/* | ----------------------------------------------------------------------------- | 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 "E" /* Unique name of the platform max. 10 chars, just info */ #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 (REP0-L), range 70 - 530 mm */ short distleft[128] = { 70,70,70,70,70,70,70,70,70,74, /* 1 - 20 */ 76,76,78,81,82,84,85,87,89,90, /* 21 - 40 */ 92,93,94,96,97,99,100,102,103,104, /* 41 - 60 */ 106,107,110,112,113,115,117,118,119,120, /* 61 - 80 */ 121,123,125,127,131,133,134,136,139,142, /* 81 - 100 */ 143,144,145,150,151,153,156,162,169,171, /* 101 - 120 */ 174,180,191,196,201,208,222,231,241,254, /* 121 - 140 */ 266,282,300,320,335,355,372,386,413,426, /* 141 - 160 */ 475,499,530,9999,9999,9999,9999,9999,9999,9999, /* 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 */ /* PSD-sensor #1 (Front), range 81 - 332 mm */ short distfront[128] = { 81,81,81,81,81,81,81,81,81,87, /* 1 - 20 */ 89,90,92,93,94,95,96,97,98,99, /* 21 - 40 */ 101,103,103,104,105,106,108,111,112,112, /* 41 - 60 */ 113,115,117,119,121,122,124,125,127,129, /* 61 - 80 */ 132,135,136,137,138,143,146,149,150,151, /* 81 - 100 */ 152,159,159,163,165,167,171,175,179,181, /* 101 - 120 */ 187,189,192,203,200,209,212,220,223,231, /* 121 - 140 */ 229,241,249,255,259,275,265,297,288,296, /* 141 - 160 */ 304,318,318,334,332,9999,9999,9999,9999,9999, /* 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 */ /* PSD-sensor #2 (REP2-R), range 70 - 520 mm */ short distright[128] = { 70,70,70,70,70,70,70,70,76,79, /* 1 - 20 */ 80,80,80,80,82,84,86,88,91,92, /* 21 - 40 */ 94,96,98,100,101,103,105,106,108,110, /* 41 - 60 */ 111,113,115,116,118,119,121,123,125,127, /* 61 - 80 */ 129,131,133,135,137,139,142,144,146,148, /* 81 - 100 */ 151,153,156,158,161,164,168,171,174,177, /* 101 - 120 */ 180,184,188,192,196,200,205,210,215,220, /* 121 - 140 */ 226,233,240,246,253,266,270,280,302,316, /* 141 - 160 */ 323,350,363,380,395,440,475,520,9999,9999, /* 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, 0.1285}}; /* 123 mm inside, 134 mm outside */ /* 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, 810}; /* camera */ #if HAVE_KICKER servo_type servo12 = {2, 13, TIMER2, 20000, 1750, 1500}; /* kicker */ #endif /* 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}; /* infraread remote control on Servo S6 */ irtv_type irtv = {0, 7, TPU_HIGH_PRIO}; compass_type compass = {0, /* version */ 11, /* TPU channel S10 - SCLK */ (void*)OutBase, 5, /* P/C */ (void*)OutBase, 6, /* CAL */ (void*)InBase, 4}; /* PSD0 SDO*/ /* 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}, #if HAVE_KICKER {SERVO,SERVO12,"S12-K",(void *)&servo12}, #endif {PSD,PSD_LEFT, "P0-L", (void *)&psdleft}, {PSD,PSD_FRONT, "P1-F", (void *)&psdfront}, {PSD,PSD_RIGHT, "P2-R", (void *)&psdright}, {COMPASS,COMPASS,"COMPAS",(void *)&compass}, {WAIT,WAIT,"WAIT",(void *)&waitstates}, {INFO,INFO,"INFO",(void *)&roboinfo}, {IRTV,IRTV,"IRTV",(void *)&irtv}, {END_OF_HDT,UNKNOWN_SEMANTICS,"END",(void *)0} };