#define F_CPU 20000000UL // Baby Orangutan frequency (20MHz)
#include <avr/io.h>
#include <util/delay.h>
//Leds. Salidas.
#define LEDP PORTD1
#define LEDV PORTB1
#define LEDR PORTD0
//Interruptores. Entradas.
#define SW1 PORTB0
#define SW2 PORTB2
//Sensores. Entradas y salidas.
#define D3 PORTD7
#define D2 PORTD4
#define D1 PORTD2
#define D0 PORTB5
#define I0 PORTB4
#define I1 PORTC3
#define I2 PORTC2
#define I3 PORTC1
#define LED_ON PORTC0
void inicializar_puertos(void);
void reset(void);
void M1_forward(unsigned char pwm);
void M1_reverse(unsigned char pwm);
void M2_forward(unsigned char pwm);
void M2_reverse(unsigned char pwm);
void motors_init(void);
char obtener_errorp(void);
int main( void )
{
int errorp = 0;
inicializar_puertos();
motors_init();
reset();
PORTD |= (1<<LEDR); //Diodos encendidos.
PORTB |= (1<<LEDV);
PORTC |= (1<<LED_ON); //Se encienden los sensores.
M1_forward(0); //Motor derecho.
M2_forward(0); //Motor izquierdo.
while ( 1 )
{
errorp = obtener_errorp();
if(errorp == 0)
{
M1_forward(110); //Motor derecho.
M2_forward(110); //Motor
izquierdo.
}
else if(errorp < 0)
{
errorp = errorp*(-10);
if(errorp>90)
errorp=90;
M1_forward(90);
//Motor
derecho.
M2_forward(90-(unsigned char)errorp); //Motor izquierdo.
}
else
{
errorp = errorp*(10);
if(errorp>90)
errorp=90;
M1_forward(90-(unsigned char)errorp);
//Motor derecho.
M2_forward(90);
//Motor izquierdo.
}
_delay_ms(10);
}
return 0;
}
void inicializar_puertos(void)
{
DDRD=0x6B; //0110 1011 0,1,3,5,6 Salidas
PORTD=0x00;
DDRB=0x0A; //0000 1010 1,3 Salidas
PORTB=0x00;
DDRC=0x01; //0000 0001 0 Salida
PORTC=0x00;
}
void reset(void)
{
PORTD |= (1<<LEDP); //Encendemos Led en Baby Orangutan.
_delay_ms(300);
PORTD &= ~(1<<LEDP);//Apagamos Led en Baby Orangutan.
_delay_ms(300);
PORTD |= (1<<LEDP);
_delay_ms(300);
PORTD &= ~(1<<LEDP);
_delay_ms(300);
PORTD |= (1<<LEDP);
_delay_ms(300);
PORTD &= ~(1<<LEDP);
}
//Funciones para controlar la velocidad y dirección de los
//motores. PWM controla la velocidad, valor entre 0-255.
void M1_reverse(unsigned char pwm)
{
OCR0A = 0;
OCR0B = pwm;
}
void M1_forward(unsigned char pwm)
{
OCR0B = 0;
OCR0A = pwm;
}
void M2_reverse(unsigned char pwm)
{
OCR2A = 0;
OCR2B = pwm;
}
void M2_forward(unsigned char pwm)
{
OCR2B = 0;
OCR2A = pwm;
}
//Configuración del hardware del micro que controla los motores.
void motors_init(void)
{
// configure for inverted PWM output on motor control pins:
// set OCxx on compare match, clear on timer overflow
// Timer0 and Timer2 count up from 0 to 255
TCCR0A = TCCR2A = 0xF3;
// use the system clock/8 (=2.5 MHz) as the timer clock
TCCR0B = TCCR2B = 0x02;
// initialize all PWMs to 0% duty cycle (braking)
OCR0A = OCR0B = OCR2A = OCR2B = 0;
// set PWM pins as digital outputs (the PWM signals will not
// appear on the lines if they are digital inputs)
DDRD |= (1 << PORTD3) | (1 << PORTD5) | (1 << PORTD6);
DDRB |= (1 << PORTB3);
}
char obtener_errorp(void)
{
char errorp=0;
static char ultimo_errorp=0;
char contador_sensor=0;
if((PINC & 0x02) != 0) //I3 PC1 -7
{
errorp = errorp - 0x07;
contador_sensor++;
}
if((PINC & 0x04) != 0) //I2 PC2 -5
{
errorp = errorp - 0x05;
contador_sensor++;
}
if((PINC & 0x08) != 0) //I1 PC3 -3
{
errorp = errorp - 0x03;
contador_sensor++;
}
if((PINB & 0x10) != 0) //I0 PB4 -1
{
errorp = errorp - 0x01;
contador_sensor++;
}
if((PINB & 0x20) != 0) //D0 PB5 +1
{
errorp = errorp + 0x01;
contador_sensor++;
}
if((PIND & 0x04) != 0) //D1 PD2 +3
{
errorp = errorp + 0x03;
contador_sensor++;
}
if((PIND & 0x10) != 0) //D2 PD4 +5
{
errorp = errorp + 0x05;
contador_sensor++;
}
if((PIND & 0x80) != 0) //D3 PD7 +7
{
errorp = errorp + 0x07;
contador_sensor++;
}
if(contador_sensor != 0)
{
errorp=errorp/contador_sensor;
ultimo_errorp=errorp;
return(errorp);
}
else
{
if(ultimo_errorp < 0)
errorp = -0x09;
else
errorp = 0x09;
ultimo_errorp = errorp;
return(errorp);
}
}