/* | ----------------------------------------------------------------------------- | Filename: hdtsocc.c | | Author: Thomas Braunl (braunl@ee.uwa.edu.au) | Klaus Schmitt (kschmitt@informatik.uni-kl.de) | Thomas Lampart (lamparts@autolife.informatik.uni-stuttgart.de) | Description: | ------- | HDT data for EyeBot MK3, UWA Sep. 1998, modified for soccerbot | ----------------------------------------------------------------------------- */ #define VERSION 1.1 /* User specific version nr. for information */ #define NAME "Jamie" /* Unique name of the platform max. 10 chars, just for information */ #define ID 3 /* Unique platform id (int), just for inform. */ #include "hdt.h" #include "hdt_sem.h" /* The HDT structure */ /*-------------------*/ int magic = 123456789; extern HDT_entry_type HDT[]; HDT_entry_type *hdtbase = &HDT[0]; #include "types.h" #include "const.h" #include "rs232.h" #include "cam.h" #include "librobi/librobi.h" /* * PSD-sensor #1 (Front), range 79 - 367 mm * wall = white wall of soccer field (different for other obstacles) */ short distfront[128] = { 79,79,79,79,79,79,79,79,79,81, /* 1 - 20 */ 83,84,86,87,88,89,90,92,93,94, /* 21 - 40 */ 95,96,97,100,101,102,103,104,106,108, /* 41 - 60 */ 109,110,111,112,114,116,119,120,122,124, /* 61 - 80 */ 126,128,130,133,134,136,137,142,143,144, /* 81 - 100 */ 147,151,152,154,155,160,163,168,169,176, /* 101 - 120 */ 176,180,186,188,192,196,201,209,209,223, /* 121 - 140 */ 223,229,237,237,244,250,260,266,266,274, /* 141 - 160 */ 281,285,291,307,305,321,325,335,339,371, /* 161 - 180 */ 367,9999,9999,9999,9999,9999,9999,9999,9999,9999, /* 181 - 200 */ 9999,9999,9999,9999,9999,9999,9999,9999,9999,9999, /* 201 - 220 */ 9999,9999,9999,9999,9999,9999,9999,9999,9999,9999, /* 221 - 240 */ 9999,9999,9999,9999,9999,9999,9999,9999}; /* 241 - 256 */ /* PSD-sensor #0 (R3P0-L), range 60 - 690 mm */ short distleft[128] = { 60,60,60,60,60,60,60,60,60,60, /* 1 - 20 */ 60,60,60,60,61,63,65,67,69,70, /* 21 - 40 */ 72,73,75,76,77,79,80,82,83,84, /* 41 - 60 */ 86,87,89,90,92,93,95,96,98,100, /* 61 - 80 */ 101,103,105,106,108,109,111,113,115,117, /* 81 - 100 */ 119,122,124,126,128,131,134,137,140,142, /* 101 - 120 */ 145,148,151,154,158,161,165,170,174,178, /* 121 - 140 */ 182,187,192,200,206,213,220,226,233,246, /* 141 - 160 */ 253,266,273,290,310,310,350,350,390,390, /* 161 - 180 */ 430,430,490,470,550,530,610,590,690,9999, /* 181 - 200 */ 9999,9999,9999,9999,9999,9999,9999,9999,9999,9999, /* 201 - 220 */ 9999,9999,9999,9999,9999,9999,9999,9999,9999,9999, /* 221 - 240 */ 9999,9999,9999,9999,9999,9999,9999,9999}; /* 241 - 256 */ /* PSD-sensor #2 (R3P2-R), range 60 - 605 mm */ short distright[128] = { 60,60,60,60,60,60,60,60,60,60, /* 1 - 20 */ 60,60,60,60,62,64,66,68,71,72, /* 21 - 40 */ 74,75,77,79,80,82,84,86,88,90, /* 41 - 60 */ 91,93,95,97,99,100,103,105,107,110, /* 61 - 80 */ 112,114,116,118,121,124,127,130,132,135, /* 81 - 100 */ 138,141,144,148,151,155,158,161,165,170, /* 101 - 120 */ 175,180,185,190,195,200,210,215,222,235, /* 121 - 140 */ 240,250,262,275,287,301,315,335,360,372, /* 141 - 160 */ 385,395,415,432,453,464,495,520,543,563, /* 161 - 180 */ 605,9999,9999,9999,9999,9999,9999,9999,9999,9999, /* 181 - 200 */ 9999,9999,9999,9999,9999,9999,9999,9999,9999,9999, /* 201 - 220 */ 9999,9999,9999,9999,9999,9999,9999,9999,9999,9999, /* 221 - 240 */ 9999,9999,9999,9999,9999,9999,9999,9999}; /* 241 - 256 */ BYTE motconv0[101]= { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9,10,11,12,13,14,15,16,17,18,19, 20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39, 40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59, 60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79, 80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99, 100}; /* DC motors */ motor_type motor0 = {2, 1, TIMER1, 8191, (void*)OutBase, 3, 2, (BYTE*)&motconv0}; motor_type motor1 = {2, 0, TIMER1, 8191, (void*)OutBase, 0, 1, (BYTE*)&motconv0}; quad_type decoder0 = {0, 2, 3, MOTOR_LEFT, 3235, 2.0}; quad_type decoder1 = {0, 5, 4, MOTOR_RIGHT, 3235, 2.0}; vw_type drive = {0, DIFFERENTIAL_DRIVE, {QUAD_LEFT, QUAD_RIGHT, 0.084}}; /* SERVOs */ /* type, TPU-channel, Timer2, 20ms period, 0.7ms min, 1.7ms max */ /* here: servo 1 has TPU channel 2, and so on */ servo_type servo11 = {2, 12, TIMER2, 20000, 1900, 1280}; /* camera */ servo_type servo12 = {2, 13, TIMER2, 20000, 1550, 1350}; /* kicker */ /* PSD-infrared */ psd_type psdleft = {0, 14, (BYTE*)InBase, 0, AH, (BYTE*)OutBase, 4, AH, (short*)&distleft}; psd_type psdfront = {0, 14, (BYTE*)InBase, 1, AH, (BYTE*)OutBase, 4, AH, (short*)&distfront}; psd_type psdright = {0, 14, (BYTE*)InBase, 2, AH, (BYTE*)OutBase, 4, AH, (short*)&distright}; /* EyeBot SUMMARY */ info_type roboinfo = {0,PLATFORM,SER115200,RTSCTS,SERIAL1,0,0,AUTOBRIGHTNESS,BATTERY_ON,35,VERSION,NAME,ID}; /* waitstates = 0..13, Fast Termination = 14, External = 15 */ /* Version, ROM, RAM, LCD, IO, Parallel+Serial2/3 */ /* 16MHz - 20Mhz */ /* waitstate_type waitstates = {0,3,0,1,0,2}; */ /* 21MHz - 41Mhz */ waitstate_type waitstates = {0,3,1,2,1,2}; /* this is a test HDT structure which contains ALL EyeBot hardware devices */ HDT_entry_type HDT[] = { {MOTOR,MOTOR_RIGHT,"RIGHT",(void *)&motor0}, {MOTOR,MOTOR_LEFT,"LEFT",(void *)&motor1}, {QUAD, QUAD_RIGHT,"RIGHT",(void *)&decoder1}, {QUAD, QUAD_LEFT,"LEFT",(void *)&decoder0}, {VW,VW,"Drive",(void *)&drive}, /* {BUMP, BUMP_LEFT,"LEFT",(void *)&bumper0}, */ /* {IR, IR_LF,"LF",(void *)&ir0}, */ {SERVO,SERVO11,"S11-C",(void *)&servo11}, {SERVO,SERVO12,"S12-K",(void *)&servo12}, {PSD,PSD_LEFT, "P0-L", (void *)&psdleft}, {PSD,PSD_FRONT, "P1-F", (void *)&psdfront}, {PSD,PSD_RIGHT, "P2-R", (void *)&psdright}, {WAIT,WAIT,"WAIT",(void *)&waitstates}, {INFO,INFO,"INFO",(void *)&roboinfo}, {END_OF_HDT,UNKNOWN_SEMANTICS,"END",(void *)0} };