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void digital_out( int port, int value )
/* Set port of expansion board to value */
{
if ( port == 0 ) port = 0;
else if ( port == 1 ) port = 4096;
else if ( port == 2 ) port = 2048;
else if ( port == 3 ) port = 6144;
else if ( port == 4 ) port = 1024;
else if ( port == 5 ) port = 5120;
else if ( port == 6 ) port = 3072;
else if ( port == 7 ) port = 7168;
else port = -1;
if ( ( port > -1 ) && ( ( value == 0 ) || ( value == 1 ) ) )
peek( 16384 + port + 512 * value );
else
printf( "Parameter error: digital_out" );
}
Verbesserung der Störunempfindlichkeit bei den IR-Proxies
int ir_detect( void )
/* Neue Version von Klaus und Michael, die etwas stabiler gegenueber Messfehlern ist! */
/* ir_detect returns: */
/* 0b00 => no reflection, 0b01 => reflection on right, */
/* 0b10 => reflection on left, 0b11 => reflection on both sides */
{
/* Local variables */
int val1, val2, val3;
val1 = peek( 0x100A ) & 0b10000; /* IR Detector connected to PE4 */
bit_set( 0x1008, 0b1000 ); /* Turn on Left emitter, PD3 */
msleep( 1L ); /* Wait 1 millisecond */
val2 = peek( 0x100A ) & 0b10000; /* Should be Low if signal detected */
bit_clear( 0x1008, 0b1000 ); /* Turn off Left emitter */
bit_set( 0x1008, 0b0100 ); /* Turn on Right emitter, PD2 */
msleep( 1L ); /* Wait 1 millisecond */
val3 = peek( 0x100A ) & 0b10000;
bit_clear( 0x1008, 0b0100 ); /* Turn emitter off */
msleep( 1L ); /* For detection, detector must be high when emitter is off, */
val1 = val1 & peek( 0x100A ); /* Should be High again */
/* jede 0 (Hindernis obwohl kein Emmiter an ist!) merken! */
return ( ( val1 & ~val2 ) >> 3 ) | ( ( val1 & ~val3 ) >> 4 ); /* HI -> LOW */
}
Abfragen der Reflexlichtschranke über dem Magneten
int rls_threshold = 6;
int RLS( void )
/* Abfragen der Reflexlichtschranke: 0 = kein Objekt, 1 = unsicher, 2 = Objekt vorhanden */
{
/* Local variables */
int res = 0;
digital_out( 6, OFF );
if ( analog( 7 ) < rls_threshold )
return ( 1 );
digital_out( 6, ON );
if ( analog( 7 ) < rls_threshold )
res = 2;
digital_out( 6, OFF );
if ( analog( 7 ) < rls_threshold )
return ( 1 );
return ( res );
}
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