/* | ----------------------------------------------------------------------------- | 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 "Vinko" /* Unique name of the platform max. 10 chars, just for information */ #define ID 5 /* 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 #0 (R5P0-L), range 70 - 540 mm */ short distleft[128] = { 70,70,70,70,70,70,70,70,70,70, /* 1 - 20 */ 70,70,70,70,70,70,70,72,74,76, /* 21 - 40 */ 78,81,82,84,86,88,90,92,94,96, /* 41 - 60 */ 98,100,102,104,106,108,111,113,115,117, /* 61 - 80 */ 120,122,125,127,130,132,135,137,140,143, /* 81 - 100 */ 151,155,160,164,168,181,175,181,185,191, /* 101 - 120 */ 195,202,208,215,222,230,240,245,251,262, /* 121 - 140 */ 275,285,296,305,320,338,348,365,374,378, /* 141 - 160 */ 407,412,435,445,495,540,9999,9999,9999,9999, /* 161 - 180 */ 9999,9999,9999,9999,9999,9999,9999,9999,9999,9999, /* 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 #1 (Front), range 82 - 417 mm * wall = white wall of soccer field (different for other obstacles) */ short distfront[128] = { 82,82,82,82,82,82,82,82,82,88, /* 1 - 20 */ 88,89,93,95,97,98,100,102,104,105, /* 21 - 40 */ 107,108,110,111,113,114,116,119,120,121, /* 41 - 60 */ 123,126,129,132,134,137,138,139,143,146, /* 61 - 80 */ 148,151,153,161,161,169,169,173,177,181, /* 81 - 100 */ 184,186,188,200,196,208,210,216,226,222, /* 101 - 120 */ 240,230,242,250,252,260,266,268,280,280, /* 121 - 140 */ 296,286,299,305,309,317,323,331,329,359, /* 141 - 160 */ 345,373,359,387,381,417,9999,9999,9999,9999, /* 161 - 180 */ 9999,9999,9999,9999,9999,9999,9999,9999,9999,9999, /* 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 #2 (R5P2-R), range 60 - 495 mm */ short distright[128] = { 60,60,60,60,60,60,60,60,60,63, /* 1 - 20 */ 64,66,69,70,73,75,77,79,81,83, /* 21 - 40 */ 84,85,86,88,89,91,92,93,96,98, /* 41 - 60 */ 100,102,103,105,107,109,112,114,116,119, /* 61 - 80 */ 121,124,127,132,134,137,143,148,152,157, /* 81 - 100 */ 162,167,172,179,183,186,194,200,206,213, /* 101 - 120 */ 226,230,236,242,253,262,272,283,295,305, /* 121 - 140 */ 330,345,356,372,400,415,430,455,470,495, /* 141 - 160 */ 9999,9999,9999,9999,9999,9999,9999,9999,9999,9999, /* 161 - 180 */ 9999,9999,9999,9999,9999,9999,9999,9999,9999,9999, /* 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 */ short dist3[128] = { 60,60,60,60,70,80,82,84,86,88, /* 1- 20 */ 90,92,94,96,97,99,101,102,103,106, /* 21- 40 */ 107,109,111,113,115,118,120,123,127,131, /* 41- 60 */ 134,137,140,143,146,149,154,159,164,169, /* 61- 80 */ 173,176,180,185,192,199,204,209,215,220, /* 81-100 */ 224,227,232,238,241,247,251,256,261,268, /* 101-120 */ 275,281,288,293,297,302,308,315,320,325, /* 121-140 */ 332,342,353,356,365,373,380,393,405,413, /* 141-160 */ 430,442,459,475,485,510,535,552,570,600, /* 161-180 */ 630,660,9999,9999,9999,9999,9999,9999,9999,9999, /* 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 #4, wall = white wall of soccer field (different for other obstacles) */ short dist4[128] = { 60,60,60,60,60,60,62,65,68,71, /* 1- 20 */ 74,77,80,82,83,85,87,88,89,90, /* 21- 40 */ 92,93,95,96,98,99,101,102,104,105, /* 41- 60 */ 107,108,110,112,114,116,118,119,121,123, /* 61- 80 */ 126,128,130,133,135,138,141,144,147,150, /* 81-100 */ 153,156,160,164,168,172,176,180,184,189, /* 101-120 */ 195,200,205,210,217,222,228,237,246,254, /* 121-140 */ 262,270,280,290,303,316,330,348,367,387, /* 141-160 */ 450,650,830,900,9999,9999,9999,9999,9999,9999, /* 161-180 */ 9999,9999,9999,9999,9999,9999,9999,9999,9999,9999, /* 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, 2300,1500}; /* camera */ servo_type servo12 = {2, 13, TIMER2, 20000, 1700,1540}; /* 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} };