From 6fab1db931c05a5079243a0d54ab88fc880eb47c Mon Sep 17 00:00:00 2001 From: Andy Lindsay Date: Wed, 11 Oct 2017 14:09:42 -0700 Subject: [PATCH] abdrive360/servo360 - try EEPROM calibration / transfer function adjusting functions #151 Add: abcalibrate360.h cal_clear() cal_displayResults() cal_displayData() cal_activityBot() servo360.h int servo360_setTransferFunction(int pin, int constant, int value) abdrive360.h void drive_encoderPins(int encPinLeft, int encPinRight) void drive_servoPins(int servoPinLeft, int servoPinRight) --- .../ActivitiyBot Clear Calibration Settings.c | 16 + ...tivitiyBot Clear Calibration Settings.side | 9 + ...ActivitiyBot Display Calibration Results.c | 17 + ...ivitiyBot Display Calibration Results.side | 9 + .../ActivitiyBot Display Calibration.c | 16 + .../ActivitiyBot Display Calibration.side | 9 + .../ActivityBot360/ActivityBot Calibrate.c | 23 + .../ActivityBot360/ActivityBot Calibrate.side | 9 + .../Motor/libservo360/cmm/libservo360.a | Bin 45818 -> 46860 bytes .../Motor/libservo360/libservo360.side | 1 + .../Motor/libservo360/servo360.c | 21 +- .../Motor/libservo360/servo360.h | 27 +- .../Motor/libservo360/servo360_connect.c | 5 + .../servo360_setTransferFunction.c | 60 + .../libabcalibrate360/Doxyfile.doxyfile | 1826 +++++++++++++++++ .../libabcalibrate360/abcalibrate360.c | 499 +++++ .../libabcalibrate360/abcalibrate360.h | 179 ++ .../libabcalibrate360/cmm/libabcalibrate360.a | Bin 0 -> 10394 bytes .../libabcalibrate360/libabcalibrate360.c | 13 + .../libabcalibrate360/libabcalibrate360.side | 12 + .../ActivityBot360/libabdrive360/abdrive360.c | 120 +- .../ActivityBot360/libabdrive360/abdrive360.h | 57 + .../libabdrive360/cmm/libabdrive360.a | Bin 17690 -> 19074 bytes .../libabdrive360/drive_encoderPins.c | 28 + .../libabdrive360/drive_servoPins.c | 30 +- version.txt | 2 +- 26 files changed, 2970 insertions(+), 18 deletions(-) create mode 100644 Learn/Examples/Robots/ActivityBot360/ActivitiyBot Clear Calibration Settings.c create mode 100644 Learn/Examples/Robots/ActivityBot360/ActivitiyBot Clear Calibration Settings.side create mode 100644 Learn/Examples/Robots/ActivityBot360/ActivitiyBot Display Calibration Results.c create mode 100644 Learn/Examples/Robots/ActivityBot360/ActivitiyBot Display Calibration Results.side create mode 100644 Learn/Examples/Robots/ActivityBot360/ActivitiyBot Display Calibration.c create mode 100644 Learn/Examples/Robots/ActivityBot360/ActivitiyBot Display Calibration.side create mode 100644 Learn/Examples/Robots/ActivityBot360/ActivityBot Calibrate.c create mode 100644 Learn/Examples/Robots/ActivityBot360/ActivityBot Calibrate.side create mode 100644 Learn/Simple Libraries/Motor/libservo360/servo360_setTransferFunction.c create mode 100644 Learn/Simple Libraries/Robotics/ActivityBot360/libabcalibrate360/Doxyfile.doxyfile create mode 100644 Learn/Simple Libraries/Robotics/ActivityBot360/libabcalibrate360/abcalibrate360.c create mode 100644 Learn/Simple Libraries/Robotics/ActivityBot360/libabcalibrate360/abcalibrate360.h create mode 100644 Learn/Simple Libraries/Robotics/ActivityBot360/libabcalibrate360/cmm/libabcalibrate360.a create mode 100644 Learn/Simple Libraries/Robotics/ActivityBot360/libabcalibrate360/libabcalibrate360.c create mode 100644 Learn/Simple Libraries/Robotics/ActivityBot360/libabcalibrate360/libabcalibrate360.side diff --git a/Learn/Examples/Robots/ActivityBot360/ActivitiyBot Clear Calibration Settings.c b/Learn/Examples/Robots/ActivityBot360/ActivitiyBot Clear Calibration Settings.c new file mode 100644 index 00000000..635176e4 --- /dev/null +++ b/Learn/Examples/Robots/ActivityBot360/ActivitiyBot Clear Calibration Settings.c @@ -0,0 +1,16 @@ +/* + ActivityBot Display Calibration Results.c + + Clear calibration data. ActivityBot360 will use default values + and may not perform as well. +*/ + +#include "simpletools.h" +#include "servo360.h" +#include "abcalibrate360.h" + +int main() +{ + cal_clear(); +} + diff --git a/Learn/Examples/Robots/ActivityBot360/ActivitiyBot Clear Calibration Settings.side b/Learn/Examples/Robots/ActivityBot360/ActivitiyBot Clear Calibration Settings.side new file mode 100644 index 00000000..320ffbe2 --- /dev/null +++ b/Learn/Examples/Robots/ActivityBot360/ActivitiyBot Clear Calibration Settings.side @@ -0,0 +1,9 @@ +ActivitiyBot Clear Calibration Settings.c +>compiler=C +>memtype=cmm main ram compact +>optimize=-Os +>-m32bit-doubles +>-fno-exceptions +>defs::-std=c99 +>-lm +>BOARD::ACTIVITYBOARD diff --git a/Learn/Examples/Robots/ActivityBot360/ActivitiyBot Display Calibration Results.c b/Learn/Examples/Robots/ActivityBot360/ActivitiyBot Display Calibration Results.c new file mode 100644 index 00000000..c4f544a0 --- /dev/null +++ b/Learn/Examples/Robots/ActivityBot360/ActivitiyBot Display Calibration Results.c @@ -0,0 +1,17 @@ +/* + ActivityBot Display Calibration Results.c + + Display interpolation table values from calibration + + http://learn.parallax.com/activitybot/calibrate-your-activitybot +*/ + +#include "simpletools.h" +#include "servo360.h" +#include "abcalibrate360.h" + +int main() +{ + cal_displayResults(); +} + diff --git a/Learn/Examples/Robots/ActivityBot360/ActivitiyBot Display Calibration Results.side b/Learn/Examples/Robots/ActivityBot360/ActivitiyBot Display Calibration Results.side new file mode 100644 index 00000000..03a412f8 --- /dev/null +++ b/Learn/Examples/Robots/ActivityBot360/ActivitiyBot Display Calibration Results.side @@ -0,0 +1,9 @@ +ActivitiyBot Display Calibration Results.c +>compiler=C +>memtype=cmm main ram compact +>optimize=-Os +>-m32bit-doubles +>-fno-exceptions +>defs::-std=c99 +>-lm +>BOARD::ACTIVITYBOARD diff --git a/Learn/Examples/Robots/ActivityBot360/ActivitiyBot Display Calibration.c b/Learn/Examples/Robots/ActivityBot360/ActivitiyBot Display Calibration.c new file mode 100644 index 00000000..e5dbc914 --- /dev/null +++ b/Learn/Examples/Robots/ActivityBot360/ActivitiyBot Display Calibration.c @@ -0,0 +1,16 @@ +/* + ActivityBot Display Calibration.c + + Display interpolation table values from calibration + + http://learn.parallax.com/activitybot/calibrate-your-activitybot +*/ + +#include "simpletools.h" +#include "servo360.h" +#include "abcalibrate360.h" + +int main() +{ + cal_displayData(); +} \ No newline at end of file diff --git a/Learn/Examples/Robots/ActivityBot360/ActivitiyBot Display Calibration.side b/Learn/Examples/Robots/ActivityBot360/ActivitiyBot Display Calibration.side new file mode 100644 index 00000000..5ce91277 --- /dev/null +++ b/Learn/Examples/Robots/ActivityBot360/ActivitiyBot Display Calibration.side @@ -0,0 +1,9 @@ +ActivitiyBot Display Calibration.c +>compiler=C +>memtype=cmm main ram compact +>optimize=-Os +>-m32bit-doubles +>-fno-exceptions +>defs::-std=c99 +>-lm +>BOARD::ACTIVITYBOARD diff --git a/Learn/Examples/Robots/ActivityBot360/ActivityBot Calibrate.c b/Learn/Examples/Robots/ActivityBot360/ActivityBot Calibrate.c new file mode 100644 index 00000000..91be1042 --- /dev/null +++ b/Learn/Examples/Robots/ActivityBot360/ActivityBot Calibrate.c @@ -0,0 +1,23 @@ +/* + ActivityBot Calibrate.c + + Calibrate the ActivityBot's servos and encoders + + http://learn.parallax.com/activitybot/calibrate-your-activitybot +*/ + +#include "simpletools.h" +#include "servo360.h" +#include "abcalibrate360.h" + +int main() +{ + cal_servoPins(12, 13); + cal_encoderPins(14, 15); + + high(26); + high(27); + cal_activityBot(); + low(26); + low(27); +} diff --git a/Learn/Examples/Robots/ActivityBot360/ActivityBot Calibrate.side b/Learn/Examples/Robots/ActivityBot360/ActivityBot Calibrate.side new file mode 100644 index 00000000..ec706b87 --- /dev/null +++ b/Learn/Examples/Robots/ActivityBot360/ActivityBot 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>memtype=cmm main ram compact >optimize=-Os diff --git a/Learn/Simple Libraries/Motor/libservo360/servo360.c b/Learn/Simple Libraries/Motor/libservo360/servo360.c index 1d629cca..c148ba58 100644 --- a/Learn/Simple Libraries/Motor/libservo360/servo360.c +++ b/Learn/Simple Libraries/Motor/libservo360/servo360.c @@ -79,10 +79,10 @@ void servo360_mainLoop() { if(_fs[p].pinCtrl != -1 && _fs[p].pinFb != -1) { - if(_fs[p].feedback) - { + //if(_fs[p].feedback) + //{ servo360_checkAngle(p); - } + //} } } @@ -258,7 +258,7 @@ void servo360_outputSelector(int p) if(_fs[p].csop == S360_POSITION) { int output = servo360_pidA(p); - _fs[p].pw = servo360_upsToPulseFromTransferFunction(output); + _fs[p].pw = servo360_upsToPulseFromTransferFunction(output, p); _fs[p].speedOut = _fs[p].pw - 15000; } else if(_fs[p].csop == S360_SPEED) @@ -552,17 +552,20 @@ int servo360_upsToPulseFromTransferFunction(int unitsPerSec) } */ -int servo360_upsToPulseFromTransferFunction(int unitsPerSec) +int servo360_upsToPulseFromTransferFunction(int unitsPerSec, int p) { - int y, x = unitsPerSec, m = S360_VM, b; + int y, m, x, b; + x = unitsPerSec; if(x > 0) { - b = S360_VB_POS; + m = _fs[p].vmCcw; + b = _fs[p].vbCcw; } else if(x < 0) { - b = S360_VB_NEG; + m = _fs[p].vmCw; + b = _fs[p].vbCw; } else { @@ -619,7 +622,7 @@ void servo360_speedControl(int p) //speedUpdateFlag = 0; } } - _fs[p].pw = servo360_upsToPulseFromTransferFunction(_fs[p].speedTarget); + _fs[p].pw = servo360_upsToPulseFromTransferFunction(_fs[p].speedTarget, p); _fs[p].drive = _fs[p].pw - 15000; _fs[p].opPidV = _fs[p].drive + servo360_pidV(p); } diff --git a/Learn/Simple Libraries/Motor/libservo360/servo360.h b/Learn/Simple Libraries/Motor/libservo360/servo360.h index c7db9568..a6bea00a 100644 --- a/Learn/Simple Libraries/Motor/libservo360/servo360.h +++ b/Learn/Simple Libraries/Motor/libservo360/servo360.h @@ -12,13 +12,11 @@ - //#define _servo360_monitor_ - #ifndef SERVO360_H #define SERVO360_H @@ -37,9 +35,16 @@ extern "C" { #define S360_UNITS_FULL_CIRCLE 360 #define S360_MAX_SPEED 2 * 4096 -#define S360_VB_POS 200 -#define S360_VB_NEG -200 #define S360_VM 180 +//#define S360_VB_POS 200 +//#define S360_VB_NEG -200 +#define S360_VM_CCW S360_VM +#define S360_VM_CW S360_VM + +#define S360_VM_CCW S360_VM +#define S360_VM_CW S360_VM +#define S360_VB_CCW 200 +#define S360_VB_CW -200 #define S360_DUTY_CYCLE_MIN 290 #define S360_DUTY_CYCLE_MAX 9710 @@ -103,6 +108,10 @@ extern "C" { #define S360_SETTING_KIA 6 #define S360_SETTING_KDA 7 #define S360_SETTING_IA_MAX 8 +#define S360_SETTING_VB_CCW 9 +#define S360_SETTING_VB_CW 10 +#define S360_SETTING_VM_CCW 11 +#define S360_SETTING_VM_CW 12 //#define S360_A_MAX (((1 << 31) - 1)) / S360_UNITS_FULL_CIRCLE // 524287 degrees #define S360_A_MAX 524287 @@ -188,7 +197,7 @@ void servo360_setPositiveDirection(int p, int direction); int servo360_setRampStep(int p, int stepSize); -int servo360_upsToPulseFromTransferFunction(int unitsPerSec); +int servo360_upsToPulseFromTransferFunction(int unitsPerSec, int p); void servo360_pulseControl(int p, int speedUps); void servo360_speedControl(int p); @@ -206,6 +215,9 @@ int servo360_setMaxSpeedEncoded(int pin, int speed); void servo360_monitorRun(void); void servo360_monitorEnd(void); +int servo360_setTransferFunction(int pin, int constant, int value); + + /* __attribute__((constructor)) void servo360_patch(void); @@ -255,6 +267,11 @@ typedef volatile struct servo360_s volatile int coupleScale; volatile int enable; + volatile int vmCcw; + volatile int vmCw; + volatile int vbCcw; + volatile int vbCw; + // admin volatile int csop; volatile int speedReq; diff --git a/Learn/Simple Libraries/Motor/libservo360/servo360_connect.c b/Learn/Simple Libraries/Motor/libservo360/servo360_connect.c index eda4d5b3..661ce793 100644 --- a/Learn/Simple Libraries/Motor/libservo360/servo360_connect.c +++ b/Learn/Simple Libraries/Motor/libservo360/servo360_connect.c @@ -100,6 +100,11 @@ int servo360_connect(int pinControl, int pinFeedback) _fs[p].enable = 1; _fb360c.devCount++; + + _fs[p].vmCcw = S360_VM_CCW; + _fs[p].vmCw = S360_VM_CW; + _fs[p].vbCcw = S360_VB_CCW; + _fs[p].vbCw = S360_VB_CW; lockclr(_fb360c.lock360); diff --git a/Learn/Simple Libraries/Motor/libservo360/servo360_setTransferFunction.c b/Learn/Simple Libraries/Motor/libservo360/servo360_setTransferFunction.c new file mode 100644 index 00000000..376fa0bc --- /dev/null +++ b/Learn/Simple Libraries/Motor/libservo360/servo360_setTransferFunction.c @@ -0,0 +1,60 @@ +/* + @file servo360_setControlSys.c + + @author Parallax Inc + + @copyright + Copyright (C) Parallax Inc. 2017. All Rights MIT Licensed. See end of file. + + @brief +*/ + + +#include "simpletools.h" +#include "servo360.h" + +int servo360_setTransferFunction(int pin, int constant, int value) +{ + if(!_fb360c.servoCog) servo360_run(); + int p = servo360_findServoIndex(pin); + if(p == -1)return -1; + + switch(constant) + { + case S360_SETTING_VM_CCW: + _fs[p].vmCcw = value; + break; + case S360_SETTING_VM_CW: + _fs[p].vmCw = value; + break; + case S360_SETTING_VB_CCW: + _fs[p].vbCcw = value; + break; + case S360_SETTING_VB_CW: + _fs[p].vbCw = value; + break; + } +} + + +/** + * TERMS OF USE: MIT License + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and associated documentation files (the "Software"), + * to deal in the Software without restriction, including without limitation + * the rights to use, copy, modify, merge, publish, distribute, sublicense, + * and/or sell copies of the Software, and to permit persons to whom the + * Software is furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL + * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING + * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER + * DEALINGS IN THE SOFTWARE. + */ diff --git a/Learn/Simple Libraries/Robotics/ActivityBot360/libabcalibrate360/Doxyfile.doxyfile b/Learn/Simple Libraries/Robotics/ActivityBot360/libabcalibrate360/Doxyfile.doxyfile new file mode 100644 index 00000000..b1d098ed --- /dev/null +++ b/Learn/Simple Libraries/Robotics/ActivityBot360/libabcalibrate360/Doxyfile.doxyfile @@ -0,0 +1,1826 @@ +# Doxyfile 1.8.1.2 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project +# +# All text after a hash (#) is considered a comment and will be ignored +# The format is: +# TAG = value [value, ...] +# For lists items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (" ") + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the config file +# that follow. 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When set to YES local +# methods, which are defined in the implementation section but not in +# the interface are included in the documentation. +# If set to NO (the default) only methods in the interface are included. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base +# name of the file that contains the anonymous namespace. By default +# anonymous namespaces are hidden. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all +# undocumented members of documented classes, files or namespaces. +# If set to NO (the default) these members will be included in the +# various overviews, but no documentation section is generated. +# This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. +# If set to NO (the default) these classes will be included in the various +# overviews. This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all +# friend (class|struct|union) declarations. +# If set to NO (the default) these declarations will be included in the +# documentation. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any +# documentation blocks found inside the body of a function. +# If set to NO (the default) these blocks will be appended to the +# function's detailed documentation block. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation +# that is typed after a \internal command is included. If the tag is set +# to NO (the default) then the documentation will be excluded. +# Set it to YES to include the internal documentation. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate +# file names in lower-case letters. If set to YES upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. + +CASE_SENSE_NAMES = NO + +# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen +# will show members with their full class and namespace scopes in the +# documentation. If set to YES the scope will be hidden. + +HIDE_SCOPE_NAMES = YES + +# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen +# will put a list of the files that are included by a file in the documentation +# of that file. + +SHOW_INCLUDE_FILES = YES + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen +# will list include files with double quotes in the documentation +# rather than with sharp brackets. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] +# is inserted in the documentation for inline members. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen +# will sort the (detailed) documentation of file and class members +# alphabetically by member name. If set to NO the members will appear in +# declaration order. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the +# brief documentation of file, namespace and class members alphabetically +# by member name. If set to NO (the default) the members will appear in +# declaration order. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen +# will sort the (brief and detailed) documentation of class members so that +# constructors and destructors are listed first. If set to NO (the default) +# the constructors will appear in the respective orders defined by +# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. +# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO +# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the +# hierarchy of group names into alphabetical order. If set to NO (the default) +# the group names will appear in their defined order. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be +# sorted by fully-qualified names, including namespaces. If set to +# NO (the default), the class list will be sorted only by class name, +# not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the +# alphabetical list. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to +# do proper type resolution of all parameters of a function it will reject a +# match between the prototype and the implementation of a member function even +# if there is only one candidate or it is obvious which candidate to choose +# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen +# will still accept a match between prototype and implementation in such cases. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or +# disable (NO) the todo list. This list is created by putting \todo +# commands in the documentation. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or +# disable (NO) the test list. This list is created by putting \test +# commands in the documentation. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or +# disable (NO) the bug list. This list is created by putting \bug +# commands in the documentation. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or +# disable (NO) the deprecated list. This list is created by putting +# \deprecated commands in the documentation. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional +# documentation sections, marked by \if sectionname ... \endif. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines +# the initial value of a variable or macro consists of for it to appear in +# the documentation. If the initializer consists of more lines than specified +# here it will be hidden. Use a value of 0 to hide initializers completely. +# The appearance of the initializer of individual variables and macros in the +# documentation can be controlled using \showinitializer or \hideinitializer +# command in the documentation regardless of this setting. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated +# at the bottom of the documentation of classes and structs. If set to YES the +# list will mention the files that were used to generate the documentation. + +SHOW_USED_FILES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. +# This will remove the Files entry from the Quick Index and from the +# Folder Tree View (if specified). The default is YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the +# Namespaces page. This will remove the Namespaces entry from the Quick Index +# and from the Folder Tree View (if specified). The default is YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command , where is the value of +# the FILE_VERSION_FILTER tag, and is the name of an input file +# provided by doxygen. Whatever the program writes to standard output +# is used as the file version. See the manual for examples. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. +# You can optionally specify a file name after the option, if omitted +# DoxygenLayout.xml will be used as the name of the layout file. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files +# containing the references data. This must be a list of .bib files. The +# .bib extension is automatically appended if omitted. Using this command +# requires the bibtex tool to be installed. See also +# http://en.wikipedia.org/wiki/BibTeX for more info. For LaTeX the style +# of the bibliography can be controlled using LATEX_BIB_STYLE. To use this +# feature you need bibtex and perl available in the search path. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated +# by doxygen. Possible values are YES and NO. If left blank NO is used. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated by doxygen. Possible values are YES and NO. If left blank +# NO is used. + +WARNINGS = YES + +# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings +# for undocumented members. If EXTRACT_ALL is set to YES then this flag will +# automatically be disabled. + +WARN_IF_UNDOCUMENTED = YES + +# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some +# parameters in a documented function, or documenting parameters that +# don't exist or using markup commands wrongly. + +WARN_IF_DOC_ERROR = YES + +# The WARN_NO_PARAMDOC option can be enabled to get warnings for +# functions that are documented, but have no documentation for their parameters +# or return value. If set to NO (the default) doxygen will only warn about +# wrong or incomplete parameter documentation, but not about the absence of +# documentation. + +WARN_NO_PARAMDOC = NO + +# The WARN_FORMAT tag determines the format of the warning messages that +# doxygen can produce. The string should contain the $file, $line, and $text +# tags, which will be replaced by the file and line number from which the +# warning originated and the warning text. Optionally the format may contain +# $version, which will be replaced by the version of the file (if it could +# be obtained via FILE_VERSION_FILTER) + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning +# and error messages should be written. If left blank the output is written +# to stderr. + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag can be used to specify the files and/or directories that contain +# documented source files. You may enter file names like "myfile.cpp" or +# directories like "/usr/src/myproject". Separate the files or directories +# with spaces. + +INPUT = "." + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is +# also the default input encoding. Doxygen uses libiconv (or the iconv built +# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for +# the list of possible encodings. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank the following patterns are tested: +# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh +# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py +# *.f90 *.f *.for *.vhd *.vhdl + +FILE_PATTERNS = *.c \ + *.cc \ + *.cxx \ + *.cpp \ + *.c++ \ + *.d \ + *.java \ + *.ii \ + *.ixx \ + *.ipp \ + *.i++ \ + *.inl \ + *.h \ + *.hh \ + *.hxx \ + *.hpp \ + *.h++ \ + *.idl \ + *.odl \ + *.cs \ + *.php \ + *.php3 \ + *.inc \ + *.m \ + *.markdown \ + *.md \ + *.mm \ + *.dox \ + *.py \ + *.f90 \ + *.f \ + *.for \ + *.vhd \ + *.vhdl + +# The RECURSIVE tag can be used to turn specify whether or not subdirectories +# should be searched for input files as well. Possible values are YES and NO. +# If left blank NO is used. + +RECURSIVE = NO + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. Note that the wildcards are matched +# against the file with absolute path, so to exclude all test directories +# for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or +# directories that contain example code fragments that are included (see +# the \include command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank all files are included. + +EXAMPLE_PATTERNS = * + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude +# commands irrespective of the value of the RECURSIVE tag. +# Possible values are YES and NO. If left blank NO is used. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or +# directories that contain image that are included in the documentation (see +# the \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command , where +# is the value of the INPUT_FILTER tag, and is the name of an +# input file. Doxygen will then use the output that the filter program writes +# to standard output. If FILTER_PATTERNS is specified, this tag will be +# ignored. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: +# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further +# info on how filters are used. If FILTER_PATTERNS is empty or if +# non of the patterns match the file name, INPUT_FILTER is applied. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will be used to filter the input files when producing source +# files to browse (i.e. when SOURCE_BROWSER is set to YES). + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) +# and it is also possible to disable source filtering for a specific pattern +# using *.ext= (so without naming a filter). This option only has effect when +# FILTER_SOURCE_FILES is enabled. + +FILTER_SOURCE_PATTERNS = + +#--------------------------------------------------------------------------- +# configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will +# be generated. Documented entities will be cross-referenced with these sources. +# Note: To get rid of all source code in the generated output, make sure also +# VERBATIM_HEADERS is set to NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body +# of functions and classes directly in the documentation. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct +# doxygen to hide any special comment blocks from generated source code +# fragments. Normal C, C++ and Fortran comments will always remain visible. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES +# then for each documented function all documented +# functions referencing it will be listed. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES +# then for each documented function all documented entities +# called/used by that function will be listed. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) +# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from +# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will +# link to the source code. Otherwise they will link to the documentation. + +REFERENCES_LINK_SOURCE = YES + +# If the USE_HTAGS tag is set to YES then the references to source code +# will point to the HTML generated by the htags(1) tool instead of doxygen +# built-in source browser. The htags tool is part of GNU's global source +# tagging system (see http://www.gnu.org/software/global/global.html). You +# will need version 4.8.6 or higher. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen +# will generate a verbatim copy of the header file for each class for +# which an include is specified. Set to NO to disable this. + +VERBATIM_HEADERS = YES + +#--------------------------------------------------------------------------- +# configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index +# of all compounds will be generated. Enable this if the project +# contains a lot of classes, structs, unions or interfaces. + +ALPHABETICAL_INDEX = YES + +# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then +# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns +# in which this list will be split (can be a number in the range [1..20]) + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all +# classes will be put under the same header in the alphabetical index. +# The IGNORE_PREFIX tag can be used to specify one or more prefixes that +# should be ignored while generating the index headers. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES (the default) Doxygen will +# generate HTML output. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `html' will be used as the default path. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for +# each generated HTML page (for example: .htm,.php,.asp). If it is left blank +# doxygen will generate files with .html extension. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a personal HTML header for +# each generated HTML page. If it is left blank doxygen will generate a +# standard header. Note that when using a custom header you are responsible +# for the proper inclusion of any scripts and style sheets that doxygen +# needs, which is dependent on the configuration options used. +# It is advised to generate a default header using "doxygen -w html +# header.html footer.html stylesheet.css YourConfigFile" and then modify +# that header. Note that the header is subject to change so you typically +# have to redo this when upgrading to a newer version of doxygen or when +# changing the value of configuration settings such as GENERATE_TREEVIEW! + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a personal HTML footer for +# each generated HTML page. If it is left blank doxygen will generate a +# standard footer. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading +# style sheet that is used by each HTML page. It can be used to +# fine-tune the look of the HTML output. If the tag is left blank doxygen +# will generate a default style sheet. Note that doxygen will try to copy +# the style sheet file to the HTML output directory, so don't put your own +# style sheet in the HTML output directory as well, or it will be erased! + +HTML_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that +# the files will be copied as-is; there are no commands or markers available. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. +# Doxygen will adjust the colors in the style sheet and background images +# according to this color. Hue is specified as an angle on a colorwheel, +# see http://en.wikipedia.org/wiki/Hue for more information. +# For instance the value 0 represents red, 60 is yellow, 120 is green, +# 180 is cyan, 240 is blue, 300 purple, and 360 is red again. +# The allowed range is 0 to 359. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of +# the colors in the HTML output. For a value of 0 the output will use +# grayscales only. A value of 255 will produce the most vivid colors. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to +# the luminance component of the colors in the HTML output. Values below +# 100 gradually make the output lighter, whereas values above 100 make +# the output darker. The value divided by 100 is the actual gamma applied, +# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2, +# and 100 does not change the gamma. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting +# this to NO can help when comparing the output of multiple runs. + +HTML_TIMESTAMP = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. + +HTML_DYNAMIC_SECTIONS = NO + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of +# entries shown in the various tree structured indices initially; the user +# can expand and collapse entries dynamically later on. Doxygen will expand +# the tree to such a level that at most the specified number of entries are +# visible (unless a fully collapsed tree already exceeds this amount). +# So setting the number of entries 1 will produce a full collapsed tree by +# default. 0 is a special value representing an infinite number of entries +# and will result in a full expanded tree by default. + +HTML_INDEX_NUM_ENTRIES = 100 + +# If the GENERATE_DOCSET tag is set to YES, additional index files +# will be generated that can be used as input for Apple's Xcode 3 +# integrated development environment, introduced with OSX 10.5 (Leopard). +# To create a documentation set, doxygen will generate a Makefile in the +# HTML output directory. Running make will produce the docset in that +# directory and running "make install" will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find +# it at startup. +# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. + +GENERATE_DOCSET = NO + +# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the +# feed. A documentation feed provides an umbrella under which multiple +# documentation sets from a single provider (such as a company or product suite) +# can be grouped. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that +# should uniquely identify the documentation set bundle. This should be a +# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen +# will append .docset to the name. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES, additional index files +# will be generated that can be used as input for tools like the +# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) +# of the generated HTML documentation. + +GENERATE_HTMLHELP = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can +# be used to specify the file name of the resulting .chm file. You +# can add a path in front of the file if the result should not be +# written to the html output directory. + +CHM_FILE = + +# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can +# be used to specify the location (absolute path including file name) of +# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run +# the HTML help compiler on the generated index.hhp. + +HHC_LOCATION = + +# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag +# controls if a separate .chi index file is generated (YES) or that +# it should be included in the master .chm file (NO). + +GENERATE_CHI = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING +# is used to encode HtmlHelp index (hhk), content (hhc) and project file +# content. + +CHM_INDEX_ENCODING = + +# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag +# controls whether a binary table of contents is generated (YES) or a +# normal table of contents (NO) in the .chm file. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members +# to the contents of the HTML help documentation and to the tree view. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated +# that can be used as input for Qt's qhelpgenerator to generate a +# Qt Compressed Help (.qch) of the generated HTML documentation. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can +# be used to specify the file name of the resulting .qch file. +# The path specified is relative to the HTML output folder. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#namespace + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#virtual-folders + +QHP_VIRTUAL_FOLDER = doc + +# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to +# add. For more information please see +# http://doc.trolltech.com/qthelpproject.html#custom-filters + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see +# +# Qt Help Project / Custom Filters. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's +# filter section matches. +# +# Qt Help Project / Filter Attributes. + +QHP_SECT_FILTER_ATTRS = + +# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can +# be used to specify the location of Qt's qhelpgenerator. +# If non-empty doxygen will try to run qhelpgenerator on the generated +# .qhp file. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files +# will be generated, which together with the HTML files, form an Eclipse help +# plugin. To install this plugin and make it available under the help contents +# menu in Eclipse, the contents of the directory containing the HTML and XML +# files needs to be copied into the plugins directory of eclipse. The name of +# the directory within the plugins directory should be the same as +# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before +# the help appears. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have +# this name. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# The DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) +# at top of each HTML page. The value NO (the default) enables the index and +# the value YES disables it. Since the tabs have the same information as the +# navigation tree you can set this option to NO if you already set +# GENERATE_TREEVIEW to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. +# If the tag value is set to YES, a side panel will be generated +# containing a tree-like index structure (just like the one that +# is generated for HTML Help). For this to work a browser that supports +# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). +# Windows users are probably better off using the HTML help feature. +# Since the tree basically has the same information as the tab index you +# could consider to set DISABLE_INDEX to NO when enabling this option. + +GENERATE_TREEVIEW = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values +# (range [0,1..20]) that doxygen will group on one line in the generated HTML +# documentation. Note that a value of 0 will completely suppress the enum +# values from appearing in the overview section. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be +# used to set the initial width (in pixels) of the frame in which the tree +# is shown. + +TREEVIEW_WIDTH = 250 + +# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open +# links to external symbols imported via tag files in a separate window. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of Latex formulas included +# as images in the HTML documentation. The default is 10. Note that +# when you change the font size after a successful doxygen run you need +# to manually remove any form_*.png images from the HTML output directory +# to force them to be regenerated. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are +# not supported properly for IE 6.0, but are supported on all modern browsers. +# Note that when changing this option you need to delete any form_*.png files +# in the HTML output before the changes have effect. + +FORMULA_TRANSPARENT = YES + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax +# (see http://www.mathjax.org) which uses client side Javascript for the +# rendering instead of using prerendered bitmaps. Use this if you do not +# have LaTeX installed or if you want to formulas look prettier in the HTML +# output. When enabled you may also need to install MathJax separately and +# configure the path to it using the MATHJAX_RELPATH option. + +USE_MATHJAX = NO + +# When MathJax is enabled you need to specify the location relative to the +# HTML output directory using the MATHJAX_RELPATH option. The destination +# directory should contain the MathJax.js script. For instance, if the mathjax +# directory is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to +# the MathJax Content Delivery Network so you can quickly see the result without +# installing MathJax. However, it is strongly recommended to install a local +# copy of MathJax from http://www.mathjax.org before deployment. + +MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest + +# The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension +# names that should be enabled during MathJax rendering. + +MATHJAX_EXTENSIONS = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box +# for the HTML output. The underlying search engine uses javascript +# and DHTML and should work on any modern browser. Note that when using +# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets +# (GENERATE_DOCSET) there is already a search function so this one should +# typically be disabled. For large projects the javascript based search engine +# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution. + +SEARCHENGINE = NO + +# When the SERVER_BASED_SEARCH tag is enabled the search engine will be +# implemented using a PHP enabled web server instead of at the web client +# using Javascript. Doxygen will generate the search PHP script and index +# file to put on the web server. The advantage of the server +# based approach is that it scales better to large projects and allows +# full text search. The disadvantages are that it is more difficult to setup +# and does not have live searching capabilities. + +SERVER_BASED_SEARCH = NO + +#--------------------------------------------------------------------------- +# configuration options related to the LaTeX output +#--------------------------------------------------------------------------- + +# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will +# generate Latex output. + +GENERATE_LATEX = NO + +# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `latex' will be used as the default path. + +LATEX_OUTPUT = latex + +# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be +# invoked. If left blank `latex' will be used as the default command name. +# Note that when enabling USE_PDFLATEX this option is only used for +# generating bitmaps for formulas in the HTML output, but not in the +# Makefile that is written to the output directory. + +LATEX_CMD_NAME = latex + +# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to +# generate index for LaTeX. If left blank `makeindex' will be used as the +# default command name. + +MAKEINDEX_CMD_NAME = makeindex + +# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact +# LaTeX documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_LATEX = NO + +# The PAPER_TYPE tag can be used to set the paper type that is used +# by the printer. Possible values are: a4, letter, legal and +# executive. If left blank a4wide will be used. + +PAPER_TYPE = a4 + +# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX +# packages that should be included in the LaTeX output. + +EXTRA_PACKAGES = + +# The LATEX_HEADER tag can be used to specify a personal LaTeX header for +# the generated latex document. The header should contain everything until +# the first chapter. If it is left blank doxygen will generate a +# standard header. Notice: only use this tag if you know what you are doing! + +LATEX_HEADER = + +# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for +# the generated latex document. The footer should contain everything after +# the last chapter. If it is left blank doxygen will generate a +# standard footer. Notice: only use this tag if you know what you are doing! + +LATEX_FOOTER = + +# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated +# is prepared for conversion to pdf (using ps2pdf). The pdf file will +# contain links (just like the HTML output) instead of page references +# This makes the output suitable for online browsing using a pdf viewer. + +PDF_HYPERLINKS = YES + +# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of +# plain latex in the generated Makefile. Set this option to YES to get a +# higher quality PDF documentation. + +USE_PDFLATEX = YES + +# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. +# command to the generated LaTeX files. This will instruct LaTeX to keep +# running if errors occur, instead of asking the user for help. +# This option is also used when generating formulas in HTML. + +LATEX_BATCHMODE = NO + +# If LATEX_HIDE_INDICES is set to YES then doxygen will not +# include the index chapters (such as File Index, Compound Index, etc.) +# in the output. + +LATEX_HIDE_INDICES = NO + +# If LATEX_SOURCE_CODE is set to YES then doxygen will include +# source code with syntax highlighting in the LaTeX output. +# Note that which sources are shown also depends on other settings +# such as SOURCE_BROWSER. + +LATEX_SOURCE_CODE = NO + +# The LATEX_BIB_STYLE tag can be used to specify the style to use for the +# bibliography, e.g. plainnat, or ieeetr. The default style is "plain". See +# http://en.wikipedia.org/wiki/BibTeX for more info. + +LATEX_BIB_STYLE = plain + +#--------------------------------------------------------------------------- +# configuration options related to the RTF output +#--------------------------------------------------------------------------- + +# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output +# The RTF output is optimized for Word 97 and may not look very pretty with +# other RTF readers or editors. + +GENERATE_RTF = NO + +# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `rtf' will be used as the default path. + +RTF_OUTPUT = rtf + +# If the COMPACT_RTF tag is set to YES Doxygen generates more compact +# RTF documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_RTF = NO + +# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated +# will contain hyperlink fields. The RTF file will +# contain links (just like the HTML output) instead of page references. +# This makes the output suitable for online browsing using WORD or other +# programs which support those fields. +# Note: wordpad (write) and others do not support links. + +RTF_HYPERLINKS = NO + +# Load style sheet definitions from file. Syntax is similar to doxygen's +# config file, i.e. a series of assignments. You only have to provide +# replacements, missing definitions are set to their default value. + +RTF_STYLESHEET_FILE = + +# Set optional variables used in the generation of an rtf document. +# Syntax is similar to doxygen's config file. + +RTF_EXTENSIONS_FILE = + +#--------------------------------------------------------------------------- +# configuration options related to the man page output +#--------------------------------------------------------------------------- + +# If the GENERATE_MAN tag is set to YES (the default) Doxygen will +# generate man pages + +GENERATE_MAN = NO + +# The MAN_OUTPUT tag is used to specify where the man pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `man' will be used as the default path. + +MAN_OUTPUT = man + +# The MAN_EXTENSION tag determines the extension that is added to +# the generated man pages (default is the subroutine's section .3) + +MAN_EXTENSION = .3 + +# If the MAN_LINKS tag is set to YES and Doxygen generates man output, +# then it will generate one additional man file for each entity +# documented in the real man page(s). These additional files +# only source the real man page, but without them the man command +# would be unable to find the correct page. The default is NO. + +MAN_LINKS = NO + +#--------------------------------------------------------------------------- +# configuration options related to the XML output +#--------------------------------------------------------------------------- + +# If the GENERATE_XML tag is set to YES Doxygen will +# generate an XML file that captures the structure of +# the code including all documentation. + +GENERATE_XML = NO + +# The XML_OUTPUT tag is used to specify where the XML pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `xml' will be used as the default path. + +XML_OUTPUT = xml + +# The XML_SCHEMA tag can be used to specify an XML schema, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_SCHEMA = + +# The XML_DTD tag can be used to specify an XML DTD, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_DTD = + +# If the XML_PROGRAMLISTING tag is set to YES Doxygen will +# dump the program listings (including syntax highlighting +# and cross-referencing information) to the XML output. Note that +# enabling this will significantly increase the size of the XML output. + +XML_PROGRAMLISTING = YES + +#--------------------------------------------------------------------------- +# configuration options for the AutoGen Definitions output +#--------------------------------------------------------------------------- + +# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will +# generate an AutoGen Definitions (see autogen.sf.net) file +# that captures the structure of the code including all +# documentation. Note that this feature is still experimental +# and incomplete at the moment. + +GENERATE_AUTOGEN_DEF = NO + +#--------------------------------------------------------------------------- +# configuration options related to the Perl module output +#--------------------------------------------------------------------------- + +# If the GENERATE_PERLMOD tag is set to YES Doxygen will +# generate a Perl module file that captures the structure of +# the code including all documentation. Note that this +# feature is still experimental and incomplete at the +# moment. + +GENERATE_PERLMOD = NO + +# If the PERLMOD_LATEX tag is set to YES Doxygen will generate +# the necessary Makefile rules, Perl scripts and LaTeX code to be able +# to generate PDF and DVI output from the Perl module output. + +PERLMOD_LATEX = NO + +# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be +# nicely formatted so it can be parsed by a human reader. This is useful +# if you want to understand what is going on. On the other hand, if this +# tag is set to NO the size of the Perl module output will be much smaller +# and Perl will parse it just the same. + +PERLMOD_PRETTY = YES + +# The names of the make variables in the generated doxyrules.make file +# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. +# This is useful so different doxyrules.make files included by the same +# Makefile don't overwrite each other's variables. + +PERLMOD_MAKEVAR_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the preprocessor +#--------------------------------------------------------------------------- + +# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will +# evaluate all C-preprocessor directives found in the sources and include +# files. + +ENABLE_PREPROCESSING = YES + +# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro +# names in the source code. If set to NO (the default) only conditional +# compilation will be performed. Macro expansion can be done in a controlled +# way by setting EXPAND_ONLY_PREDEF to YES. + +MACRO_EXPANSION = NO + +# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES +# then the macro expansion is limited to the macros specified with the +# PREDEFINED and EXPAND_AS_DEFINED tags. + +EXPAND_ONLY_PREDEF = NO + +# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files +# pointed to by INCLUDE_PATH will be searched when a #include is found. + +SEARCH_INCLUDES = YES + +# The INCLUDE_PATH tag can be used to specify one or more directories that +# contain include files that are not input files but should be processed by +# the preprocessor. + +INCLUDE_PATH = + +# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard +# patterns (like *.h and *.hpp) to filter out the header-files in the +# directories. If left blank, the patterns specified with FILE_PATTERNS will +# be used. + +INCLUDE_FILE_PATTERNS = + +# The PREDEFINED tag can be used to specify one or more macro names that +# are defined before the preprocessor is started (similar to the -D option of +# gcc). The argument of the tag is a list of macros of the form: name +# or name=definition (no spaces). If the definition and the = are +# omitted =1 is assumed. To prevent a macro definition from being +# undefined via #undef or recursively expanded use the := operator +# instead of the = operator. + +PREDEFINED = + +# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then +# this tag can be used to specify a list of macro names that should be expanded. +# The macro definition that is found in the sources will be used. +# Use the PREDEFINED tag if you want to use a different macro definition that +# overrules the definition found in the source code. + +EXPAND_AS_DEFINED = + +# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then +# doxygen's preprocessor will remove all references to function-like macros +# that are alone on a line, have an all uppercase name, and do not end with a +# semicolon, because these will confuse the parser if not removed. + +SKIP_FUNCTION_MACROS = YES + +#--------------------------------------------------------------------------- +# Configuration::additions related to external references +#--------------------------------------------------------------------------- + +# The TAGFILES option can be used to specify one or more tagfiles. For each +# tag file the location of the external documentation should be added. The +# format of a tag file without this location is as follows: +# TAGFILES = file1 file2 ... +# Adding location for the tag files is done as follows: +# TAGFILES = file1=loc1 "file2 = loc2" ... +# where "loc1" and "loc2" can be relative or absolute paths +# or URLs. Note that each tag file must have a unique name (where the name does +# NOT include the path). If a tag file is not located in the directory in which +# doxygen is run, you must also specify the path to the tagfile here. + +TAGFILES = + +# When a file name is specified after GENERATE_TAGFILE, doxygen will create +# a tag file that is based on the input files it reads. + +GENERATE_TAGFILE = + +# If the ALLEXTERNALS tag is set to YES all external classes will be listed +# in the class index. If set to NO only the inherited external classes +# will be listed. + +ALLEXTERNALS = NO + +# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed +# in the modules index. If set to NO, only the current project's groups will +# be listed. + +EXTERNAL_GROUPS = YES + +# The PERL_PATH should be the absolute path and name of the perl script +# interpreter (i.e. the result of `which perl'). + +PERL_PATH = /usr/bin/perl + +#--------------------------------------------------------------------------- +# Configuration options related to the dot tool +#--------------------------------------------------------------------------- + +# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will +# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base +# or super classes. Setting the tag to NO turns the diagrams off. Note that +# this option also works with HAVE_DOT disabled, but it is recommended to +# install and use dot, since it yields more powerful graphs. + +CLASS_DIAGRAMS = YES + +# You can define message sequence charts within doxygen comments using the \msc +# command. Doxygen will then run the mscgen tool (see +# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the +# documentation. The MSCGEN_PATH tag allows you to specify the directory where +# the mscgen tool resides. If left empty the tool is assumed to be found in the +# default search path. + +MSCGEN_PATH = + +# If set to YES, the inheritance and collaboration graphs will hide +# inheritance and usage relations if the target is undocumented +# or is not a class. + +HIDE_UNDOC_RELATIONS = YES + +# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is +# available from the path. This tool is part of Graphviz, a graph visualization +# toolkit from AT&T and Lucent Bell Labs. The other options in this section +# have no effect if this option is set to NO (the default) + +HAVE_DOT = NO + +# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is +# allowed to run in parallel. When set to 0 (the default) doxygen will +# base this on the number of processors available in the system. You can set it +# explicitly to a value larger than 0 to get control over the balance +# between CPU load and processing speed. + +DOT_NUM_THREADS = 0 + +# By default doxygen will use the Helvetica font for all dot files that +# doxygen generates. When you want a differently looking font you can specify +# the font name using DOT_FONTNAME. You need to make sure dot is able to find +# the font, which can be done by putting it in a standard location or by setting +# the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the +# directory containing the font. + +DOT_FONTNAME = Helvetica + +# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs. +# The default size is 10pt. + +DOT_FONTSIZE = 10 + +# By default doxygen will tell dot to use the Helvetica font. +# If you specify a different font using DOT_FONTNAME you can use DOT_FONTPATH to +# set the path where dot can find it. + +DOT_FONTPATH = + +# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect inheritance relations. Setting this tag to YES will force the +# CLASS_DIAGRAMS tag to NO. + +CLASS_GRAPH = YES + +# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect implementation dependencies (inheritance, containment, and +# class references variables) of the class with other documented classes. + +COLLABORATION_GRAPH = YES + +# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for groups, showing the direct groups dependencies + +GROUP_GRAPHS = YES + +# If the UML_LOOK tag is set to YES doxygen will generate inheritance and +# collaboration diagrams in a style similar to the OMG's Unified Modeling +# Language. + +UML_LOOK = NO + +# If the UML_LOOK tag is enabled, the fields and methods are shown inside +# the class node. If there are many fields or methods and many nodes the +# graph may become too big to be useful. The UML_LIMIT_NUM_FIELDS +# threshold limits the number of items for each type to make the size more +# managable. Set this to 0 for no limit. Note that the threshold may be +# exceeded by 50% before the limit is enforced. + +UML_LIMIT_NUM_FIELDS = 10 + +# If set to YES, the inheritance and collaboration graphs will show the +# relations between templates and their instances. + +TEMPLATE_RELATIONS = NO + +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT +# tags are set to YES then doxygen will generate a graph for each documented +# file showing the direct and indirect include dependencies of the file with +# other documented files. + +INCLUDE_GRAPH = YES + +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and +# HAVE_DOT tags are set to YES then doxygen will generate a graph for each +# documented header file showing the documented files that directly or +# indirectly include this file. + +INCLUDED_BY_GRAPH = YES + +# If the CALL_GRAPH and HAVE_DOT options are set to YES then +# doxygen will generate a call dependency graph for every global function +# or class method. Note that enabling this option will significantly increase +# the time of a run. So in most cases it will be better to enable call graphs +# for selected functions only using the \callgraph command. + +CALL_GRAPH = NO + +# If the CALLER_GRAPH and HAVE_DOT tags are set to YES then +# doxygen will generate a caller dependency graph for every global function +# or class method. Note that enabling this option will significantly increase +# the time of a run. So in most cases it will be better to enable caller +# graphs for selected functions only using the \callergraph command. + +CALLER_GRAPH = NO + +# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen +# will generate a graphical hierarchy of all classes instead of a textual one. + +GRAPHICAL_HIERARCHY = YES + +# If the DIRECTORY_GRAPH and HAVE_DOT tags are set to YES +# then doxygen will show the dependencies a directory has on other directories +# in a graphical way. The dependency relations are determined by the #include +# relations between the files in the directories. + +DIRECTORY_GRAPH = YES + +# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images +# generated by dot. Possible values are svg, png, jpg, or gif. +# If left blank png will be used. If you choose svg you need to set +# HTML_FILE_EXTENSION to xhtml in order to make the SVG files +# visible in IE 9+ (other browsers do not have this requirement). + +DOT_IMAGE_FORMAT = png + +# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to +# enable generation of interactive SVG images that allow zooming and panning. +# Note that this requires a modern browser other than Internet Explorer. +# Tested and working are Firefox, Chrome, Safari, and Opera. For IE 9+ you +# need to set HTML_FILE_EXTENSION to xhtml in order to make the SVG files +# visible. Older versions of IE do not have SVG support. + +INTERACTIVE_SVG = NO + +# The tag DOT_PATH can be used to specify the path where the dot tool can be +# found. If left blank, it is assumed the dot tool can be found in the path. + +DOT_PATH = + +# The DOTFILE_DIRS tag can be used to specify one or more directories that +# contain dot files that are included in the documentation (see the +# \dotfile command). + +DOTFILE_DIRS = + +# The MSCFILE_DIRS tag can be used to specify one or more directories that +# contain msc files that are included in the documentation (see the +# \mscfile command). + +MSCFILE_DIRS = + +# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of +# nodes that will be shown in the graph. If the number of nodes in a graph +# becomes larger than this value, doxygen will truncate the graph, which is +# visualized by representing a node as a red box. Note that doxygen if the +# number of direct children of the root node in a graph is already larger than +# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note +# that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH. + +DOT_GRAPH_MAX_NODES = 50 + +# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the +# graphs generated by dot. A depth value of 3 means that only nodes reachable +# from the root by following a path via at most 3 edges will be shown. Nodes +# that lay further from the root node will be omitted. Note that setting this +# option to 1 or 2 may greatly reduce the computation time needed for large +# code bases. Also note that the size of a graph can be further restricted by +# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction. + +MAX_DOT_GRAPH_DEPTH = 0 + +# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent +# background. This is disabled by default, because dot on Windows does not +# seem to support this out of the box. Warning: Depending on the platform used, +# enabling this option may lead to badly anti-aliased labels on the edges of +# a graph (i.e. they become hard to read). + +DOT_TRANSPARENT = NO + +# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output +# files in one run (i.e. multiple -o and -T options on the command line). This +# makes dot run faster, but since only newer versions of dot (>1.8.10) +# support this, this feature is disabled by default. + +DOT_MULTI_TARGETS = NO + +# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will +# generate a legend page explaining the meaning of the various boxes and +# arrows in the dot generated graphs. + +GENERATE_LEGEND = YES + +# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will +# remove the intermediate dot files that are used to generate +# the various graphs. + +DOT_CLEANUP = YES diff --git a/Learn/Simple Libraries/Robotics/ActivityBot360/libabcalibrate360/abcalibrate360.c b/Learn/Simple Libraries/Robotics/ActivityBot360/libabcalibrate360/abcalibrate360.c new file mode 100644 index 00000000..b321c531 --- /dev/null +++ b/Learn/Simple Libraries/Robotics/ActivityBot360/libabcalibrate360/abcalibrate360.c @@ -0,0 +1,499 @@ +#ifndef ABCALIBRATE360_H +#define ABCALIBRATE360_H + +#if defined(__cplusplus) +extern "C" { +#endif + + +#include "abcalibrate360.h" +#include "simpletools.h" +#include "servo360.h" + + +static volatile int abd360_pinCtrlLeft = ABD60_PIN_CTRL_L; +static volatile int abd360_pinCtrlRight = ABD360_PIN_CTRL_R; +static volatile int abd360_pinFbLeft = ABD60_PIN_FB_L; +static volatile int abd360_pinFbRight = ABD360_PIN_FB_R; + + +void cal_activityBot(void) +{ + ee_putStr("AB360cstart", 12, _AB360_EE_Start_); + + // Left servo counterclockwise + + servo360_connect(abd360_pinCtrlLeft, abd360_pinFbLeft); + servo360_feedback(abd360_pinCtrlLeft, 0); + + int n, x, angle, angleP; + int mVccwL, mVcwL, bVccwL, bVcwL; + int mVccwR, mVcwR, bVccwR, bVcwR; + int increases = 0, decreases = 0, diffCount = 0; + + servo360_set(abd360_pinCtrlLeft, 1500+240); + pause(2000); + x = servo360_getAngle12Bit(abd360_pinCtrlLeft); + print("x = %d\r", x); + pause(1000); + x = servo360_getAngle12Bit(abd360_pinCtrlLeft) - x; + print("x = %d\r", x); + //x1 &= 0xFFF; + //print("x1 = %d\r", x1); + + servo360_set(abd360_pinCtrlLeft, 1500); + + pause(2000); + + angle = servo360_getAngle(abd360_pinCtrlLeft); + angleP = angle; + + for(n = 0; n < 60; n++) + { + servo360_set(abd360_pinCtrlLeft, 1500 + n); + angle = servo360_getAngle(abd360_pinCtrlLeft); + print("angle = %d\r", angle); + if(angle != angleP) increases++; + if(increases > 3) break; + pause(20); + angleP = angle; + } + + bVccwL = (n - 4) * 10 * 2 / 3; + print("bVccwL = %d\r", bVccwL); + + servo360_set(abd360_pinCtrlLeft, 1500); + + mVccwL = 1000 * (2200 - bVccwL) / x; + + print("mVccwL = %d\r", mVccwL); + + + // Left servo clockwise + + + servo360_set(abd360_pinCtrlLeft, 1500-240); + pause(2000); + x = servo360_getAngle12Bit(abd360_pinCtrlLeft); + print("x = %d\r", x); + pause(1000); + x = abs(servo360_getAngle12Bit(abd360_pinCtrlLeft) - x); + print("x = %d\r", x); + //x1 &= 0xFFF; + //print("x1 = %d\r", x1); + + servo360_set(abd360_pinCtrlLeft, 1500); + + pause(2000); + + angle = servo360_getAngle(abd360_pinCtrlLeft); + angleP = angle; + + for(n = 0; n > -60; n--) + { + servo360_set(abd360_pinCtrlLeft, 1500 + n); + angle = servo360_getAngle(abd360_pinCtrlLeft); + print("angle = %d\r", angle); + if(angle != angleP) decreases++; + if(decreases > 3) break; + pause(20); + angleP = angle; + } + + bVcwL = abs((n + 4) * 10 * 2 / 3); + print("bVcwL = %d\r", bVcwL); + + servo360_set(abd360_pinCtrlLeft, 1500); + + mVcwL = 1000 * (2200 - bVcwL) / x; + + print("mVccwL = %d\r", mVcwL); + + + // Right servo counterclockwise + + servo360_connect(abd360_pinCtrlRight, abd360_pinFbRight); + servo360_feedback(abd360_pinCtrlRight, 0); + + servo360_set(abd360_pinCtrlRight, 1500+240); + pause(2000); + x = servo360_getAngle12Bit(abd360_pinCtrlRight); + print("x = %d\r", x); + pause(1000); + x = servo360_getAngle12Bit(abd360_pinCtrlRight) - x; + print("x = %d\r", x); + //x1 &= 0xFFF; + //print("x1 = %d\r", x1); + + servo360_set(abd360_pinCtrlRight, 1500); + + pause(2000); + + angle = servo360_getAngle(abd360_pinCtrlRight); + angleP = angle; + increases = 0; + + for(n = 0; n < 60; n++) + { + servo360_set(abd360_pinCtrlRight, 1500 + n); + angle = servo360_getAngle(abd360_pinCtrlRight); + print("angle = %d\r", angle); + if(angle != angleP) increases++; + if(increases > 3) break; + pause(20); + angleP = angle; + } + + bVccwR = (n - 4) * 10 * 2 / 3; + print("bVccwR = %d\r", bVccwR); + + servo360_set(abd360_pinCtrlRight, 1500); + + mVccwR = 1000 * (2200 - bVccwR) / x; + + print("mVccwR = %d\r", mVccwR); + + + // Right servo clockwise + + + servo360_set(abd360_pinCtrlRight, 1500-240); + pause(2000); + x = servo360_getAngle12Bit(abd360_pinCtrlRight); + print("x = %d\r", x); + pause(1000); + x = abs(servo360_getAngle12Bit(abd360_pinCtrlRight) - x); + print("x1 = %d\r", x); + //x1 &= 0xFFF; + //print("x1 = %d\r", x1); + + servo360_set(abd360_pinCtrlRight, 1500); + + pause(2000); + + angle = servo360_getAngle(abd360_pinCtrlRight); + angleP = angle; + decreases = 0; + + for(n = 0; n > -60; n--) + { + servo360_set(abd360_pinCtrlRight, 1500 + n); + angle = servo360_getAngle(abd360_pinCtrlRight); + print("angle = %d\r", angle); + if(angle != angleP) decreases++; + if(decreases > 3) break; + pause(20); + angleP = angle; + } + + bVcwR = abs((n + 4) * 10 * 2 / 3); + print("bVcwR = %d\r", bVcwR); + + servo360_set(abd360_pinCtrlRight, 1500); + + mVcwR = 1000 * (2200 - bVcwR) / x; + + print("mVcwR = %d\r", mVcwR); + + print("\r=== Summary ===\r", mVcwR); + print("mVccw = %d\r", mVccwL); + print("bVccwL = %d\r", bVccwL); + print("mVcwL = %d\r", mVcwL); + print("bVcwL = %d\r", bVcwL); + print("mVccwR = %d\r", mVccwR); + print("bVccwR = %d\r", bVccwR); + print("mVcwR = %d\r", mVcwR); + print("bVcwR = %d\r", bVcwR); + + ee_putInt(mVccwL, _AB360_EE_Start_ + _AB360_EE_mVccwL_); + ee_putInt(bVccwL, _AB360_EE_Start_ + _AB360_EE_bVccwL_); + ee_putInt(mVcwL, _AB360_EE_Start_ + _AB360_EE_mVcwL_); + ee_putInt(bVcwL, _AB360_EE_Start_ + _AB360_EE_bVcwL_); + + ee_putInt(mVccwR, _AB360_EE_Start_ + _AB360_EE_mVccwR_); + ee_putInt(bVccwR, _AB360_EE_Start_ + _AB360_EE_bVccwR_); + ee_putInt(mVcwR, _AB360_EE_Start_ + _AB360_EE_mVcwR_); + ee_putInt(bVcwR, _AB360_EE_Start_ + _AB360_EE_bVcwR_); + + ee_putStr("AB360 ", 12, _AB360_EE_Start_); + + ee_putInt(0, 0); +} + + +void cal_servoPins(int servoPinLeft, int servoPinRight) +{ + int eeAddr = _AB360_EE_Start_ + _AB360_EE_Pins_; + unsigned char pinInfo[8] = {'s', 'p', 'L', 12, ' ', 'R', 13, ' '}; + pinInfo[3] = (char) servoPinLeft; + pinInfo[6] = (char) servoPinRight; + + ee_putStr(pinInfo, 8, eeAddr); + + abd360_pinCtrlLeft = servoPinLeft; + abd360_pinCtrlRight = servoPinRight; +} + + +void cal_encoderPins(int encPinLeft, int encPinRight) +{ + int eeAddr = 8 + _AB360_EE_Start_ + _AB360_EE_Pins_; + unsigned char pinInfo[8] = {'e', 'p', 'L', 14, ' ', 'R', 15, ' '}; + pinInfo[3] = (char) encPinLeft; + pinInfo[6] = (char) encPinRight; + + ee_putStr(pinInfo, 8, eeAddr); + + abd360_pinFbLeft = encPinLeft; + abd360_pinFbRight = encPinRight; +} + +int cal_getEepromPins() +{ + int eeAddr = _AB360_EE_Start_ + _AB360_EE_Pins_; + unsigned char pinInfo[16]; + + for(int i = 0; i < 16; i++) + { + pinInfo[i] = ee_getByte(eeAddr + i); + /* + if(pinInfo[i] <= 'z' && pinInfo[i] >= ' ') + { + print("%c", pinInfo[i]); + } + else + { + print("[%d]", pinInfo[i]); + } + */ + } + + print("I/O pins\r"); + print("===================================\r"); + print("Control pins:\r"); + print("-----------------------------------\r"); + + if(pinInfo[0] == 's' && pinInfo[1] == 'p' && pinInfo[2] == 'L' && pinInfo[5] == 'R') + { + //abd360_pinCtrlLeft = (int) pinInfo[3]; + //abd360_pinCtrlRight = (int) pinInfo[6]; + print("Left servo: P%d\r", pinInfo[3]); + print("right servo: P%d\r", pinInfo[6]); + } + // + else + { + print("Control pin settings not found. Defaults of \r"); + print("P12 (left) and P13 (right) will be used. \r"); + } + // + + print("\rFeedback pins:\r"); + print("-----------------------------------\r"); + if(pinInfo[8] == 'e' && pinInfo[9] == 'p' && pinInfo[10] == 'L' && pinInfo[13] == 'R') + { + //abd360_pinFbLeft = (int) pinInfo[11]; + //abd360_pinFbRight = (int) pinInfo[14]; + print("Left servo: P%d\r", pinInfo[11]); + print("right servo: P%d\r", pinInfo[14]); + } + // + else + { + print("Feedback pin settings not found. Defaults of \r"); + print("P14 (left) and P15 (right) will be used. \r\r"); + } + //print("===================================\r\r"); +} + + +void cal_displayData(void) +{ + //if(!abd_us) abd_us = CLKFREQ/1000000; + + unsigned char str[12]; + ee_getStr(str, 12, _AB360_EE_Start_); + str[11] = 0; + + if(!strcmp(str, "AB360 ")) + { + //print("!!! AB360 SETTINGS NOT FOUND, RETURNING !!!\r"); + //return -1; + print("Calibration record found.\r\r\r"); + + cal_getEepromPins(); + + int mVccwL = ee_getInt(_AB360_EE_Start_ + _AB360_EE_mVccwL_); + int bVccwL = ee_getInt(_AB360_EE_Start_ + _AB360_EE_bVccwL_); + int mVcwL = ee_getInt(_AB360_EE_Start_ + _AB360_EE_mVcwL_); + int bVcwL = ee_getInt(_AB360_EE_Start_ + _AB360_EE_bVcwL_); + + int mVccwR = ee_getInt(_AB360_EE_Start_ + _AB360_EE_mVccwR_); + int bVccwR = ee_getInt(_AB360_EE_Start_ + _AB360_EE_bVccwR_); + int mVcwR = ee_getInt(_AB360_EE_Start_ + _AB360_EE_mVcwR_); + int bVcwR = ee_getInt(_AB360_EE_Start_ + _AB360_EE_bVcwR_); + + print("\r\rInverse Transfer Function Constants\r"); + print("for y = mx + b\r"); + print("===================================\r"); + print("Left Servo, Counterclockwise\r"); + print("m = %d\r", mVccwL); + print("b = %d\r", bVccwL); + print("\rLeft Servo, Clockwise\r"); + print("m = %d\r", mVcwL); + print("b = %d\r", bVcwL); + + print("\rRight Servo, Counterclockwise\r"); + print("m = %d\r", mVccwR); + print("b = %d\r", bVccwR); + print("\rRight Servo, Clockwise\r"); + print("m = %d\r", mVcwR); + print("b = %d\r", bVcwR); + + print("\rNotes:\r"); + print("y: Offset from 15,000 in 0.1 us units\r"); + print("m: Slope in 1.0 us / 4096 increments\r"); + print("x: Desired speed in 4096ths of a revolution/second\r"); + print("b: Number of 0.1 us increments added to 15000\r"); + } + else + { + print("Calibration data either not found or has errors.\r"); + print("Try cal_displayResults() for more info.\r"); + print("\rRaw data from EEPROM:\r\r"); + for(int a = _AB360_EE_Start_; a < _AB360_EE_End_; a++) + { + char c = ee_getByte(a); + if(c >= ' ' && c <= 'z') + { + print("%c", c); + } + else + { + print("[%d]", c); + } + } + return; + } + + print("\r\rCalibration data stored in EEPROM:\r"); + print("===================================\r"); + for(int a = _AB360_EE_Start_; a < _AB360_EE_End_; a++) + { + char c = ee_getByte(a); + if(c >= ' ' && c <= 'z') + { + print("%c", c); + } + else + { + print("[%d]", c); + } + } + return; +} + +void cal_displayResults(void) +{ + //if(!abd_us) abd_us = CLKFREQ/1000000; + + unsigned char str[12]; + ee_getStr(str, 12, _AB360_EE_Start_); + str[11] = 0; + + if(!strcmp(str, "AB360 ")) + { + print("The last calibration completed successfully.\r"); + //return -1; + } + else if(!strcmp(str, "AB360cstart")) + { + print("Calibration started but did not complete.\r"); + print("Verify the servo and encoder connections\r"); + print("against the ones in the diagrams and try\r"); + print("again. Follow the instructions carefully.\r"); + //return -1; + } + else if(!strcmp(str, "ActivityBot")) + { + print("There is a non-servo360 ActivityBot calibration.\r"); + print("in the EEPROM. Make sure to follow the instructions\r"); + print("for calibrating the ActivityBot360.\r"); + //return -1; + } + else + { + print("Calibration records not found. Follow instructions\r"); + print("for calibrating your ActivityBot360.\r"); + //return -1; + } + // + + print("\rTry cal_displayData() for more detailed info.\r\r"); + + // + + int mVccwL = ee_getInt(_AB360_EE_Start_ + _AB360_EE_mVccwL_); + int bVccwL = ee_getInt(_AB360_EE_Start_ + _AB360_EE_bVccwL_); + int mVcwL = ee_getInt(_AB360_EE_Start_ + _AB360_EE_mVcwL_); + int bVcwL = ee_getInt(_AB360_EE_Start_ + _AB360_EE_bVcwL_); + + int mVccwR = ee_getInt(_AB360_EE_Start_ + _AB360_EE_mVccwR_); + int bVccwR = ee_getInt(_AB360_EE_Start_ + _AB360_EE_bVccwR_); + int mVcwR = ee_getInt(_AB360_EE_Start_ + _AB360_EE_mVcwR_); + int bVcwR = ee_getInt(_AB360_EE_Start_ + _AB360_EE_bVcwR_); + + /* + servo360_setTransferFunction(abd360_pinCtrlLeft, S360_SETTING_VM_CCW, mVccwL); + servo360_setTransferFunction(abd360_pinCtrlLeft, S360_SETTING_VB_CCW, bVccwL); + servo360_setTransferFunction(abd360_pinCtrlLeft, S360_SETTING_VM_CW, mVcwL); + servo360_setTransferFunction(abd360_pinCtrlLeft, S360_SETTING_VB_CW, -bVcwL ); + + servo360_setTransferFunction(abd360_pinCtrlRight, S360_SETTING_VM_CCW, mVccwR ); + servo360_setTransferFunction(abd360_pinCtrlRight, S360_SETTING_VB_CCW, bVccwR); + servo360_setTransferFunction(abd360_pinCtrlRight, S360_SETTING_VM_CW, mVcwR); + servo360_setTransferFunction(abd360_pinCtrlRight, S360_SETTING_VB_CW, -bVcwR); + */ + + /* + print("Inverse Transfer Function Constants\r"); + print("for y = mx + b\r"); + print("y: Offset from 15,000 in 0.1 us units\r"); + print("m: Slope in 1.0 us / 4096 increments\r"); + print("x: Desired speed in 4096ths of a revolution/second\r"); + print("b: Number of 0.1 us increments added to 15000\r"); + print("\r===================================\r"); + print("\rLeft Servo, Counterclockwise\r"); + print("m = %d\r", mVccwL); + print("b = %d\r", bVccwL); + print("\rLeft Servo, Clockwise\r"); + print("m = %d\r", mVcwL); + print("b = %d\r", bVcwL); + + print("\rRight Servo, Counterclockwise\r"); + print("m = %d\r", mVccwR); + print("b = %d\r", bVccwR); + print("\rRight Servo, Clockwise\r"); + print("m = %d\r", mVcwR); + print("b = %d\r", bVcwR); + */ +} + + +void cal_clear(void) +{ + for(int addr = _AB360_EE_Start_; addr <_AB360_EE_End_; addr++) + { + ee_putByte(0xFF, addr); + } +} + + + +#if defined(__cplusplus) +} +#endif +/* __cplusplus */ +#endif +/* ABCALIBRATE360_H */ + diff --git a/Learn/Simple Libraries/Robotics/ActivityBot360/libabcalibrate360/abcalibrate360.h b/Learn/Simple Libraries/Robotics/ActivityBot360/libabcalibrate360/abcalibrate360.h new file mode 100644 index 00000000..fe5897a3 --- /dev/null +++ b/Learn/Simple Libraries/Robotics/ActivityBot360/libabcalibrate360/abcalibrate360.h @@ -0,0 +1,179 @@ +/** + * @file abcalibrate.h + * + * @author Andy Lindsay + * + * @copyright Copyright (C) Parallax, Inc. 2013. See end of file for + * terms of use (MIT License). + * + * @brief This library has a function you can call to calibrate your + * ActivityBot. Example code that uses this library to calibrate the + * ActivityBot is here: + *
+ *
+ * http://learn.parallax.com/activitybot + *
+ *
+ * Calibration instructions that accompany the example code are included in the tutorial. + * + * @par Core Usage + * A call to cal_activityBot launches 2 additional cores, and self-terminates the + * application when done. + * + * @par EEPROM Usage + * Writes to addresses 63418..65470. + * + * @par Memory Models + * Use with CMM. + * + * @version 0.91 + * @li add cal_servoPins and cal_encoderPins to change from default + * I/O connections to ActivityBot servos and encoders. Values used + * will persist in EEPROM and be used by the abdrive library. + * + * @version v0.90 + * + * @par Help Improve this Library + * Please submit bug reports, suggestions, and improvements to this code to + * editor@parallax.com. + */ + +#ifndef ABCALIBRATE_H +#define ABCALIBRATE_H + +#if defined(__cplusplus) +extern "C" { +#endif + +#include "simpletools.h" +#include "servo360.h" + + +#define ABD60_PIN_CTRL_L 12 +#define ABD60_PIN_FB_L 14 + +#define ABD360_PIN_CTRL_R 13 +#define ABD360_PIN_FB_R 15 + + +#ifndef _AB360_EE_Start_ +/** + * + * @brief ActivityBot EEPROM calibration data start address. + */ +#define _AB360_EE_Start_ 63418 +#endif + +#ifndef _AB360_EE_Pins_ +#define _AB360_EE_Pins_ 12 +#endif + +#ifndef _AB360_EE_mVccwL_ +#define _AB360_EE_mVccwL_ 28 +#endif + +#ifndef _AB360_EE_bVccwL_ +#define _AB360_EE_bVccwL_ 32 +#endif + +#ifndef _AB360_EE_mVcwL_ +#define _AB360_EE_mVcwL_ 36 +#endif + +#ifndef _AB360_EE_bVcwL_ +#define _AB360_EE_bVcwL_ 40 +#endif + +#ifndef _AB360_EE_mVccwR_ +#define _AB360_EE_mVccwR_ 44 +#endif + +#ifndef _AB360_EE_bVccwR_ +#define _AB360_EE_bVccwR_ 48 +#endif + +#ifndef _AB360_EE_mVcwR_ +#define _AB360_EE_mVcwR_ 52 +#endif + +#ifndef _AB360_EE_bVcwR_ +#define _AB360_EE_bVcwR_ 56 +#endif + +#ifndef _AB360_EE_End_ +/** + * + * @brief ActivityBot EEPROM calibration data end address. + */ +#define _AB360_EE_End_ _AB360_EE_Start_ + 60 +#endif + + +/** + * @brief Run the ActivityBot calibration function. Let it run until the + * P26 and P27 lights turn off. It'll take about 1 minute, 20 seconds. + */ +void cal_activityBot(); + +/** + * @brief Set the ActivityBot's servo pin connections to something + * other than the default P12 (left servo) and P13 (right servo). + * This function stores values in EEPROM where the abdrive library + * can access them. So, the abdrive library will expect the + * servos to be connected to the I/O pins specified by the + * servoPinLeft and servoPinRight parameters. + * + * @param servoPinLeft Number of I/O pin connected to the left servo. + * + * @param servoPinRight Number of I/O pin connected to the right servo. + */ +void cal_servoPins(int servoPinLeft, int servoPinRight); + +/** + * @brief Set the ActivityBot's servo pin connections to something + * other than the default P14 (left encoder) and P15 (right encoder). + * This function stores values in EEPROM where the abdrive library + * can access them. So, the abdrive library will expect the + * encoders to be connected to the I/O pins specified by the + * encPinLeft and encPinRight parameters. + * + * @param encPinLeft Number of I/O pin connected to the left encoder. + * + * @param encPinRight Number of I/O pin connected to the right encoder. + */ +void cal_encoderPins(int encPinLeft, int encPinRight); + + +void cal_displayData(void); +void cal_displayResults(void); +int cal_getEepromPins(void); +void cal_clear(void); + +#if defined(__cplusplus) +} +#endif +/* __cplusplus */ +#endif +/* ABCALIBRATE_H */ + +/** + * TERMS OF USE: MIT License + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and associated documentation files (the "Software"), + * to deal in the Software without restriction, including without limitation + * the rights to use, copy, modify, merge, publish, distribute, sublicense, + * and/or sell copies of the Software, and to permit persons to whom the + * Software is furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL + * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING + * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER + * DEALINGS IN THE SOFTWARE. + */ diff --git a/Learn/Simple Libraries/Robotics/ActivityBot360/libabcalibrate360/cmm/libabcalibrate360.a b/Learn/Simple Libraries/Robotics/ActivityBot360/libabcalibrate360/cmm/libabcalibrate360.a new file mode 100644 index 0000000000000000000000000000000000000000..e742d9678c220c38f50c2a1e156fee07b9324720 GIT binary patch literal 10394 zcmbVS4{#gRnO{dXwq?mth_OwG&4VT+A&D)?lAV}1|Kq~d#ID0pI6|$pw6az7kJT!+ zIf!#D6I$r>0&`{3gXtwS*XG)p!!VTTq_lNuu`^SkDeW}CWgvG)X|7Wsm)sC;XyLx! zdvEQ}3W4-x79uE5@oynQku};N z<~0nX(lE-dxzJ}IZl(v!xRctIa>h329775Umc1+2m&z6twX*SC!m?)tLzc76%GJbP=VFF&(3drg;S&{?7{(B(zO~>ULQe$VqHpv0OXM+jtdf|7NyG3?yik5R;HwI} zPQutJk9&%&PfR}X!_$GQGWh@|F;ic)j$zVUh9fBaR`9(iKMEQz5{iu1H`-5iQ@BK|G_#+v(lUI=nHr&4|*ur3+2^_<=rO}af5xf@lPLq=&ina z^1-W&%H#Q1P37Y1sVY>KgLZwU9%-9@EH6!sRJ@Z=DXq&JNE*h1pPnfT9DW9MH(s!~ z1617iD3JxnX3K-y3Amju51_m&9=m^4U{(0eS}Jb=@s4$|CcAhP1yUHdMguigt3IDG z>JBeL(&P$NVt!PWURGse^|X&11jdnK!#xe!;G*X9|2>;|DtL6NPM6$}qs(UJbPv2v zl?Nc4s%ywJ+UL*fvmZCF6CW|JH8T}^E2&!VVg#uUyzbpYQT~!i{Z)V_)OYxq=|KHB zIdYqJp=FCgcaxr~G(+{EED{7V>gYXLQf{-Y=6OD!=WUcSO|)FbYKm!2&lrmizewx9 zwyNnJa>i!a>zDJ)YNnG@fdv`0@FxS%rz8-1v9^VuDJ*lwFK2qwK3W`%FJgL)OnwEE zOW!(<%yGIZaF6-ha}?cMZN7@*lrNAmUy~BA`5*FFWxgqoHRd1W(PzFbkACwEj_%!u z;KUR3f;aCzST#5WQ|dy~IDIvb`>HB7 ze6rDtA7RwvJN4uA)VUX`j@3?*%j5T)YzeFnh`{dR+vFKtRDnJQHJs=uh~kFn>V~^J z@}k&2?IqA7imRvn1o}mBiS{&I({T5T<+AIpq_*L1$;az1HrjN6oLY#tz>RmQ8}G7` zcni;qSO2l`sQ10}M0n$%k7i{Ol}|7HKJ|aH>ayKL#5`KKNwv<1(!ZFR{8;SObJKP8 zxUYHhvDeN$*Vr%syeFoXz`mGT0taGh2~5P)5}1t1C18>2F)V#ALK6FA^juy2?Q&@+ z4db~+dD-61moxd%4V8;o`{WnEtcG0rT0<^(@(GW#8jIgazl*h_m73nk905H~Z&u|m zINK{z%^o>NF>t4sD{i(4vq8MIS#*V)U-dU|n9Iw>sf!AB`sBC_=`0Mf2 zUVo{&b~Rq9?E>$}Cuf#tDT`y$oKd}zh7ASo?6jA zU)<2zEAq6(g+00XqyaT!OD^l!xwN$FB+2Se9@4JIN;*Prsyjs=8c4%V4GotHnSWAu zoK$wGAhJ0}By+`VqD6?UR?@_FTI7;~y!3^_VtJaJuMlQ7A^JjXV!8CYLX4!+X)#E5 zy@ExCr0egtti+%hzhfqQ!{DNe3D_5k%#9blP&~h}Meoy7xva3Qc+O7fD*S#~zu$jD zc9&%rEOC=#*1_Z?bGD#~7MW48QVjYH*~=YxL0Lt5#jIo5 z@pLYJ$4IJR!Er{fgF$`t&oP+Q^!LjNxS*$!^RtE&!@oV}SOu&A!x-xny~!lamPpbI zkqAXs1%pA6%8Fo1h`KL|*_5m!(-+IAAeZ7XA`a*feWn&m>u zwi2R{rzwLz)SO{C>n1gGS1w&dpIQsl*DNik!A`Ngm>HxN(z?)bXT1tDksv=#j*_F? 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AB360 CONTROL PIN SETTINGS NOT FOUND !!!\r"); + } + */ + + if(pinInfo[8] == 'e' && pinInfo[9] == 'p' && pinInfo[10] == 'L' && pinInfo[13] == 'R') + { + abd360_pinFbLeft = (int) pinInfo[11]; + abd360_pinFbRight = (int) pinInfo[14]; + } + /* + else + { + print("!!! AB360 FEEDBACK PIN SETTINGS NOT FOUND !!!\r"); + } + */ +} + +int abdrive360_getEepromTransfer() +{ + //if(!abd_us) abd_us = CLKFREQ/1000000; + + unsigned char str[12]; + ee_getStr(str, 12, _AB360_EE_Start_); + str[11] = 0; + + if(strcmp(str, "AB360 ")) + { + //print("!!! AB360 SETTINGS NOT FOUND, RETURNING !!!\r"); + return -1; + } + /* + else + for(int i = 0; i < 12; i++) + { + if(str[i] <= 'z' && str[i] >= ' ') + { + print("%c", str[i]); + } + else + { + print("[%d]", str[i]); + } + } + */ + + + int mVccwL = ee_getInt(_AB360_EE_Start_ + _AB360_EE_mVccwL_); + int bVccwL = ee_getInt(_AB360_EE_Start_ + _AB360_EE_bVccwL_); + int mVcwL = ee_getInt(_AB360_EE_Start_ + _AB360_EE_mVcwL_); + int bVcwL = ee_getInt(_AB360_EE_Start_ + _AB360_EE_bVcwL_); + + int mVccwR = ee_getInt(_AB360_EE_Start_ + _AB360_EE_mVccwR_); + int bVccwR = ee_getInt(_AB360_EE_Start_ + _AB360_EE_bVccwR_); + int mVcwR = ee_getInt(_AB360_EE_Start_ + _AB360_EE_mVcwR_); + int bVcwR = ee_getInt(_AB360_EE_Start_ + _AB360_EE_bVcwR_); + + servo360_setTransferFunction(abd360_pinCtrlLeft, S360_SETTING_VM_CCW, mVccwL); + servo360_setTransferFunction(abd360_pinCtrlLeft, S360_SETTING_VB_CCW, bVccwL); + servo360_setTransferFunction(abd360_pinCtrlLeft, S360_SETTING_VM_CW, mVcwL); + servo360_setTransferFunction(abd360_pinCtrlLeft, S360_SETTING_VB_CW, -bVcwL ); + + servo360_setTransferFunction(abd360_pinCtrlRight, S360_SETTING_VM_CCW, mVccwR ); + servo360_setTransferFunction(abd360_pinCtrlRight, S360_SETTING_VB_CCW, bVccwR); + servo360_setTransferFunction(abd360_pinCtrlRight, S360_SETTING_VM_CW, mVcwR); + servo360_setTransferFunction(abd360_pinCtrlRight, S360_SETTING_VB_CW, -bVcwR); + /* + print("\r=== Summary ===\r"); + print("mVccwL = %d\r", mVccwL); + print("bVccwL = %d\r", bVccwL); + print("mVcwL = %d\r", mVcwL); + print("bVcwL = %d\r", bVcwL); + print("mVccwR = %d\r", mVccwR); + print("bVccwR = %d\r", bVccwR); + print("mVcwR = %d\r", mVcwR); + print("bVcwR = %d\r", bVcwR); + */ +} + + /** * TERMS OF USE: MIT License diff --git a/Learn/Simple Libraries/Robotics/ActivityBot360/libabdrive360/abdrive360.h b/Learn/Simple Libraries/Robotics/ActivityBot360/libabdrive360/abdrive360.h index 4fe0c825..80e2d8fb 100644 --- a/Learn/Simple Libraries/Robotics/ActivityBot360/libabdrive360/abdrive360.h +++ b/Learn/Simple Libraries/Robotics/ActivityBot360/libabdrive360/abdrive360.h @@ -47,6 +47,62 @@ #define SIDE_RIGHT 1 #define SIDE_BOTH 2 + + +#ifndef _AB360_EE_Start_ +/** + * + * @brief ActivityBot EEPROM calibration data start address. + */ +#define _AB360_EE_Start_ 63418 +#endif + +#ifndef _AB360_EE_Pins_ +#define _AB360_EE_Pins_ 12 +#endif + +#ifndef _AB360_EE_mVccwL_ +#define _AB360_EE_mVccwL_ 28 +#endif + +#ifndef _AB360_EE_bVccwL_ +#define _AB360_EE_bVccwL_ 32 +#endif + +#ifndef _AB360_EE_mVcwL_ +#define _AB360_EE_mVcwL_ 36 +#endif + +#ifndef _AB360_EE_bVcwL_ +#define _AB360_EE_bVcwL_ 40 +#endif + +#ifndef _AB360_EE_mVccwR_ +#define _AB360_EE_mVccwR_ 44 +#endif + +#ifndef _AB360_EE_bVccwR_ +#define _AB360_EE_bVccwR_ 48 +#endif + +#ifndef _AB360_EE_mVcwR_ +#define _AB360_EE_mVcwR_ 52 +#endif + +#ifndef _AB360_EE_bVcwR_ +#define _AB360_EE_bVcwR_ 56 +#endif + +#ifndef _AB360_EE_End_ +/** + * + * @brief ActivityBot EEPROM calibration data end address. + */ +#define _AB360_EE_End_ _AB360_EE_Start_ + 60 +#endif + + + extern volatile int abd360_initialized; extern volatile int abd360_unitsPerRev; @@ -105,6 +161,7 @@ void drive_ramp(int left, int right); void drive_rampStep(int left, int right); +//int drive_displayInterpolation(void); /** diff --git a/Learn/Simple Libraries/Robotics/ActivityBot360/libabdrive360/cmm/libabdrive360.a b/Learn/Simple Libraries/Robotics/ActivityBot360/libabdrive360/cmm/libabdrive360.a index 0ca2b0e8affea532873cd821cfd0d7daa64ee2a6..eeda4c6ad3cbf5e1c25e7cfa5eb0be7fd4b94464 100644 GIT binary patch delta 2968 zcmbuBe{54#6vt2d)~;*2?oqq8TVZ>!0dp%|$6)1`TNytLamG1F#2~I?d*Xz3P1g}I zu!oWm0#U&mFcLM}{Dqq6NE0H&Ec%D^4+$9w5+%fl8l%P;;18z;qvyPL-?*vM7`f?t z@AEz9{&@G?d(Z2MLzZWbS&q!snwp{w4NZy?Rj7z}MQK{LOt&gZ!U+Hs00o==-&GO^ z@D2m`9ROud0?fVzptJ*2t#}<^AsX+#4p4s?pm7`^wiuxKEI?}nVC^Wtz2%)<+j`Qy zyVS;}XyT0SDMXy2pKeyzku9glEDIkb}Ti5xH4b+p7^L z5?@Z`WWUb)5?@b|?MUJ~{W+ZY5uX}3#}Ys5hK~|A=^2=GO%!4Wdq-Tlau$vhVIO;) z3ry*D)|lw@9yf*!OkzEkv(|JJIqOVxJHsYAy_XT)KHKwB+xSj^KCptF9WFRiHR2dO zE>EHpe;B(rEq=}R04~YuR$O>vC$fiZ$E>TY>`2`_yNvs0*vjN3RTe8ttnjmTyKF^+ z68Ez)H{lB_7ubCT*n^dgEtzNcVZXO5Y+v|M4dN1w0$VNmk^{soKzrOQGU{qm;8Vsc zidPM{$=H4^vRQ}p!>AR(zXN%;pofqT8+rlI055YVJ!pWp^7Q-c)1{TOK1XX8e@$xj zExS=zsr`XgAFoe?d(4TTjryv~)9X+Nh5DQG{K-76<>?nuQzWU#@d6Fr6)VIG;6v1I z!;cjtxQLowgbL~JQHKqwYlyV1iQ+8=GalUb-sAvusw$oL*4-IZuSMrS)tg+CNwclN zLbfI36B0nrjQyAi!0c;dCJmhfnRItw$~0|AX3(UjclA^M18T->vwkqyo$2jQLZ_a6 zI(w77>?r1u3l5t_qq$0j#)N1mNVprR+>e)3q$4~<%(vBkVwYimiMZI{*NAy!PZE0! 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We are assuming users do // not intend to hot-swap their ActivityBot connections!) +/* void drive_servoPins(int servoPinLeft, int servoPinRight) { abd360_pinCtrlLeft = servoPinLeft; abd360_pinCtrlRight = servoPinRight; -} +} +*/ + +// +void drive_servoPins(int servoPinLeft, int servoPinRight) // drivePins function +{ + //abd_sPinL = servoPinLeft; // Local to global assignments + //abd_sPinR = servoPinRight; + //if(!abd_us) abd_us = CLKFREQ/1000000; + + int eeAddr = _AB360_EE_Start_ + _AB360_EE_Pins_; + unsigned char pinInfo[8] = {'s', 'p', 'L', 12, ' ', 'R', 13, ' '}; + pinInfo[3] = (char) servoPinLeft; + pinInfo[6] = (char) servoPinRight; + + ee_putStr(pinInfo, 8, eeAddr); + + abd360_pinCtrlLeft = servoPinLeft; + abd360_pinCtrlRight = servoPinRight; + // + //if(!abd_intTabSetup) + //{ + // interpolation_table_setup(); + //} + // +} +// + /** * TERMS OF USE: MIT License diff --git a/version.txt b/version.txt index 92f76b42..fbbca83d 100644 --- a/version.txt +++ b/version.txt @@ -1 +1 @@ -v1.4.3 +v1.4.15