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interface.c File Reference

Implementation of an example interface to a simple robot with two independent axies. More...

#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <asm/io.h>
#include <time.h>
#include <sys/wait.h>

Defines
#define	interface_ymax_time   20000
	Time it rakes to drive to robot form y_min to y_max. More...
#define	interface_xmax_time   20000
	Time it rakes to drive to robot form x_min to x_max. More...
#define	interface_ymax   100
	Maximal Y value (cosidered as 100 percent). More...
#define	interface_xmax   100
	Maximal X value (cosidered as 100 percent). More...
#define	interface_ioport   0x378
	IO Port to which lowest nible to robot is connected. More...
Functions
unsigned char	input (int addr)
	Read a byte from an IO port. More...
unsigned char	output (int addr, unsigned char out)
	Write a byte to an IO port. More...
void	msleep (int msec)
	Wait a specified number of milliseconds. More...
int	getmax (int a, int b)
	Get to highest number out of two input numbers. More...
int	getmin (int a, int b)
	Get to lowest number out of two input numbers. More...
void	interface_drive (int h, int v)
	Drive the robot in a specified direction. More...
void	interface_init (int mode)
	Initialze the interface and drive the robot to the start position. More...
void	interface_driveto (int x, int y)
	Drive to robot to absolute coordinates. More...
void	interface_stop ()
	Stop the interface, switch all off. More...
Variables
int	interface_x
	current X possition of robot (global). More...
int	interface_y
	current X possition of robot (global). More...
int	interface_mode
	mode of interface: 0: normal, 1: simulation (do all except to drive the robot), 2: simulation with position-output 3: Blocked: Do nothing. More...

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Detailed Description

Implementation of an example interface to a simple robot with two independent axies.

The robot has four inputs whish are connected to the lower nible on IO port "interface_ioport". The bits are connected in this way (the signals a high-active):

Bit 0: Drive Up wires: switch to GND: yellow-green; +24V: gray-black

Bit 1: Dirve down wires: switch to GND: red-green; +24V: orange-black

Bit 2: Dirve right wires: switch to GND: green-red; +24V: yellow-black

Bit 3: Dirve left wires: switch to GND: white-red; +24V: red-blue

power wires: GND: blue; +24V: red

This interface assumes a linear dependency betwenn the coverence of distance and moving time. The 0,0 coordinates is left,bottom.

User functions are:

interface_init() - Initialze the interface and drive the robot to the start position (X=undefined; Y=0).

interface_driveto(int x, int y) - Drive the robot to the absolute coordinates x,y.

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Define Documentation

#define interface_ioport   0x378

IO Port to which lowest nible to robot is connected.

#define interface_xmax   100

Maximal X value (cosidered as 100 percent).

#define interface_xmax_time   20000

Time it rakes to drive to robot form x_min to x_max.

#define interface_ymax   100

Maximal Y value (cosidered as 100 percent).

#define interface_ymax_time   20000

Time it rakes to drive to robot form y_min to y_max.

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Function Documentation

int getmax (  int    a, int    b )

Get to highest number out of two input numbers. Parameters: a  (int) first input number b  (int) second input number Returns: (int) the highest of the input numbers

int getmin (  int    a, int    b )

Get to lowest number out of two input numbers. Parameters: a  (int) first input number b  (int) second input number Returns: (int) the lowest of the input numbers

unsigned char input (  int    addr )

Read a byte from an IO port. Parameters: addr  (int): address of port to read Returns: (unsigned char) read byte

void interface_drive (  int    h, int    v )

Drive the robot in a specified direction. Any axies can be zero, greater than zero or less than zero, in this cases the robot will not driven, driven to increase to position (up[v,y] or right[h,x]) and decrease the position (down[-v,-y] or left[-h,-x]). Parameters: h  (int) horizontal or X axias. v  (int) vertical or Y axias.

void interface_driveto (  int    x, int    y )

Drive to robot to absolute coordinates. Parameters: x  (int): absolute x coordinate y  (int): absolute y coordinate

void interface_init (  int    mode )

Initialze the interface and drive the robot to the start position.

void interface_stop (    )

Stop the interface, switch all off.

void msleep (  int    msec )

Wait a specified number of milliseconds. Parameters: msec  (int): milliseconds to wait

unsigned char output (  int    addr, unsigned char    out )

Write a byte to an IO port. Parameters: addr  (int): address of port to write onto out  (unsigned char): byte to write Returns: (unsigned char) written byte

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Variable Documentation

int interface_mode

mode of interface: 0: normal, 1: simulation (do all except to drive the robot), 2: simulation with position-output 3: Blocked: Do nothing.

int interface_x

current X possition of robot (global).

int interface_y

current X possition of robot (global).

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