R2 Project Log – Motors

After a minor slip up with a probe killed my primary R2 bot (shorted VBATT to 5VCC, bye bye processor and drive chips) I’ve tonight soldered up another of my spare R2 boards to take over the mantle.

And the motor drive code i was debugging at the time works!

Tomorrow, i add a battery monitor circuit and the sensors, so i’ll finally have al the major electronic systems tested and good to go ready for the motor mounts.

#define F_CPU 1000000UL
#include < avr/io.h>
#include < util/delay.h>
#include < avr/interrupt.h>

#include "r2.h"

int main(void) {
	// Activate all the LEDs, set their pins to output
	bit_set(LED_WHITE_L_DDR, LED_WHITE_L_BIT);
	bit_set(LED_WHITE_R_DDR, LED_WHITE_R_BIT);
	bit_set(LED_RED_L_DDR, LED_RED_L_BIT);
	bit_set(LED_RED_R_DDR, LED_RED_R_BIT);
	bit_set(LED_YELLOW_FL_DDR, LED_YELLOW_FL_BIT);
	bit_set(LED_YELLOW_FR_DDR, LED_YELLOW_FR_BIT);
	bit_set(LED_YELLOW_RL_DDR, LED_YELLOW_RL_BIT);
	bit_set(LED_YELLOW_RR_DDR, LED_YELLOW_RR_BIT);

	// Activate the motor's control lines
	bit_set(MOTOR_R_ENABLE_DDR, MOTOR_R_ENABLE_BIT);
	bit_set(MOTOR_R_PHASE_DDR, MOTOR_R_PHASE_BIT);
	bit_set(MOTOR_L_ENABLE_DDR, MOTOR_L_ENABLE_BIT);
	bit_set(MOTOR_L_PHASE_DDR, MOTOR_L_PHASE_BIT);

	// turn on the motors
	bit_set(MOTOR_R_ENABLE_PORT, MOTOR_R_ENABLE_BIT);
	bit_set(MOTOR_R_PHASE_PORT, MOTOR_R_PHASE_BIT);
	bit_set(MOTOR_L_ENABLE_PORT, MOTOR_L_ENABLE_BIT);
	bit_set(MOTOR_L_PHASE_PORT, MOTOR_L_PHASE_BIT);

	// turn on the white and red LEDs
	bit_set(LED_WHITE_L_PORT, LED_WHITE_L_BIT);
	bit_set(LED_WHITE_R_PORT, LED_WHITE_R_BIT);
	bit_set(LED_RED_L_PORT, LED_RED_L_BIT);
	bit_set(LED_RED_R_PORT, LED_RED_R_BIT);

	// enable internal pullup on PD0
	bit_set(PORTD, BIT(0));
	// enable external interrupts
	EIMSK = BIT(INT0) | BIT(INT1);
	// enable global interrupts
	sei();

	// loop forever
	while (1)
	{

		delayms(500);
	}
	return 0;
}

// delay for up to 65k milliseconds
void delayms(uint16_t millis) 
{
	// loop, delaying 1ms each iteration
	while ( millis ) 
	{
		_delay_ms(1);
		millis--;
	}
}

// this catches the Interrupt sent from pin INT0
ISR(INT0_vect) 
{
	//Turn everything off
	bit_clear(LED_WHITE_L_PORT, LED_WHITE_L_BIT);
	bit_clear(LED_WHITE_R_PORT, LED_WHITE_R_BIT);
	bit_clear(LED_RED_L_PORT, LED_RED_L_BIT);
	bit_clear(LED_RED_R_PORT, LED_RED_R_BIT);

	bit_clear(MOTOR_R_ENABLE_PORT, MOTOR_R_ENABLE_BIT);
	bit_clear(MOTOR_R_PHASE_PORT, MOTOR_R_PHASE_BIT);
	bit_clear(MOTOR_L_ENABLE_PORT, MOTOR_L_ENABLE_BIT);
	bit_clear(MOTOR_L_PHASE_PORT, MOTOR_L_PHASE_BIT);


	// loop forever, flashing our indicators.
	while(1)
	{
		bit_flip(LED_YELLOW_FL_PORT, LED_YELLOW_FL_BIT);
		bit_flip(LED_YELLOW_FR_PORT, LED_YELLOW_FR_BIT);
		bit_flip(LED_YELLOW_RL_PORT, LED_YELLOW_RL_BIT);
		bit_flip(LED_YELLOW_RR_PORT, LED_YELLOW_RR_BIT);
		delayms(500);
	}
}