Initial commit, add the code of 2015

.gitignore

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+*.elf
+*.hex
+build/
+.sconsign.dblite
+__pycache__/
+node_modules/
+npm-debug.log
+*.sublime*
+hokuyo/bin/hokuyo
+CMakeCache*
+CMakeFiles*
+cmake_install*
+*calculate_xy
+*find_port
+*get_distance
+*get_distance_intensity
+*get_multiecho
+*get_multiecho_intensity
+*sensor_parameter
+*sync_time_stamp
+*liburg_c.a

NetworkSharing

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+On host (with internet) :
+replace <output_interface> by network access interface (ex : wlan0)
+replace <input_interface> by network sharing interface (ex : eth0>
+
+sudo sysctl net.ipv4.ip_forward=1
+sudo iptables -t nat -A POSTROUTING -o <output_interface> -j MASQUERADE
+sudo iptables -A FORWARD -m conntrack --ctstate RELATED,ESTABLISHED -j ACCEPT
+sudo  iptables -A FORWARD -i <input_interface> -o <output_interface> -j ACCEPT
+
+On target device :
+ip route add default via <host_ip> dev <device_interface>

README.md

@@ -1,2 +1,8 @@
-# coupe17
-Attention la lune, on arrive ! #moonvillage
+Code source des robots d'UTCoupe 2015
+=======
+
+Participation à la Coupe de France de Robotique 2015 dont le thème est : Robomovies
+
+Structure :
+
+![alt tag](https://raw.githubusercontent.com/utcoupe/coupe15/master/UTCoupe.png)

arduino/GB/AFMotor.cpp

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+// Adafruit Motor shield library
+// copyright Adafruit Industries LLC, 2009
+// this code is public domain, enjoy!
+// Adapté pour UTCoupe2011 par Arthur, 19/01/2011
+// Moteurs 1 et 2 correspondent à la carte Rugged
+
+
+#include <avr/io.h>
+#include <Arduino.h>
+
+
+#include "AFMotor.h"
+
+
+/******************************************
+               MOTORS
+******************************************/
+inline void initPWM1(uint8_t freq) {
+#if defined(__AVR_ATmega8__) || \
+    defined(__AVR_ATmega48__) || \
+    defined(__AVR_ATmega88__) || \
+    defined(__AVR_ATmega168__) || \
+    defined(__AVR_ATmega328P__)
+    // use PWM from timer2B (pin 3)
+    TCCR2A |= _BV(COM2B1) | _BV(WGM20) | _BV(WGM21); // fast PWM, turn on oc2b
+    TCCR2B = freq & 0x7;
+    OCR2B = 0;
+#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+    // on arduino mega, pin 3 is now PE5 (OC3C)
+    TCCR3A |= _BV(COM1C1) | _BV(WGM10); // fast PWM, turn on oc3c
+    TCCR3B = (freq & 0x7) | _BV(WGM12);
+    OCR3C = 0;
+
+#else
+   #error "This chip is not supported!"
+#endif
+
+    pinMode(3, OUTPUT);
+}
+
+inline void setPWM1(uint8_t s) {
+#if defined(__AVR_ATmega8__) || \
+    defined(__AVR_ATmega48__) || \
+    defined(__AVR_ATmega88__) || \
+    defined(__AVR_ATmega168__) || \
+    defined(__AVR_ATmega328P__)
+    // use PWM from timer2A on PB3 (Arduino pin #11)
+    OCR2B = s;
+#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+    // on arduino mega, pin 11 is now PB5 (OC1A)
+    OCR3C = s;
+#else
+   #error "This chip is not supported!"
+#endif
+}
+
+inline void initPWM2(uint8_t freq) {
+#if defined(__AVR_ATmega8__) || \
+    defined(__AVR_ATmega48__) || \
+    defined(__AVR_ATmega88__) || \
+    defined(__AVR_ATmega168__) || \
+    defined(__AVR_ATmega328P__)
+    // use PWM from timer2A on PB3 (Arduino pin #11)
+    TCCR2A |= _BV(COM2A1) | _BV(WGM20) | _BV(WGM21); // fast PWM, turn on oc2a
+    TCCR2B = freq & 0x7;
+    OCR2A = 0;
+#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+    // on arduino mega, pin 11 is now PB5 (OC1A)
+    TCCR1A |= _BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc1a
+    TCCR1B = (freq & 0x7) | _BV(WGM12);
+    OCR1A = 0;
+#else
+   #error "This chip is not supported!"
+#endif
+    pinMode(11, OUTPUT);
+}
+
+inline void setPWM2(uint8_t s) {
+#if defined(__AVR_ATmega8__) || \
+    defined(__AVR_ATmega48__) || \
+    defined(__AVR_ATmega88__) || \
+    defined(__AVR_ATmega168__) || \
+    defined(__AVR_ATmega328P__)
+    // use PWM from timer2A on PB3 (Arduino pin #11)
+    OCR2A = s;
+#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+    // on arduino mega, pin 11 is now PB5 (OC1A)
+    OCR1A = s;
+#else
+   #error "This chip is not supported!"
+#endif
+}
+
+AF_DCMotor::AF_DCMotor(uint8_t num, uint8_t freq) {
+  motornum = num;
+  pwmfreq = freq;
+
+  switch (num) {
+  case 1:
+	pinMode(MOTOR1_DIR, OUTPUT);
+	digitalWrite(MOTOR1_DIR, LOW);
+    initPWM1(freq);
+    break;
+  case 2:
+	pinMode(MOTOR2_DIR, OUTPUT);
+	digitalWrite(MOTOR2_DIR, LOW);
+    initPWM2(freq);
+    break;
+  }
+}
+
+void AF_DCMotor::run(uint8_t cmd) {
+  uint8_t dirPin;
+  switch (motornum) {
+  case 1:
+    dirPin = MOTOR1_DIR; break;
+  case 2:
+    dirPin = MOTOR2_DIR; break;
+  default:
+    return;
+  }
+
+  switch (cmd) {
+  case FORWARD:
+	digitalWrite(dirPin, LOW);
+    break;
+  case BACKWARD:
+	digitalWrite(dirPin, HIGH);
+    break;
+  case RELEASE:
+    //TODO
+    break;
+  }
+}
+
+void AF_DCMotor::setSpeed(uint8_t speed) {
+  switch (motornum) {
+  case 1:
+    setPWM1(speed); break;
+  case 2:
+    setPWM2(speed); break;
+  }
+}
+
+

arduino/GB/AFMotor.h

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+// Adafruit Motor shield library
+// copyright Adafruit Industries LLC, 2009
+// this code is public domain, enjoy!
+
+#ifndef _AFMotor_h_
+#define _AFMotor_h_
+
+#include <inttypes.h>
+#include <avr/io.h>
+
+
+#define MOTOR12_64KHZ _BV(CS20)  // no prescale
+#define MOTOR12_8KHZ _BV(CS21)   // divide by 8
+#define MOTOR12_2KHZ _BV(CS21) | _BV(CS20) // divide by 32
+#define MOTOR12_1KHZ _BV(CS22)  // divide by 64
+
+#define MOTOR1_DIR 12
+#define MOTOR2_DIR 13
+
+#define MOTOR1_A 2
+#define MOTOR1_B 3
+#define MOTOR2_A 1
+#define MOTOR2_B 4
+#define MOTOR4_A 0
+#define MOTOR4_B 6
+#define MOTOR3_A 5
+#define MOTOR3_B 7
+
+#define FORWARD 1
+#define BACKWARD 2
+#define BRAKE 3
+#define RELEASE 4
+
+
+class AF_DCMotor
+{
+ public:
+  AF_DCMotor(uint8_t motornum, uint8_t freq =  MOTOR12_8KHZ);
+  void run(uint8_t);
+  void setSpeed(uint8_t);
+
+ private:
+  uint8_t motornum, pwmfreq;
+};
+
+#endif

arduino/GB/GB.ino

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+../asserv/asserv.ino

arduino/GB/PID.c

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+../asserv/PID.c

arduino/GB/PID.h

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+../asserv/PID.h

arduino/GB/SConstruct

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+../SConstruct

arduino/GB/block.c

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+../asserv/block.c

arduino/GB/block.h

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+../asserv/block.h

arduino/GB/compat.cpp

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+../asserv/compat.cpp

arduino/GB/compat.h

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+../asserv/compat.h

arduino/GB/control.c

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+../asserv/control.c

arduino/GB/control.h

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+../asserv/control.h

arduino/GB/emergency.c

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+../asserv/emergency.c

arduino/GB/emergency.h

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+../asserv/emergency.h

arduino/GB/encoder.c

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+../asserv/encoder.c

arduino/GB/encoder.h

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+../asserv/encoder.h

arduino/GB/goals.c

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+../asserv/goals.c

arduino/GB/goals.h

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+../asserv/goals.h

arduino/GB/local_math.c

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+../asserv/local_math.c

arduino/GB/local_math.h

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+../asserv/local_math.h

arduino/GB/make

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+#!/bin/bash
+
+export AVR_HOME=/usr/bin ARDUINO_HOME=../arduino-1.0 
+export ARDUINO_BOARD=mega2560
+
+if ! ../check_protocol; then
+	echo "Found duplicate value for orders in protocol.h"
+	exit 1
+fi
+
+scons -f ../SConstruct $@

arduino/GB/motor.cpp

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+/****************************************
+ * Author : Quentin C			*
+ * Mail : [email protected]	*
+ * Date : 29/11/13			*
+ ****************************************/
+#include "parameters.h"
+#include "AFMotor.h"
+#include <Arduino.h>
+
+#ifndef PWM_MIN
+#define PWM_MIN 0
+#endif
+
+//Controleur :
+//-255:0 : Marche arrière
+//0:255  : Marche avant
+
+AF_DCMotor motor_left(1, MOTOR12_64KHZ);
+AF_DCMotor motor_right(2, MOTOR12_64KHZ);
+
+extern "C" void set_pwm_right(int pwm);
+extern "C" void set_pwm_left(int pwm);
+
+void set_pwm_left(int pwm){
+	pwm = -pwm;//les moteurs sont faces à face, pour avancer il faut qu'il tournent dans un sens différent
+	if (pwm > 0)
+		pwm += PWM_MIN;
+	else if (pwm < 0)
+		pwm -= PWM_MIN;
+
+	if(pwm > 255)
+		pwm = 255;
+	else if(pwm < -255)
+		pwm = -255;
+
+	if(pwm >= 0)
+		motor_left.run(FORWARD);
+	else
+		motor_left.run(BACKWARD);
+
+	motor_left.setSpeed(abs(pwm));
+}
+
+void set_pwm_right(int pwm){
+	if (pwm > 0)
+		pwm += PWM_MIN;
+	else if (pwm < 0)
+		pwm -= PWM_MIN;
+
+	if(pwm > 255)
+		pwm = 255;
+	else if(pwm < -255)
+		pwm = -255;
+
+	if(pwm >= 0)
+		motor_right.run(FORWARD);
+	else
+		motor_right.run(BACKWARD);
+
+	motor_right.setSpeed(abs(pwm));
+}

arduino/GB/motor.h

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+/****************************************
+ * Author : Quentin C			*
+ * Mail : [email protected]	*
+ * Date : 31/03/13			*
+ ****************************************/
+#ifndef MOTOR_H
+#define MOTOR_H
+
+void set_pwm(int side, int pwm);
+
+inline void MotorsInit(void) {};
+
+void set_pwm_left(int pwm);
+
+void set_pwm_right(int pwm);
+
+#endif