[Krobot-commits] [SCM] krobot branch, master, updated. f29936d0328a5665a92225f34094c966859a0140

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit f29936d0328a5665a92225f34094c966859a0140
Author: Jérémie Dimino <je...@di...>
Date:   Mon May 10 13:17:02 2010 +0200

    do not switch on/off the infrared sensros all the time

commit b8bde60238c461eb5f68152f2e03413df65d9b38
Author: Jérémie Dimino <je...@di...>
Date:   Mon May 10 13:16:45 2010 +0200

    do not compute an average value for the infrared sensors on the PIC

-----------------------------------------------------------------------

Changes:
diff --git a/elec/boards/Interface_Robot/Firmware/infrared.c b/elec/boards/Interface_Robot/Firmware/infrared.c
index 2c63936..32e6ff4 100644
--- a/elec/boards/Interface_Robot/Firmware/infrared.c
+++ b/elec/boards/Interface_Robot/Firmware/infrared.c
@@ -10,8 +10,8 @@ void initIF() {
     /* Initialisation des PINs */

     TRISD&= 0b11111100;        /* OPTOSW1, OPTOSW2 */

 

-    OPTOSW1 = 0;

-    OPTOSW2 = 0;

+    OPTOSW1 = 1;

+    OPTOSW2 = 1;

 

     OpenADC(ADC_FOSC_64         /* A/D clock source (forcnt Fosc / 64 car PIC 8 MHz) */

         & ADC_RIGHT_JUST        /* A/D result justification */

@@ -35,8 +35,6 @@ void interruptIF(void) {
 

     switch (state) {

         case 0:

-            OPTOSW1 = 1;

-

             // Drre la convertion sur RA0

             SelChanConvADC(ADC_CH0);

             state = 1;

@@ -51,9 +49,6 @@ void interruptIF(void) {
         break;

 

         case 2:

-            OPTOSW1 = 0;

-            OPTOSW2 = 1;

-

             // Drre la convertion sur RA1

             SelChanConvADC(ADC_CH1);

             state = 3;

@@ -68,8 +63,6 @@ void interruptIF(void) {
         break;

 

         case 4:

-            OPTOSW2 = 0;

-

             // Traitement des rltats

             IF1_idx++;

 

diff --git a/elec/boards/Interface_Robot/Firmware/infrared.h b/elec/boards/Interface_Robot/Firmware/infrared.h
index 11dadae..2a8897b 100644
--- a/elec/boards/Interface_Robot/Firmware/infrared.h
+++ b/elec/boards/Interface_Robot/Firmware/infrared.h
@@ -9,8 +9,8 @@
 #include "error.h"

 

 // Parames graux

-#define IF_AVR0             10

-#define IF_AVR1             10

+#define IF_AVR0             1

+#define IF_AVR1             1

 

 // Entr / sorties

 #define OPTOSW1                    PORTDbits.RD0



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