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--- en:robot:intro [2009/03/05 12:28] – created raivo.sell
+++ en:robot:intro [2020/07/20 12:00] (current) – external edit 127.0.0.1
@@ Line 1: / Line 1: @@
+====== Distance Lab robot ======
+Robot can be equipped with different payload:
+  * Manipulator (fig. 1)
+  * Simple radar (fig. 2)
+  * Camera
+{{http://www.mehhatroonika.ee/images/user/device/platvorm1.jpg|Platvorm1}}
+Fig. 1 Robot with manipulator
+{{http://www.mehhatroonika.ee/images/user/device/platvorm2.jpg|Platvorm2}}
+Fig. 2 Robot with IR radar
+===== Basic navigation =====
+<code c>
+#define F_CPU 14745600UL //CPU Frequency (influences delay function)
+#include <avr/io.h>
+#include <util/delay.h>
+int init(){
+	DDRD = 0xFF;// set port direction (output)
+	PORTD = 0x00;// initialize port
+	//Pamperi lülitid
+	DDRC = 0x00;// set port direction (input)
+	PORTC = 0x00;// initialize port
+	DDRA = 0x00;// set port direction (input)
+	PORTA = 0x00;// initialize port
+	DDRB = 0xFF;// set port direction (output)
+	PORTB = 0x00;// initialize port
+	DDRG = 0xFF;  // set port direction (output)
+	PORTG = 0x00;// initialize port - pins-s low
+return 0;
+}
+int edasi(){
+		PORTD=0x02; //vasak edasi
+		PORTB=0x80; //parem edasi
+return 0;
+}
+int tagasi(){
+		PORTD=0x01; //vasak tagasi
+		PORTB=0x10; //parem tagasi
+return 0;
+}
+int stop(){
+		PORTD=0x00; //vasak stop
+		PORTB=0x00; //parem stop
+return 0;
+}
+int poore_vasak(){
+		PORTD=0x01; //vasak tagasi
+		PORTB=0x80; //parem edasi
+return 0;
+}
+int poore_parem(){
+		PORTD=0x02; //vasak edasi
+		PORTB=0x10; //parem tagasi
+return 0;
+}
+int main (void){
+	init();
+	while(1){
+		edasi();
+		if (bit_is_set(PINA, 0)||bit_is_set(PINA, 1)) {
+			tagasi();
+			_delay_ms(500);
+			poore_parem();
+			_delay_ms(1000);
+		}
+		if (bit_is_set(PINA, 2)||bit_is_set(PINA, 3)) {
+			tagasi();
+			_delay_ms(500);
+			poore_vasak();
+			_delay_ms(1000);
+		}
+		if (bit_is_set(PINC, 4)||bit_is_set(PINC, 5)||bit_is_set(PINC, 6)||bit_is_set(PINC, 7)) {
+			stop();
+			_delay_ms(1000);
+		}
+	}
+}
+</code>