constant of motor, given in [rpm/V]
cittecla 34:40d8d29b44b8 34 const float KP = 0.2f; // speed controller gain, given in [V/rpm]
cittecla 34:40d8d29b44b8 35 const float MAX_VOLTAGE = 12.0f; // supply voltage for power stage in [V]
cittecla 34:40d8d29b44b8 36 const float MIN_DUTY_CYCLE = 0.02f; // minimum allowed value for duty cycle (2%)
cittecla 34:40d8d29b44b8 37 const float MAX_DUTY_CYCLE = 0.98f; // maximum allowed value for duty cycle (98%)
cittecla 34:40d8d29b44b8 38 const float correction_value = 2.45f; // correction value for desired speed
cittecla 61:628f8a4e857c 39
cittecla 34:40d8d29b44b8 40 LowpassFilter speedLeftFilter;
cittecla 34:40d8d29b44b8 41 LowpassFilter speedRightFilter;
cittecla 34:40d8d29b44b8 42
cittecla 34:40d8d29b44b8 43 //Motor stuff
aeschsim 99:78d87027c85b 44 Ticker t4;
cittecla 34:40d8d29b44b8 45 EncoderCounter counterLeft(PB_6, PB_7);
cittecla 34:40d8d29b44b8 46 EncoderCounter counterRight(PA_6, PC_7);
cittecla 34:40d8d29b44b8 47
cittecla 34:40d8d29b44b8 48 DigitalOut enableMotorDriver(PB_2);
cittecla 34:40d8d29b44b8 49 PwmOut pwmLeft(PA_8);
cittecla 34:40d8d29b44b8 50 PwmOut pwmRight(PA_9);
cittecla 34:40d8d29b44b8 51
cittecla 34:40d8d29b44b8 52 DigitalOut my_led(LED1);
cittecla 34:40d8d29b44b8 53
cittecla 89:7f9d6e641a01 54 short previousValueCounterRight = 0;
cittecla 89:7f9d6e641a01 55 short previousValueCounterLeft = 0;
cittecla 89:7f9d6e641a01 56
cittecla 89:7f9d6e641a01 57 float desiredSpeedLeft = 0;
cittecla 89:7f9d6e641a01 58 float desiredSpeedRight = 0;
cittecla 89:7f9d6e641a01 59
cittecla 89:7f9d6e641a01 60 float actualSpeedLeft;
cittecla 89:7f9d6e641a01 61 float actualSpeedRight;
cittecla 89:7f9d6e641a01 62
cittecla 89:7f9d6e641a01 63
cittecla 34:40d8d29b44b8 64 //Periphery for distance sensors
cittecla 34:40d8d29b44b8 65 AnalogIn distance(PB_1);
aeschsim 55:a1e6fb87d648 66 AnalogIn distance2(PA_1);
cittecla 80:92b9d083322d 67 DigitalOut IRenable(PC_1);
cittecla 34:40d8d29b44b8 68 DigitalOut bit0(PH_1);
cittecla 34:40d8d29b44b8 69 DigitalOut bit1(PC_2);
cittecla 34:40d8d29b44b8 70 DigitalOut bit2(PC_3);
cittecla 34:40d8d29b44b8 71
cittecla 34:40d8d29b44b8 72 IRSensor sensors[6];
cittecla 34:40d8d29b44b8 73
cittecla 34:40d8d29b44b8 74 //indicator leds arround robot
cittecla 34:40d8d29b44b8 75 DigitalOut leds[] = { PC_8, PC_6, PB_12, PA_7, PC_0, PC_9 };
cittecla 34:40d8d29b44b8 76
cittecla 34:40d8d29b44b8 77
cittecla 34:40d8d29b44b8 78 //Periphery for the IMU
cittecla 34:40d8d29b44b8 79 SPI spi(PC_12, PC_11, PC_10);
cittecla 34:40d8d29b44b8 80 DigitalOut csG(PA_15);
cittecla 34:40d8d29b44b8 81 DigitalOut csXM(PD_2);
cittecla 34:40d8d29b44b8 82
cittecla 34:40d8d29b44b8 83 IMU imu(spi, csG, csXM);
cittecla 34:40d8d29b44b8 84
cittecla 34:40d8d29b44b8 85 //Periphery for I2C
cittecla 34:40d8d29b44b8 86 I2C i2c(PB_9, PB_8);
cittecla 34:40d8d29b44b8 87 DigitalOut Servo_enable(PA_10);
cittecla 34:40d8d29b44b8 88
aeschsim 55:a1e6fb87d648 89 //Color sensor
cittecla 60:b57577b0072f 90 DigitalIn red(PB_13);
cittecla 60:b57577b0072f 91 DigitalIn green(PC_4);
cittecla 34:40d8d29b44b8 92
cittecla 34:40d8d29b44b8 93
cittecla 34:40d8d29b44b8 94
cittecla 61:628f8a4e857c 95 bool get_user()
aeschsim 55:a1e6fb87d648 96 {
aeschsim 55:a1e6fb87d648 97 return user;
cittecla 61:628f8a4e857c 98 }
cittecla 34:40d8d29b44b8 99
cittecla 34:40d8d29b44b8 100
cittecla 34:40d8d29b44b8 101 void Robot_init_all()
cittecla 34:40d8d29b44b8 102 {
cittecla 34:40d8d29b44b8 103 Speedcontroller_init();
cittecla 93:837a13760026 104 Sensor_init();
cittecla 93:837a13760026 105 init_servo(60);
cittecla 34:40d8d29b44b8 106 }
cittecla 34:40d8d29b44b8 107
cittecla 34:40d8d29b44b8 108 //speed controll
cittecla 34:40d8d29b44b8 109 void Speedcontroller_init()
cittecla 34:40d8d29b44b8 110 {
cittecla 34:40d8d29b44b8 111 // Initialisieren der PWM Ausgaenge pwmLeft.period(0.00005f); // PWM Periode von 50 us
cittecla 34:40d8d29b44b8 112 pwmLeft.period(0.00005f); // Setzt die Periode auf 50 μs
cittecla 34:40d8d29b44b8 113 pwmRight.period(0.00005f);
cittecla 34:40d8d29b44b8 114 pwmLeft = 0.5f; // Duty-Cycle von 50% pwmRight.period(0.00005f); // PWM Periode von 50 us
cittecla 34:40d8d29b44b8 115 pwmRight = 0.5f; // Duty-Cycle von 50%
cittecla 34:40d8d29b44b8 116
cittecla 34:40d8d29b44b8 117 // Initialisieren von lokalen Variabeln
cittecla 34:40d8d29b44b8 118 previousValueCounterLeft = counterLeft.read();
cittecla 34:40d8d29b44b8 119 previousValueCounterRight = counterRight.read();
cittecla 34:40d8d29b44b8 120 speedLeftFilter.setPeriod(PERIOD);
cittecla 34:40d8d29b44b8 121 speedLeftFilter.setFrequency(LOWPASS_FILTER_FREQUENCY);
cittecla 34:40d8d29b44b8 122 speedRightFilter.setPeriod(PERIOD);
cittecla 34:40d8d29b44b8 123 speedRightFilter.setFrequency(LOWPASS_FILTER_FREQUENCY);
cittecla 34:40d8d29b44b8 124
cittecla 34:40d8d29b44b8 125 desiredSpeedLeft = 0.0f;
cittecla 34:40d8d29b44b8 126 desiredSpeedRight = 0.0f;
cittecla 34:40d8d29b44b8 127 actualSpeedLeft = 0.0f;
cittecla 34:40d8d29b44b8 128 actualSpeedRight = 0.0f;
cittecla 34:40d8d29b44b8 129
cittecla 88:b89cace9329b 130
aeschsim 99:78d87027c85b 131 t4.attach( &speedCtrl, PERIOD);
cittecla 34:40d8d29b44b8 132
cittecla 89:7f9d6e641a01 133 //desiredSpeedLeft = 50.0f+correction_value; //50 RPM
cittecla 89:7f9d6e641a01 134 //desiredSpeedRight = -50.0f; //50 RPM
cittecla 34:40d8d29b44b8 135 enableMotorDriver = 1;
cittecla 34:40d8d29b44b8 136 }
cittecla 34:40d8d29b44b8 137
cittecla 126:d0b2057272d0 138 void disable_motors()
cittecla 126:d0b2057272d0 139 {
cittecla 126:d0b2057272d0 140 enableMotorDriver = 0;
cittecla 126:d0b2057272d0 141 }
cittecla 126:d0b2057272d0 142
cittecla 34:40d8d29b44b8 143 void set_speed(float left, float right)
cittecla 34:40d8d29b44b8 144 {
cittecla 94:0381e8b1beda 145 enableMotorDriver = 0;
cittecla 34:40d8d29b44b8 146 desiredSpeedLeft = left+correction_value; //50 RPM
cittecla 34:40d8d29b44b8 147 desiredSpeedRight = -right; //50 RPM
cittecla 89:7f9d6e641a01 148 enableMotorDriver = 1;
cittecla 132:8ae08f41bb43 149 //printf("real speed set as: %f\r\n",desiredSpeedLeft);
cittecla 34:40d8d29b44b8 150 }
cittecla 34:40d8d29b44b8 151
cittecla 61:628f8a4e857c 152 float get_speed_left()
cittecla 61:628f8a4e857c 153 {
cittecla 61:628f8a4e857c 154 return actualSpeedLeft;
cittecla 61:628f8a4e857c 155 }
cittecla 61:628f8a4e857c 156
cittecla 61:628f8a4e857c 157 float get_speed_right()
cittecla 61:628f8a4e857c 158 {
cittecla 61:628f8a4e857c 159 return actualSpeedRight;
cittecla 61:628f8a4e857c 160 }
cittecla 61:628f8a4e857c 161
cittecla 34:40d8d29b44b8 162
cittecla 34:40d8d29b44b8 163 void speedCtrl()
cittecla 34:40d8d29b44b8 164 {
cittecla 34:40d8d29b44b8 165 // Berechnen die effektiven Drehzahlen der Motoren in [rpm]
cittecla 34:40d8d29b44b8 166 short valueCounterLeft = counterLeft.read();
cittecla 34:40d8d29b44b8 167 short valueCounterRight = counterRight.read();
cittecla 34:40d8d29b44b8 168 short countsInPastPeriodLeft = valueCounterLeft-previousValueCounterLeft;
cittecla 34:40d8d29b44b8 169 short countsInPastPeriodRight = valueCounterRight-previousValueCounterRight;
cittecla 34:40d8d29b44b8 170
cittecla 34:40d8d29b44b8 171 previousValueCounterLeft = valueCounterLeft;
cittecla 34:40d8d29b44b8 172 previousValueCounterRight = valueCounterRight;
cittecla 34:40d8d29b44b8 173 actualSpeedLeft = speedLeftFilter.filter((float)countsInPastPeriodLeft /COUNTS_PER_TURN/PERIOD*60.0f);
cittecla 34:40d8d29b44b8 174 actualSpeedRight = speedRightFilter.filter((float)countsInPastPeriodRight /COUNTS_PER_TURN/PERIOD*60.0f);
cittecla 34:40d8d29b44b8 175
cittecla 34:40d8d29b44b8 176 // Berechnen der Motorspannungen Uout
cittecla 34:40d8d29b44b8 177 float voltageLeft = KP*(desiredSpeedLeft-actualSpeedLeft)+desiredSpeedLeft/KN;
cittecla 34:40d8d29b44b8 178 float voltageRight = KP*(desiredSpeedRight-actualSpeedRight)+desiredSpeedRight/KN;
cittecla 34:40d8d29b44b8 179
cittecla 34:40d8d29b44b8 180 // Berechnen, Limitieren und Setzen der Duty-Cycle
cittecla 34:40d8d29b44b8 181 float dutyCycleLeft = 0.5f+0.5f*voltageLeft/MAX_VOLTAGE;
cittecla 34:40d8d29b44b8 182 if (dutyCycleLeft < MIN_DUTY_CYCLE) dutyCycleLeft = MIN_DUTY_CYCLE;
cittecla 34:40d8d29b44b8 183 else if (dutyCycleLeft > MAX_DUTY_CYCLE) dutyCycleLeft = MAX_DUTY_CYCLE;
cittecla 34:40d8d29b44b8 184 pwmLeft = dutyCycleLeft;
cittecla 94:0381e8b1beda 185
cittecla 34:40d8d29b44b8 186 float dutyCycleRight = 0.5f+0.5f*voltageRight/MAX_VOLTAGE;
cittecla 34:40d8d29b44b8 187 if (dutyCycleRight < MIN_DUTY_CYCLE) dutyCycleRight = MIN_DUTY_CYCLE;
cittecla 34:40d8d29b44b8 188 else if (dutyCycleRight > MAX_DUTY_CYCLE) dutyCycleRight = MAX_DUTY_CYCLE;
cittecla 34:40d8d29b44b8 189 pwmRight = dutyCycleRight;
cittecla 34:40d8d29b44b8 190 }
cittecla 34:40d8d29b44b8 191
cittecla 34:40d8d29b44b8 192 //Sensors
cittecla 34:40d8d29b44b8 193 void Sensor_init()
cittecla 34:40d8d29b44b8 194 {
cittecla 34:40d8d29b44b8 195 for( int ii = 0; ii<6; ++ii)
cittecla 72:4e8a151d804e 196 sensors[ii].init(&distance,&distance2, &bit0, &bit1, &bit2, ii);
cittecla 80:92b9d083322d 197 IRenable = 1;
cittecla 94:0381e8b1beda 198 }
cittecla 94:0381e8b1beda 199
cittecla 117:66d64dbd1b36 200
cittecla 34:40d8d29b44b8 201
cittecla 34:40d8d29b44b8 202 float getDistanceIR(int number)
cittecla 34:40d8d29b44b8 203 {
cittecla 34:40d8d29b44b8 204 return sensors[number];
cittecla 34:40d8d29b44b8 205 }
cittecla 34:40d8d29b44b8 206
aeschsim 55:a1e6fb87d648 207 //Color
cittecla 61:628f8a4e857c 208 bool get_color()
cittecla 61:628f8a4e857c 209 {
aeschsim 81:956f65714207 210 if (red == 1 && green == 0) { //Active - LOW
aeschsim 55:a1e6fb87d648 211 return 1;
aeschsim 55:a1e6fb87d648 212 } else {
aeschsim 55:a1e6fb87d648 213 return 0;
aeschsim 55:a1e6fb87d648 214 }
aeschsim 55:a1e6fb87d648 215 }
aeschsim 55:a1e6fb87d648 216
cittecla 34:40d8d29b44b8 217 //IMU
cittecla 34:40d8d29b44b8 218 float read_acc_x()
cittecla 34:40d8d29b44b8 219 {
cittecla 34:40d8d29b44b8 220 return imu.readAccelerationX();
cittecla 34:40d8d29b44b8 221 }
cittecla 34:40d8d29b44b8 222
cittecla 34:40d8d29b44b8 223 float read_acc_y()
cittecla 34:40d8d29b44b8 224 {
cittecla 34:40d8d29b44b8 225 return imu.readAccelerationY();
cittecla 34:40d8d29b44b8 226 }
cittecla 34:40d8d29b44b8 227
cittecla 34:40d8d29b44b8 228 float read_acc_z()
cittecla 34:40d8d29b44b8 229 {
cittecla 34:40d8d29b44b8 230 return imu.readAccelerationZ();
cittecla 34:40d8d29b44b8 231 }
cittecla 34:40d8d29b44b8 232
cittecla 34:40d8d29b44b8 233 float read_gyr_x()
cittecla 34:40d8d29b44b8 234 {
cittecla 34:40d8d29b44b8 235 return imu.readGyroX();
cittecla 34:40d8d29b44b8 236 }
cittecla 34:40d8d29b44b8 237
cittecla 34:40d8d29b44b8 238 float read_gyr_y()
cittecla 34:40d8d29b44b8 239 {
cittecla 34:40d8d29b44b8 240 return imu.readGyroY();
cittecla 34:40d8d29b44b8 241 }
cittecla 34:40d8d29b44b8 242
cittecla 34:40d8d29b44b8 243 float read_gyr_z()
cittecla 34:40d8d29b44b8 244 {
cittecla 34:40d8d29b44b8 245 return imu.readGyroZ();
cittecla 34:40d8d29b44b8 246 }
cittecla 34:40d8d29b44b8 247
cittecla 34:40d8d29b44b8 248 float read_heading()
cittecla 34:40d8d29b44b8 249 {
cittecla 38:3526c36e4c73 250 double deg = (double)(180.0f/(double)M_PI*imu.readHeading());
cittecla 38:3526c36e4c73 251 return deg;
cittecla 34:40d8d29b44b8 252 }
cittecla 34:40d8d29b44b8 253
cittecla 34:40d8d29b44b8 254
cittecla 34:40d8d29b44b8 255 // Servo I2C
aeschsim 55:a1e6fb87d648 256
aeschsim 55:a1e6fb87d648 257
aeschsim 55:a1e6fb87d648 258 void init_servo(int freq)
aeschsim 55:a1e6fb87d648 259 {
aeschsim 55:a1e6fb87d648 260 char data[2];
aeschsim 55:a1e6fb87d648 261 //Reset
aeschsim 55:a1e6fb87d648 262 data[0] = (char) MODE1;
cittecla 61:628f8a4e857c 263 data[1] = (char) SLEEP;
aeschsim 55:a1e6fb87d648 264 i2c.write((ADRESS<<1), data,2);
cittecla 61:628f8a4e857c 265
aeschsim 55:a1e6fb87d648 266 wait_ms(1);
cittecla 61:628f8a4e857c 267
aeschsim 55:a1e6fb87d648 268 float prescaleval = 25000000.0; //25MHz
aeschsim 55:a1e6fb87d648 269 prescaleval /= 4096.0f; //12-Bit
aeschsim 42:08b3aea29254 270 prescaleval /= (float)freq;
aeschsim 43:9f291a496db8 271 prescaleval -= 1.0f;
aeschsim 55:a1e6fb87d648 272 char prescale = (char)(prescaleval); //0x64 bei 50Hz
cittecla 61:628f8a4e857c 273
aeschsim 55:a1e6fb87d648 274 data[0] = (char) PRESCALE;
aeschsim 55:a1e6fb87d648 275 data[1] = prescale;
aeschsim 55:a1e6fb87d648 276 i2c.write((ADRESS<<1), data,2);
cittecla 61:628f8a4e857c 277
aeschsim 55:a1e6fb87d648 278 data[0] = (char) MODE1;
aeschsim 55:a1e6fb87d648 279 data[1] = 0x00; //wake up
aeschsim 55:a1e6fb87d648 280 i2c.write((ADRESS<<1), data,2);
cittecla 61:628f8a4e857c 281
aeschsim 55:a1e6fb87d648 282 wait_ms(1);
cittecla 61:628f8a4e857c 283
aeschsim 55:a1e6fb87d648 284 data[0] = (char) MODE1;
cittecla 61:628f8a4e857c 285 data[1] = 0x80; //do restart
aeschsim 55:a1e6fb87d648 286 i2c.write((ADRESS<<1), data,2);
cittecla 61:628f8a4e857c 287
aeschsim 55:a1e6fb87d648 288 wait_ms(1);
cittecla 61:628f8a4e857c 289
aeschsim 55:a1e6fb87d648 290 data[0] = (char) MODE2;
aeschsim 55:a1e6fb87d648 291 data[1] = (char) 0x04;
aeschsim 55:a1e6fb87d648 292 i2c.write((ADRESS<<1), data,2);
cittecla 61:628f8a4e857c 293
aeschsim 55:a1e6fb87d648 294 wait_ms(1);
aeschsim 55:a1e6fb87d648 295
aeschsim 55:a1e6fb87d648 296 printf("init done...\r\n");
aeschsim 55:a1e6fb87d648 297 }
aeschsim 42:08b3aea29254 298
aeschsim 55:a1e6fb87d648 299 void set_servo_position(int servo, int deg)
aeschsim 55:a1e6fb87d648 300 {
cittecla 62:c2fcf3b349e9 301 // Servo 0 = IR_left
cittecla 62:c2fcf3b349e9 302 // Servo 2 = IR_right
cittecla 62:c2fcf3b349e9 303 // Servo 4 = Arm_1
cittecla 62:c2fcf3b349e9 304 // Servo 6 = Arm_2
cittecla 62:c2fcf3b349e9 305 // Servo 8 = Grabber
aeschsim 73:f7657ddb7827 306 if (servo == 0) {
cittecla 120:cdf7a6751f9e 307 deg = servo0center - 3.25*deg;
aeschsim 73:f7657ddb7827 308 }
aeschsim 73:f7657ddb7827 309 if (servo == 2) {
cittecla 120:cdf7a6751f9e 310 deg = (int)((float)servo2center - 3.75f*(float)deg);
aeschsim 73:f7657ddb7827 311 }
cittecla 94:0381e8b1beda 312
aeschsim 73:f7657ddb7827 313 //only for tests with putty
aeschsim 55:a1e6fb87d648 314 if (deg < 0 || deg > 4095) {
aeschsim 55:a1e6fb87d648 315 deg = 300;
cittecla 94:0381e8b1beda 316 }
aeschsim 55:a1e6fb87d648 317 char data[2];
aeschsim 55:a1e6fb87d648 318 int16_t wert1 = (deg>>8);
aeschsim 55:a1e6fb87d648 319 int16_t wert2 = (deg & 0xFF);
cittecla 120:cdf7a6751f9e 320 //printf("%x %x servo deg\r\n",wert1,wert2);
cittecla 61:628f8a4e857c 321
aeschsim 55:a1e6fb87d648 322 data[0] = (char)LED0_ON_L+(4*servo);
aeschsim 55:a1e6fb87d648 323 data[1] = 0x00;
aeschsim 55:a1e6fb87d648 324 i2c.write((ADRESS<<1), data,2);
cittecla 61:628f8a4e857c 325
aeschsim 55:a1e6fb87d648 326 data[0] = (char)LED0_ON_H+(4*servo);
aeschsim 55:a1e6fb87d648 327 data[1] = 0x00;
aeschsim 55:a1e6fb87d648 328 i2c.write((ADRESS<<1), data,2);
cittecla 61:628f8a4e857c 329
aeschsim 55:a1e6fb87d648 330 data[0] = (char)LED0_OFF_L+(4*servo);
aeschsim 55:a1e6fb87d648 331 data[1] = (char)wert2;
aeschsim 55:a1e6fb87d648 332 i2c.write((ADRESS<<1), data,2);
cittecla 61:628f8a4e857c 333
aeschsim 55:a1e6fb87d648 334 data[0] = (char)LED0_OFF_H+(4*servo);
aeschsim 55:a1e6fb87d648 335 data[1] = (char)wert1;
cittecla 61:628f8a4e857c 336 i2c.write((ADRESS<<1), data,2);
aeschsim 55:a1e6fb87d648 337 }
aeschsim 55:a1e6fb87d648 338
cittecla 61:628f8a4e857c 339 int getPWM(uint8_t servo)
aeschsim 55:a1e6fb87d648 340 {
aeschsim 55:a1e6fb87d648 341 char read = 255;
aeschsim 55:a1e6fb87d648 342 char secondread = 255;
aeschsim 55:a1e6fb87d648 343 char data;
aeschsim 55:a1e6fb87d648 344 data = (char)(LED0_ON_L+(4*servo));
aeschsim 55:a1e6fb87d648 345 i2c.write((ADRESS<<1), &data, 1, 1);
aeschsim 55:a1e6fb87d648 346 i2c.read((ADRESS<<1), &read, 1, 0);
aeschsim 55:a1e6fb87d648 347 data = (char)(LED0_ON_H+(4*servo));
aeschsim 55:a1e6fb87d648 348 i2c.write((ADRESS<<1), &data, 1, 1);
aeschsim 55:a1e6fb87d648 349 i2c.read((ADRESS<<1), &secondread, 1, 0);
aeschsim 55:a1e6fb87d648 350 printf("LED %d ON_L: %x ON_H: %x\r\n",servo, read, secondread);
aeschsim 55:a1e6fb87d648 351 return (int)read;
aeschsim 55:a1e6fb87d648 352 }
aeschsim 55:a1e6fb87d648 353
cittecla 61:628f8a4e857c 354 int getPRESCALE(void)
aeschsim 55:a1e6fb87d648 355 {
aeschsim 55:a1e6fb87d648 356 char read = 255;
aeschsim 55:a1e6fb87d648 357 char data;
aeschsim 55:a1e6fb87d648 358 data = (char)(PRESCALE);
aeschsim 55:a1e6fb87d648 359 i2c.write((ADRESS<<1), &data, 1, 1);
aeschsim 55:a1e6fb87d648 360 i2c.read((ADRESS<<1), &read, 1, 0);
aeschsim 55:a1e6fb87d648 361 printf("read Prescale value: >>%x<<\r\n",read);
aeschsim 55:a1e6fb87d648 362 return (int)read;
aeschsim 55:a1e6fb87d648 363 }
cittecla 61:628f8a4e857c 364
cittecla 61:628f8a4e857c 365 void enable_servos()
cittecla 61:628f8a4e857c 366 {
aeschsim 55:a1e6fb87d648 367 Servo_enable = 0;
cittecla 61:628f8a4e857c 368 }
cittecla 61:628f8a4e857c 369
cittecla 61:628f8a4e857c 370 void disable_servos()
cittecla 61:628f8a4e857c 371 {
aeschsim 55:a1e6fb87d648 372 Servo_enable = 1;
cittecla 61:628f8a4e857c 373 }