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| et:robot:intro [2008/12/11 11:32] – raivo | et:robot:intro [2009/11/05 15:04] (current) – eemaldatud mikk.leini | ||
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| - | ====== Kauglabori robot ====== | ||
| - | Robotplatvorm võib olla varustatud erinevate seadmetega: | ||
| - | * Manipulaator (pilt 1) | ||
| - | * Lihtne radar (pilt 2) | ||
| - | * Kaamera | ||
| - | |||
| - | [[http:// | ||
| - | |||
| - | Pilt 1 Robot manipulaatoriga | ||
| - | |||
| - | [[http:// | ||
| - | |||
| - | Pilt 2 Robot IR radariga | ||
| - | |||
| - | |||
| - | ===== Baaskood ===== | ||
| - | Lihtne navigeerimine | ||
| - | |||
| - | <code c> | ||
| - | #define F_CPU 14745600UL //CPU Frequency (influences delay function) | ||
| - | #include < | ||
| - | #include < | ||
| - | |||
| - | |||
| - | int init(){ | ||
| - | DDRD = 0xFF;// set port direction (output) | ||
| - | PORTD = 0x00;// initialize port | ||
| - | |||
| - | //Pamperi lülitid | ||
| - | DDRC = 0x00;// set port direction (input) | ||
| - | PORTC = 0x00;// initialize port | ||
| - | |||
| - | DDRA = 0x00;// set port direction (input) | ||
| - | PORTA = 0x00;// initialize port | ||
| - | |||
| - | DDRB = 0xFF;// set port direction (output) | ||
| - | PORTB = 0x00;// initialize port | ||
| - | |||
| - | DDRG = 0xFF; // set port direction (output) | ||
| - | PORTG = 0x00;// initialize port - pins-s low | ||
| - | return 0; | ||
| - | } | ||
| - | |||
| - | int edasi(){ | ||
| - | PORTD=0x02; | ||
| - | PORTB=0x80; | ||
| - | return 0; | ||
| - | } | ||
| - | |||
| - | int tagasi(){ | ||
| - | PORTD=0x01; | ||
| - | PORTB=0x10; | ||
| - | return 0; | ||
| - | } | ||
| - | |||
| - | int stop(){ | ||
| - | PORTD=0x00; | ||
| - | PORTB=0x00; | ||
| - | return 0; | ||
| - | } | ||
| - | |||
| - | int poore_vasak(){ | ||
| - | PORTD=0x01; | ||
| - | PORTB=0x80; | ||
| - | return 0; | ||
| - | } | ||
| - | |||
| - | int poore_parem(){ | ||
| - | PORTD=0x02; | ||
| - | PORTB=0x10; | ||
| - | return 0; | ||
| - | } | ||
| - | |||
| - | int main (void){ | ||
| - | |||
| - | init(); | ||
| - | |||
| - | while(1){ | ||
| - | |||
| - | edasi(); | ||
| - | |||
| - | if (bit_is_set(PINA, | ||
| - | tagasi(); | ||
| - | _delay_ms(500); | ||
| - | poore_parem(); | ||
| - | _delay_ms(1000); | ||
| - | } | ||
| - | |||
| - | if (bit_is_set(PINA, | ||
| - | tagasi(); | ||
| - | _delay_ms(500); | ||
| - | poore_vasak(); | ||
| - | _delay_ms(1000); | ||
| - | } | ||
| - | |||
| - | if (bit_is_set(PINC, | ||
| - | stop(); | ||
| - | _delay_ms(1000); | ||
| - | } | ||
| - | } | ||
| - | } | ||
| - | </ | ||
