ASURO Library  2.80
version.c
gehe zur Dokumentation dieser Datei
1 
10 /***************************************************************************
11 *
12 *it is not allowed to remove the nicknames of the contributers to this software
13 * from the function header
14 */
15 /***************************************************************************
16 * *
17 * This program is free software; you can redistribute it and/or modify *
18 * it under the terms of the GNU General Public License as published by *
19 * the Free Software Foundation; either version 2 of the License, or *
20 * any later version. *
21 ***************************************************************************/
22 
23 /*******************************************************************************
24 *
25 * File Name: asuro.c
26 * Project : ASURO
27 *
28 * Description: This file contains ASURO main features
29 *
30 * Ver. Date Author Comments
31 * ------- ---------- -------------- ------------------------------
32 * 1.00 14.08.2003 Jan Grewe build
33 * 2.00 14.10.2003 Jan Grewe LEFT_VEL, RIGHT_VEL -> MotorSpeed(unsigned char left_speed, unsigned char right_speed);
34 * LeftRwd(),LeftFwd(),RightRwd(),
35 * RigthFwd() -> MotorDir(unsigned char left_dir, unsigned char right_dir);
36 * GREEN_ON,GREEN_OFF,RED_ON,RED_OFF -> StatusLED(unsigned char color);
37 * LED_RED_ON, LED_RED_OFF -> FrontLED(unsigned char color);
38 * Blink(unsigned char left, unsigned char right) -> BackLED(unsigned char left, unsigned char right);
39 * Alles in Funktionen gefasst => leichter verständlich ?!?!
40 * 2.10 17.10.2003 Jan Grewe new Timer funktion void Sleep(unsigned char time36kHz)
41 *
42 * Copyright (c) 2003 DLR Robotics & Mechatronics
43 *****************************************************************************/
44 /****************************************************************************
45 *
46 * File Name: asuro.c
47 * Project : asuro library "Robotrixer Buxtehude"
48 *
49 * Description: This file contains additional functions:
50 *
51 * signal (SIG_ADC) interrupt/signal routine for encoder-counter
52 * signal (SIG_INTERRUPT1) signal for switches
53 * EncoderInit() initializing encoder-counter
54 * EncoderStart() start autoencoding
55 * EncoderStop() stop autoencoding
56 * EncoderSet(int,int) set encodervalue
57 * Msleep(int delay) wait for delay in milliseconds
58 * Gettime() get systemtime in milliseconds
59 * PrintInt(int)
60 *
61 * modifications in Sleep, SIG_OUTPUT_COMPARE2, PollSwitch, LineData
62 *
63 * Ver. Date Author Comments
64 * ------- ---------- -------------- ------------------------------
65 * beta1 31.03.2005 Robotrixer asuro library
66 * ------- ---------- -------------- ------------------------------
67 * the encoder source is based on RechteckDemo.c ver 2.0 by Jan Grewe 22.10.2003
68 * Copyright (c) 2003 DLR Robotics & Mechatronics
69 
70 *****************************************************************************/
71 /****************************************************************************
72 *
73 * File Name: asuro.c
74 * Project : asuro library modified for IR collision detector
75 *
76 * Description: modifications made in following functions:
77 *
78 * SIGNAL (SIG_OUTPUT_COMPARE2) -> SIGNAL (SIG_OVERFLOW2)
79 * Gettime() counts now 36kHz
80 * Init() timer2 modified for adjustable duty cycle
81 * Batterie() bug fixed
82 * Sleep() counts now 36kHz
83 * Msleep() counts now 36kHz
84 *
85 * Ver. Date Author Comments
86 * ------- ---------- -------------- ------------------------------
87 * beta2 11.06.2005 Waste asuro library
88 * ------- ---------- -------------- ------------------------------
89 *****************************************************************************/
90 /****************************************************************************
91 *
92 * File Name: asuro.c
93 * Project : asuro library
94 *
95 * Description: This file contains additional functions:
96 *
97 * motor control functions 29.7.2005 stochri
98 * void Go(int distance)
99 * void Turn(int degree)
100 *
101 * unsigned char Wheelspeed[2] measured Wheelspeed by interupt
102 *
103 * Ver. Date Author Comments
104 * ------- ---------- -------------- ------------------------------------------
105 * sto1 29.07.2005 stochri asuro library with motor control functions
106 * ------- ---------- -------------- ------------------------------------------
107 *****************************************************************************/
108 /****************************************************************************
109 *
110 * File Name: asuro.c
111 * Project : asuro library
112 *
113 * Description: modifications made in following functions:
114 *
115 * void Go(int distance, int speed)
116 * void Turn(int degree, int speed)
117 *
118 *
119 * Ver. Date Author Comments
120 * ------- ---------- -------------- ------------------------------------------
121 * And1 31.07.2005 Andun Added Speed and Odometrie
122 * ------- ---------- -------------- ------------------------------------------
123 *****************************************************************************/
124 /****************************************************************************
125 *
126 * File Name: asuro.c
127 * Project : asuro library
128 *
129 * Description: modifications made in following functions:
130 *
131 * void PrintInt(int wert)
132 *
133 *
134 * Ver. Date Author Comments
135 * ------- ---------- -------------- ------------------------------------------
136 * 2.60 28.09.2005 m.a.r.v.i.n doxygen comments
137 * ------- ---------- -------------- ------------------------------------------
138 *****************************************************************************/
139 /****************************************************************************
140 *
141 * File Name: asuro.c
142 * Project : asuro library
143 *
144 * Description: modifications made in following functions:
145 *
146 * SIGNAL (SIG_ADC)
147 * void PrintInt(int wert)
148 *
149 *
150 * Ver. Date Author Comments
151 * ------- ---------- -------------- ------------------------------------------
152 * 2.61 20.11.2006 m.a.r.v.i.n SIGNAL (SIG_ADC): static Variable toggle initialisiert
153 * auf False (Bug report von Rolf_Ebert)
154 * PrintInt: Initialisierung text String kann zu Fehler
155 * beim Flashen mit RS232/IR Adapter fuehren
156 * (Bug report von francesco)
157 * ------- ---------- -------------- ------------------------------------------
158 *****************************************************************************/
159 /****************************************************************************
160 *
161 * File Name: asuro.c
162 * Project : asuro library
163 *
164 * Description: new functions has been added:
165 *
166 * void UartPutc(unsigned char zeichen)
167 * void SerPrint(unsigned char *data)
168 * void SetMotorPower(int8_t left_speed, int8_t right_speed )
169 * void sound(uint16_t freq, uint16_t duration_msec, uint8_t amplitude)
170 *
171 * Description: modifications made in following functions:
172 *
173 * void Go(int distance, int power)
174 * void Turn(int degree, int speed)
175 * void PrintInt(int wert)
176 *
177 *
178 * Ver. Date Author Comments
179 * ------- ---------- -------------- ------------------------------------------
180 * 2.70 07.01.2007 stochri new functions:
181 * uart_putc: send single character
182 * SerPrint: send 0-terminated string
183 * SetMotorPower: set Motor speed and direction
184 * sound: Sound Ausgabe ueber die Motoren
185 * Go: distance in mm
186 * Turn: comments
187 * m.a.r.v.i.n PrintInt: SerWrite ersetzt durch SerPrint
188 * ------- ---------- -------------- ------------------------------------------
189 *****************************************************************************/
190 
191 #include "asuro.h"
192 
193 const char version[5] = "2.80";
194