void SkyPointer::init(void) {
// Enable pin
pinMode(ENABLE, OUTPUT);
digitalWrite(ENABLE, LOW);
// Configure outputs
pinMode(XSTEP, OUTPUT);
pinMode(XDIR, OUTPUT);
pinMode(YSTEP, OUTPUT);
pinMode(YDIR, OUTPUT);
// Photo diode pin
pinMode(PHOTO_PIN, INPUT);
// Laser pin
pinMode(LASER_PIN, OUTPUT);
// Switch laser off at start
laser(false);
// Configure axes logic and dinamics
azMotor.setPinsInverted(false, false, true);
azMotor.setAcceleration(ACCEL);
azMotor.setEnablePin(ENABLE);
altMotor.setPinsInverted(true, false, true);
altMotor.setAcceleration(ACCEL);
altMotor.setEnablePin(ENABLE);
}
void SkyPointer::move(int16_t az, int16_t alt) {
digitalWrite(ENABLE, LOW);
azMotor.setMaxSpeed(MOVE_SPEED);
altMotor.setMaxSpeed(MOVE_SPEED);
azMotor.move(az);
altMotor.move(alt);
laser(true);
}
void BreLaser::render(sf::RenderTarget& window)
{
sf::RectangleShape laser(sf::Vector2f(6, 240));
laser.setOrigin(3, 0);
laser.setFillColor(sf::Color(255,0,0,192));
laser.setRotation(getRotation());
laser.setPosition(getPosition());
window.draw(laser);
}
int main()
{
int i;
history_file = fopen("hist.data", "w");
init(); /* do initialisation */
loadx(); /* load particles onto grid */
particle_bc(); /* particle boundary conditions */
loadv(); /* define velocity distribution */
density(); /* compute initial density from particles */
add_neutral(); /* background ion density */
laser(); /* initialise laser field */
field(); /* compute initial electric field */
diagnostics(); /* output initial conditions */
for (itime=1; itime<=ntrun; itime++)
{
push(); /* Push particles */
particle_bc(); /* particle boundary conditions */
density(); /* compute density */
laser(); /* update laser field */
field(); /* compute electric field (Poisson) */
diagnostics(); /* output snapshots and time-histories */
}
close(history_file); /* close time-hist files */
}
void PlayerBonusLaser::render(sf::RenderTarget& window)
{
sf::RectangleShape laser(sf::Vector2f(6, length));
laser.setOrigin(3, length);
if (type == 1)
laser.setFillColor(sf::Color(24, 161, 212,128));
else
laser.setFillColor(sf::Color(231, 24, 118,128));
laser.setPosition(getPosition());
laser.setRotation(getRotation());
window.draw(laser);
}
void SkyPointer::run() {
azMotor.run();
altMotor.run();
if (isLaserOn()) {
// Switch off the laser if timeout has been reached
if (millis() - laserOnTime > laserTimeout) {
laser(false);
}
} else if (!homing) {
// Switch on the laser if the motors are running
if (azMotor.isRunning() || (altMotor.isRunning())) {
laser(true);
}
}
if (homing && digitalRead(PHOTO_PIN)) {
altMotor.stop();
altMotor.setCurrentPosition(0);
homing = false;
}
}
void Data::parse(char sensor, double data[]){
switch (sensor){
case 'O':
{
Odom odom(data);
this->odoms.push_back(&odom);
break;
}
case 'L':
{
Laser laser(data);
this->lasers.push_back(&laser);
break;
}
}
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "neato_laser_publisher");
if( ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug) ) {
ros::console::notifyLoggerLevelsChanged();
}
ros::NodeHandle n;
ros::NodeHandle priv_nh("~");
std::string port;
int baud_rate;
std::string frame_id;
int firmware_number;
std_msgs::UInt16 rpms;
priv_nh.param("port", port, std::string("/dev/ttyUSB0"));
priv_nh.param("baud_rate", baud_rate, 115200);
priv_nh.param("frame_id", frame_id, std::string("neato_laser"));
priv_nh.param("firmware_version", firmware_number, 2);//default to the new firmware
boost::asio::io_service io;
try {
xv_11_laser_driver::XV11Laser laser(port, baud_rate, firmware_number, io);
ros::Publisher laser_pub = n.advertise<sensor_msgs::LaserScan>("scan", 1000);
ros::Publisher motor_pub = n.advertise<std_msgs::UInt16>("rpms",1000);
ROS_DEBUG("Running XV-11 lidar publisher");
while (ros::ok()) {
sensor_msgs::LaserScan::Ptr scan(new sensor_msgs::LaserScan);
scan->header.frame_id = frame_id;
scan->header.stamp = ros::Time::now();
laser.poll(scan);
rpms.data=laser.rpms;
laser_pub.publish(scan);
motor_pub.publish(rpms);
}
laser.close();
return 0;
} catch (boost::system::system_error ex) {
ROS_DEBUG("stopping...");
ROS_ERROR("Error instantiating laser object. Are you sure you have the correct port and baud rate? Error was %s", ex.what());
return -1;
}
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "neato_laser_publisher");
ros::NodeHandle n;
ros::NodeHandle priv_nh("~");
std::string port;
int baud_rate;
std::string frame_id;
int firmware_number;
std_msgs::UInt16 rpms;
priv_nh.param("port", port, std::string("/dev/xv11"));
priv_nh.param("baud_rate", baud_rate, 115200);
//priv_nh.param("frame_id", frame_id, std::string("neato_laser"));
priv_nh.param("frame_id", frame_id, std::string("xv11"));
priv_nh.param("firmware_version", firmware_number, 2);
boost::asio::io_service io;
try {
xv_11_laser_driver::XV11Laser laser(port, baud_rate, firmware_number, io);
ros::Publisher laser_pub = n.advertise<sensor_msgs::LaserScan>("scan", 1000);
//ros::Publisher laser_pub = n.advertise<sensor_msgs::LaserScan>("xv11_scan", 1000);
ros::Publisher motor_pub = n.advertise<std_msgs::UInt16>("rpms",1000);
while (ros::ok()) {
sensor_msgs::LaserScan::Ptr scan(new sensor_msgs::LaserScan);
scan->header.frame_id = frame_id;
scan->header.stamp = ros::Time::now();
laser.poll(scan);
rpms.data=laser.rpms;
laser_pub.publish(scan);
motor_pub.publish(rpms);
}
laser.close();
return 0;
} catch (boost::system::system_error ex) {
ROS_ERROR("Error instantiating laser object. Are you sure you have the correct port and baud rate? Error was %s", ex.what());
return -1;
}
}
int main(int argc, char** argv) {
ros::init(argc, argv, "laser_2_pointcloud");
ros::NodeHandle node;
std::string base_tf;
std::string laser_topic;
node.param("/laser_to_pointcloud/base_tf", base_tf, std::string("/odom"));
node.param("/laser_to_pointcloud/laser_topic", laser_topic, std::string("/base_scan"));
LaserScanReceiver laser(node, base_tf, laser_topic);
ros::Rate loop_rate(10);
while (node.ok()) {
ros::spinOnce();
loop_rate.sleep();
}
}
void SkyPointer::goTo(uint16_t az, uint16_t alt) {
int16_t delta;
uint16_t pos;
digitalWrite(ENABLE, LOW);
azMotor.setMaxSpeed(GOTO_SPEED);
altMotor.setMaxSpeed(GOTO_SPEED);
// AZ motor
az = MOD(az, USTEPS_REV);
pos = MOD(azMotor.currentPosition(), USTEPS_REV);
delta = calcSteps(pos, az);
azMotor.move(delta);
// ALT motor
alt = MOD(alt, USTEPS_REV);
pos = MOD(altMotor.currentPosition(), USTEPS_REV);
delta = calcSteps(pos, alt);
altMotor.move(delta);
laser(true);
}
int main(int argc, char** argv)
{
// Initialize some global data
Aria::init();
// If you want ArLog to print "Verbose" level messages uncomment this:
//ArLog::init(ArLog::StdOut, ArLog::Verbose);
// This object parses program options from the command line
ArArgumentParser parser(&argc, argv);
// Load some default values for command line arguments from /etc/Aria.args
// (Linux) or the ARIAARGS environment variable.
parser.loadDefaultArguments();
// Central object that is an interface to the robot and its integrated
// devices, and which manages control of the robot by the rest of the program.
ArRobot robot;
// Object that connects to the robot or simulator using program options
ArRobotConnector robotConnector(&parser, &robot);
// If the robot has an Analog Gyro, this object will activate it, and
// if the robot does not automatically use the gyro to correct heading,
// this object reads data from it and corrects the pose in ArRobot
ArAnalogGyro gyro(&robot);
// Connect to the robot, get some initial data from it such as type and name,
// and then load parameter files for this robot.
if (!robotConnector.connectRobot())
{
// Error connecting:
// if the user gave the -help argumentp, then just print out what happened,
// and continue so options can be displayed later.
if (!parser.checkHelpAndWarnUnparsed())
{
ArLog::log(ArLog::Terse, "Could not connect to robot, will not have parameter file so options displayed later may not include everything");
}
// otherwise abort
else
{
ArLog::log(ArLog::Terse, "Error, could not connect to robot.");
Aria::logOptions();
Aria::exit(1);
}
}
// Connector for laser rangefinders
ArLaserConnector laserConnector(&parser, &robot, &robotConnector);
// Connector for compasses
ArCompassConnector compassConnector(&parser);
// Parse the command line options. Fail and print the help message if the parsing fails
// or if the help was requested with the -help option
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
Aria::logOptions();
exit(1);
}
// Used to access and process sonar range data
ArSonarDevice sonarDev;
// Used to perform actions when keyboard keys are pressed
ArKeyHandler keyHandler;
Aria::setKeyHandler(&keyHandler);
// ArRobot contains an exit action for the Escape key. It also
// stores a pointer to the keyhandler so that other parts of the program can
// use the same keyhandler.
robot.attachKeyHandler(&keyHandler);
printf("You may press escape to exit\n");
// Attach sonarDev to the robot so it gets data from it.
robot.addRangeDevice(&sonarDev);
// Start the robot task loop running in a new background thread. The 'true' argument means if it loses
// connection the task loop stops and the thread exits.
robot.runAsync(true);
// Connect to the laser(s) if lasers were configured in this robot's parameter
// file or on the command line, and run laser processing thread if applicable
// for that laser class. (For the purposes of this demo, add all
// possible lasers to ArRobot's list rather than just the ones that were
// specified with the connectLaser option (so when you enter laser mode, you
// can then interactively choose which laser to use from the list which will
// show both connected and unconnected lasers.)
if (!laserConnector.connectLasers(false, false, true))
{
printf("Could not connect to lasers... exiting\n");
Aria::exit(2);
}
// Create and connect to the compass if the robot has one.
ArTCM2 *compass = compassConnector.create(&robot);
if(compass && !compass->blockingConnect()) {
compass = NULL;
}
// Sleep for a second so some messages from the initial responses
// from robots and cameras and such can catch up
ArUtil::sleep(1000);
// We need to lock the robot since we'll be setting up these modes
// while the robot task loop thread is already running, and they
// need to access some shared data in ArRobot.
robot.lock();
// now add all the modes for this demo
// these classes are defined in ArModes.cpp in ARIA's source code.
ArModeLaser laser(&robot, "laser", 'l', 'L');
ArModeTeleop teleop(&robot, "teleop", 't', 'T');
ArModeUnguardedTeleop unguardedTeleop(&robot, "unguarded teleop", 'u', 'U');
ArModeWander wander(&robot, "wander", 'w', 'W');
ArModeGripper gripper(&robot, "gripper", 'g', 'G');
ArModeCamera camera(&robot, "camera", 'c', 'C');
ArModeSonar sonar(&robot, "sonar", 's', 'S');
ArModeBumps bumps(&robot, "bumps", 'b', 'B');
ArModePosition position(&robot, "position", 'p', 'P', &gyro);
ArModeIO io(&robot, "io", 'i', 'I');
ArModeActs actsMode(&robot, "acts", 'a', 'A');
ArModeCommand command(&robot, "command", 'd', 'D');
ArModeTCM2 tcm2(&robot, "tcm2", 'm', 'M', compass);
// activate the default mode
teleop.activate();
// turn on the motors
robot.comInt(ArCommands::ENABLE, 1);
robot.unlock();
// Block execution of the main thread here and wait for the robot's task loop
// thread to exit (e.g. by robot disconnecting, escape key pressed, or OS
// signal)
robot.waitForRunExit();
Aria::exit(0);
}
void ProjectileManager::createLaser(Ogre::Vector3 startPosition, Ogre::Vector3 speed)
{
int damage(100);
std::shared_ptr<Laser> laser(new Laser(mSceneMgr, startPosition, damage, speed, mProjectilesList.size()));
addProjectile(laser);
}
int main(void){
// 12 PB0 LASER_R ---- NICHT MEHR ----
// 11 PD7 LASER (Laser)
// 10 PD6 HAPTIK OC0A Timer0 8 Bit (Haptik)
// 9 PD5 LED_FRONT_B OC0B Timer0 8 Bit
// 13 PB1 IR_CLOCK_- OC1A Timer1 16 Bit
// 14 PB2 LED_FRONT_G OC1B Timer1 16 Bit
// 15 PB3 LED_FRONT_R OC2A Timer2 8 Bit
// 1 PD3 LED_FRONT_W OC2B Timer2 8 Bit
// 24 PC1 LDR ADC1
// 25 PC2 V_BATT ADC2
// 2 PD4 BUTTON_3
// 7 PB6 BUTTON_2
// 8 PB7 BUTTON_1
// 12 PB0 ONOFF
cli();
//set pins
DDRB |= (1 << DDB1) | (1 << DDB2) | (1 << DDB3); //OUTPUT
DDRD |= (1 << DDD3) | (1 << DDD5) | (1 << DDD6) | (1 << DDD7); //OUTPUT
DDRB &= ~(1 << PB6) & ~(1 << PB7); //INPUT
PORTB |= (1 << PB6) | (1 << PB7); //input pullup
DDRD &= ~(1 << PD4); //INPUT
PORTD |= (1 << PD4); //input pullup
//ausschalten
//DDRB |= (1 << DDB0); //OUTPUT
//PORTB &= ~(1 << DDB0); //LOW
//init Timers for PWM:
//https://sites.google.com/site/qeewiki/books/avr-guide/pwm-on-the-atmega328
//WGM* s157: fast pwm without ctc
//CS* s158: _BV(CS20) = prescaler 1 (gilt für a und b)
//PWM_fequency = clock_speed / [Prescaller_value * (1 + TOP_Value) ] = 8000000/(1*(1+210)) = 37.915 kHz
//Timer 0: Mode 3: Fast PWM, TOP: 0xFF, Update of OCRx: Bottom, TOV1 Flag set on: TOP, Prescaler: 1, Set OC0x on Compare Match
TCCR0A = _BV(COM0B0) | _BV(COM0A0) | _BV(COM0B1) | _BV(COM0A1) | _BV(WGM00) | _BV(WGM01);
TCCR0B = _BV(CS00);
//TIMSK0 |= (1<<TOIE0); //Overflow Interrupt for count millis
//Timer 2: Mode 3: Fast PWM, TOP: 0xFF, Update of OCRx: Bottom, TOV1 Flag set on: TOP, Prescaler: 1, Set OC2x on Compare Match
TCCR2A = _BV(COM2B0) | _BV(COM2A0) | _BV(COM2B1) | _BV(COM2A1) | _BV(WGM20) | _BV(WGM21);
TCCR2B = _BV(CS20);
//Timer 1: Mode 14: Fast PWM, inverting mode, Top: ICR1, Update of OCR1x: Bottom, TOV1 Flag set on: TOP, Prescaler: 1
//https://docs.google.com/spreadsheets/d/1HadMDsU0MGo1LXUr1gKNFrfe4wX_Bq9kbVIwOvD3chk
TCCR1A = _BV(COM1B0) | _BV(COM1A0) | _BV(COM1B1) | _BV(COM1A1) | _BV(WGM11);
TCCR1B = _BV(CS10) | _BV(WGM12) | _BV(WGM13);
//IR carrier frequency to 37.915 kHz:
ICR1 = 210;
//IR carrier frequency duty cycle to 50%:
IR_CLOCK_DUTY_CYCLE = ICR1-ICR1/2;
//switch off all light
LED_FRONT_R=255;
LED_FRONT_G=ICR1;
LED_FRONT_B=255;
LED_FRONT_W=255;
HAPTIK=255; //haptik
//PORTB |= (1 << PB0); //an
//i2c init
init_twi_slave(I2C_BUS_ADRESS<<1);
//UART init
UBRR0H = UBRR_VAL >> 8;
UBRR0L = UBRR_VAL & 0xFF;
UCSR0B |= _BV(TXEN0) | _BV(RXEN0) | _BV(RXCIE0); //UART RX, TX und RX-Interrupt einschalten
UCSR0C = (1<<UCSZ01) | (1<<UCSZ00); //Asynchron 8N1
sei(); // enable Interrupts global
uint32_t laser_duration_counter=0;
uint32_t vibrate_duration_counter=0;
uint32_t muzzle_flash_duration_counter=0;
uint32_t muzzle_flash_duration_counter_max=0; //fürs ausfaden
uint16_t ir_delay=0;
uint8_t ir_count=255;
// return links*256 + rechts
uint16_t battt = 12345;
misc_buffer.v_bat_l = battt>>8;
misc_buffer.v_bat_r = battt;
while(1){
/* // ---------------- blinken + buttons (gedrueckt halten) + ir shoot ----------------
LED_FRONT_R = 255-1-taster(&PINB, BUTTON_1)*100;
LED_FRONT_G = ICR1-map8(2, 0, 255, 0, ICR1); //0 bis ICR1
LED_FRONT_B = 255-1-taster(&PINB, BUTTON_2)*100;
LED_FRONT_W = 255-1-taster(&PIND, BUTTON_3)*100;
laser(1); //laser
HAPTIK = 255-50; //haptik
_delay_ms(255);
_delay_ms(255);
_delay_ms(255);
LED_FRONT_R = 255-0;
LED_FRONT_G = ICR1-map8(0, 0, 255, 0, ICR1); //0 bis ICR1
LED_FRONT_B = 255-0;
LED_FRONT_W = 255-0;
laser(0); //laser
HAPTIK = 255-0; //haptik
_delay_ms(255);
_delay_ms(255);
_delay_ms(255);
shoot_buffer.playerid = 42;
shoot_buffer.damage = 123;
shoot_buffer.enable = 1;
uint8_t array[] = {shoot_buffer.playerid, shoot_buffer.damage};
USART_Transmit(shoot_buffer.playerid); //IR_TX: PlayerID
USART_Transmit(shoot_buffer.damage); //IR_TX: Schaden
USART_Transmit(crc8(array, 2)); //IR_TX: crc8 checksum
*/
// ---------------- pew ----------------
uint8_t brightness = 80;
if(taster(&PINB, BUTTON_1)){
if(taster(&PINB, BUTTON_2) && !taster(&PIND, BUTTON_3)){
LED_FRONT_R = 255-brightness;
LED_FRONT_G = ICR1-map8(0, 0, 255, 0, ICR1);
LED_FRONT_B = 255-0;
LED_FRONT_W = 255-0;
_delay_ms(20);
laser(1);
}else if(!taster(&PINB, BUTTON_2) && taster(&PIND, BUTTON_3)){
LED_FRONT_R = 255-0;
LED_FRONT_G = ICR1-map8(brightness, 0, 255, 0, ICR1);
LED_FRONT_B = 255-0;
LED_FRONT_W = 255-0;
_delay_ms(20);
laser(1);
}else if(taster(&PINB, BUTTON_2) && taster(&PIND, BUTTON_3)){
LED_FRONT_R = 255-brightness;
LED_FRONT_G = ICR1-map8(brightness, 0, 255, 0, ICR1);
LED_FRONT_B = 255-brightness;
LED_FRONT_W = 255-brightness;
_delay_ms(20);
laser(1);
}else{
LED_FRONT_R = 255-0;
LED_FRONT_G = ICR1-map8(0, 0, 255, 0, ICR1);
LED_FRONT_B = 255-brightness;
LED_FRONT_W = 255-0;
_delay_ms(20);
laser(1);
}
_delay_ms(30);
LED_FRONT_R = 255-0;
LED_FRONT_G = ICR1-map8(0, 0, 255, 0, ICR1);
LED_FRONT_B = 255-0;
LED_FRONT_W = 255-0;
_delay_ms(200);
laser(0);
_delay_ms(255);
}
/* // ---- buttons ----
laser_buffer.laser = taster(&PINB, BUTTON_1);
led_front_buffer.r = taster(&PINB, BUTTON_2)*255;
led_front_buffer.b = taster(&PIND, BUTTON_3)*255;
*/
}
}
