ASURO Library  2.80
adc.c
gehe zur Dokumentation dieser Datei
1 /****************************************************************************/
36 /*****************************************************************************
37 * *
38 * This program is free software; you can redistribute it and/or modify *
39 * it under the terms of the GNU General Public License as published by *
40 * the Free Software Foundation; either version 2 of the License, or *
41 * any later version. *
42 * *
43 *****************************************************************************/
44 #include "asuro.h"
45 
46 
47 
48 /****************************************************************************/
84 int Battery (
85  void)
86 {
87  int data = 28*ReadADC(BATTERIE, 10)/25; // data=1,12*x dann stimmt Wert von Interrupt ADC mit Poll ADC überein
88  // Rückwärtskompatibel?!
89  return data;
90 }
91 
92 
93 
94 /****************************************************************************/
125 void LineData (
126  unsigned int *data)
127 {
128  /*
129  Linken Linien-Sensor lesen
130  */
131  data[LEFT] = ReadADC(IR_LEFT, 0);
132  /*
133  Rechten Linien-Sensor lesen
134  */
135  data[RIGHT] = ReadADC(IR_RIGHT, 0);
136 }
137 
138 
139 
140 /****************************************************************************/
175  unsigned int *data)
176 {
177  /*
178  Vorbereitung zum lesen der Odometrie-Sensoren.
179  */
180  DDRC &= ~((1 << PC0) | (1 << PC1)); // Port auf Input=>Back-LEDs gehen aus
181  ODOMETRIE_LED_ON; // Odometrie-LED's einschalten
182 
183  /*
184  Linken Odometrie-Sensor lesen
185  */
186  data[LEFT] = ReadADC(WHEEL_LEFT, 0);
187  /*
188  Rechten Odometrie-Sensor lesen
189  */
190  data[RIGHT] = ReadADC(WHEEL_RIGHT, 0);
191 }