Mercurial > ears
changeset 0:697db60b2aef draft default tip
Initial commit
| author | Radomir Dopieralski <sheep-devel@sheep.art.pl> |
|---|---|
| date | Tue, 03 Jan 2017 12:08:43 +0100 |
| parents | |
| children | |
| files | ears.fz ears.ino main/Makefile main/main.c |
| diffstat | 4 files changed, 4448 insertions(+), 0 deletions(-) [+] |
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--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ears.fz Tue Jan 03 12:08:43 2017 +0100 @@ -0,0 +1,4215 @@ +<?xml version="1.0" encoding="UTF-8"?> +<module fritzingVersion="0.9.3b.04.19.5c895d327c44a3114e5fcc9d8260daf0cbb52806" icon=".png"> + <boards> + <board moduleId="TwoLayerRectanglePCBModuleID" title="Rectangular PCB - Resizable" instance="PCB1" width="2.3cm" height="0.635cm"/> + </boards> + <views> + <view name="breadboardView" backgroundColor="#ffffff" gridSize="0.1in" showGrid="1" alignToGrid="1" viewFromBelow="0"/> + <view name="schematicView" backgroundColor="#ffffff" gridSize="0.1in" showGrid="1" alignToGrid="1" viewFromBelow="0"/> + <view name="pcbView" backgroundColor="#333333" gridSize="0.0125in" showGrid="1" alignToGrid="1" viewFromBelow="0" DRC_Keepout="" autorouteTraceWidth="" autorouteViaRingThickness="" GPG_Keepout="0.01in" autorouteViaHoleSize=""/> + </views> + <instances> + <instance moduleIdRef="TwoLayerRectanglePCBModuleID" modelIndex="3" 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--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ears.ino Tue Jan 03 12:08:43 2017 +0100 @@ -0,0 +1,79 @@ +#include <Servo.h> + +Servo servos[2]; + + +void move(int position) { + static int current = -1; + + if (position == current) { + return; + } + current = position; + + servos[0].attach(9); // right + servos[1].attach(10); // left + switch (position) { + case 0: + // Perk up. + servos[0].writeMicroseconds(1500 + 300); + servos[1].writeMicroseconds(1500 - 300); + Serial.println("perk"); + break; + case 1: + // Droop down + servos[0].writeMicroseconds(1500 - 300); + servos[1].writeMicroseconds(1500 + 300); + Serial.println("droop"); + break; + case 2: + servos[0].writeMicroseconds(1500 + 300); + servos[1].writeMicroseconds(1500 + 300); + Serial.println("left"); + break; + case 3: + servos[0].writeMicroseconds(1500 - 300); + servos[1].writeMicroseconds(1500 - 300); + Serial.println("right"); + break; + default: + Serial.println("unknown"); + } +} + +void rest() { + servos[0].detach(); + servos[1].detach(); +} + +void setup() { + Serial.begin(115200); + move(0); +} + +void loop() { + int z = analogRead(A0) - 490; + int y = analogRead(A1) - 490; + int x = analogRead(A2) - 490; + + Serial.print(x); + Serial.print(", "); + Serial.print(y); + Serial.print(", "); + Serial.print(z); + Serial.println(); + + if (x > -10) { + if (y > 10) { + move(2); + } else if (y < -10) { + move(3); + } else { + move(0); + } + } else { + move(1); + } + delay(600); + rest(); +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main/Makefile Tue Jan 03 12:08:43 2017 +0100 @@ -0,0 +1,51 @@ +DEVICE = attiny85 +CLOCK = 8000000 +PROGRAMMER = -c usbasp +OBJECTS = main.o + +# for ATTiny85 see http://www.engbedded.com/fusecalc/ +FUSES = -U lfuse:w:0x62:m -U hfuse:w:0xdf:m -U efuse:w:0xff:m + +AVRDUDE = avrdude $(PROGRAMMER) -p $(DEVICE) +COMPILE = avr-gcc -Wall -Os -DF_CPU=$(CLOCK) -mmcu=$(DEVICE) + +all: main.hex + +.c.o: + $(COMPILE) -c $< -o $@ + +.S.o: + $(COMPILE) -x assembler-with-cpp -c $< -o $@ + +.c.s: + $(COMPILE) -S $< -o $@ + +flash: all + $(AVRDUDE) -U flash:w:main.hex:i + +fuse: + $(AVRDUDE) $(FUSES) + +install: flash fuse + +load: all + bootloadHID main.hex + +clean: + rm -f main.hex main.elf $(OBJECTS) + +main.elf: $(OBJECTS) + $(COMPILE) -o main.elf $(OBJECTS) + +main.hex: main.elf + rm -f main.hex + avr-objcopy -j .text -j .data -O ihex main.elf main.hex + avr-size --format=avr --mcu=$(DEVICE) main.elf + +disasm: main.elf + avr-objdump -d main.elf + +cpp: + $(COMPILE) -E main.c`gg + +.phony: all fuse flash install load clean disadm cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main/main.c Tue Jan 03 12:08:43 2017 +0100 @@ -0,0 +1,103 @@ +#include <avr/io.h> +#include <util/delay.h> + + +#define MIN(X, Y) (((X) < (Y)) ? (X) : (Y)) + + +int16_t adc(int8_t pin) { + ADMUX = 0<<ADLAR | 0<<REFS1 | 0<<REFS0 | pin & 0x03; + ADCSRA |= 1<<ADSC; + while (ADCSRA & 1<<ADSC) { + // Pass. + } + return ADC - 512; +} + +void update_servos(uint8_t left_position, uint8_t right_position) { + static uint8_t current_left = 0; + static uint8_t current_right = 0; + + uint8_t left = 17 + MIN(left_position, 15); + if (current_left < left) { + ++current_left; + OCR0A = current_left; + } else if (current_left > left) { + --current_left; + OCR0A = current_left; + } else { + OCR0A = 255; + } + uint8_t right = 33 - MIN(right_position, 15); + if (current_right < right) { + ++current_right; + OCR0B = current_right; + } else if (current_right > right) { + --current_right; + OCR0B = current_right; + } else { + OCR0B = 255; + } +} + +int running_average(int16_t *buffer, uint8_t *cursor, int16_t *total, + int16_t value) { + *total -= buffer[*cursor]; + buffer[*cursor] = value; + *total += value; + *cursor = (*cursor + 1) & 0x0F; + return *total >> 4; +} + +int main () { + static uint8_t left = 7; + static uint8_t right = 7; + static int16_t x_buffer[16] = {}; + static int16_t y_buffer[16] = {}; + static int16_t z_buffer[16] = {}; + static uint8_t x_cursor = 0; + static uint8_t y_cursor = 0; + static uint8_t z_cursor = 0; + static int16_t x_total = 0; + static int16_t y_total = 0; + static int16_t z_total = 0; + + // Init ADC. + ADCSRA = 1<<ADEN | 1<<ADPS2 | 1<<ADPS1 | 1<<ADPS0; // Pre-scaler 128. + + // Output pins PB0 and PB1. + DDRB = 1<<0 | 1<<1; + + // Setup the PWM clock to ~62.5Hz for the servos. + TCCR0A = 2<<COM0A0 | 2<<COM0B0 | 3<<WGM00; + TCCR0B = 0<<WGM02 | 1<<CS00 | 1<<CS01 | 0<<CS02; + + OCR0A = 0; + OCR0B = 0; + + while (1) { + int16_t z = running_average(x_buffer, &x_cursor, &x_total, adc(1) - 16); + int16_t y = running_average(y_buffer, &y_cursor, &y_total, adc(2)); + int16_t x = running_average(z_buffer, &z_cursor, &z_total, adc(3)); + + if (x > 20) { + left = 15; + right = 15; + } else if (x < -20) { + left = 0; + right = 0; + } else if (y > 20) { + left = 15; + right = 0; + } else if (y < -20) { + left = 0; + right = 15; + } else { + left = 7; + right = 7; + } + + update_servos(left, right); + _delay_ms(60); + } +}