diff --git a/ball_and_beam-2018/avr/ball_and_beam-2018.c b/ball_and_beam-2018/avr/ball_and_beam-2018.c
index 3c64cdd6a304ef72dca37a60edb3dfa8e6cddae9..7291b52ae9825c20c44c58b224b87fa69f09e7d7 100644
--- a/ball_and_beam-2018/avr/ball_and_beam-2018.c
+++ b/ball_and_beam-2018/avr/ball_and_beam-2018.c
@@ -18,10 +18,11 @@
* AI 2 -- Accelerometer X
* AI 3 -- Accelerometer Y
* AI 4 -- Accelerometer Z
- * EI 5 -- Motor Position
*
* AO 0 -- Motor Speed
- */
+ * EI 0 -- Motor Position
+ *
+ */
/*
* Used I/O pins
@@ -70,7 +71,6 @@ struct values {
int32_t motorEncoder;
int8_t motorThermalFlag;
int8_t ballOnBeam;
- uint8_t timer;
};
volatile struct values global;
@@ -79,12 +79,6 @@ SIGNAL(ADC_vect)
unsigned char channel = ADMUX & 0x0f;
unsigned int value = ADCW;
- if (global.timer) {
- global.timer--;
- PORTD &= ~0x40;
- } else {
- PORTD |= 0x40;
- }
switch (channel) {
case 0: {
channel = 1;
@@ -121,7 +115,6 @@ SIGNAL(USART_RXC_vect)
{
char ch = UDR;
- global.timer = 0xff;
switch (serialio_RXC(ch)) {
case serialio_clearbit: {
switch (serialio_channel) {
@@ -169,6 +162,39 @@ SIGNAL(USART_RXC_vect)
}
}
+SIGNAL(TIMER1_OVF_vect)
+{
+ static unsigned char encoder;
+ unsigned char e;
+
+ e = PIND & 0x0c;
+ // Ignore Z for now
+ switch ((encoder) | (e >> 2)) {
+ case 0x0:
+ case 0x5:
+ case 0xa:
+ case 0xf: {
+ // No change
+ } break;
+ case 0x1:
+ case 0x7:
+ case 0xe:
+ case 0x8: {
+ global.motorEncoder++;
+ } break;
+ case 0x2:
+ case 0x4:
+ case 0xd:
+ case 0xb: {
+ global.motorEncoder--;
+ } break;
+ default: {
+ // error = 1;
+ } break;
+ }
+ encoder = e;
+}
+
int main()
{
serialio_init();
@@ -181,11 +207,11 @@ int main()
DDRB = 0x0a; // PortB, bits 1 & 3 outputs
PORTC = 0x00; // PortC, pull-ups / initial values
DDRC = 0x80; // PortC, bit 7 output
- PORTD = 0x00; // PortD, pull-ups / initial values
+ PORTD = 0x0c; // PortD, pull-ups / initial values
DDRD = 0x20; // PortD, bit 5 output
- TCCR0 = 0x05; // Timer0, Clock / 1024
TCCR1A = 0x83; // OC1A 10 bit PWM (fast), active high
TCCR1B = 0x09; // Clock / 1
+ TIMSK = 0x04; // Enable Timer1 interrupts
OCR1A = 0 & 0x3ff;
UCSRA = 0x00; // USART:
UCSRB = 0x98; // USART: RxIntEnable|RxEnable|TxEnable
@@ -196,6 +222,8 @@ int main()
ADMUX = 0x0e; // Vref = external, right adjust, read 1.22V (Vbg)
ADCSRA = 0xcf; // Enable ADC interrupts, Clock/128
+ global.motorEncoder = 0x80000000;
+
SREG = 0x80; // Global interrupt enable
while (1) {
unsigned char bits, channels, config;
diff --git a/ball_and_beam-2018/matlab/process_test.mdl b/ball_and_beam-2018/matlab/process_test.mdl
index d5d8a6a0d6635d50fce0fdbb54e22a0e2d057fc7..e43c08e591f8cccfd5d9cb5ac6a38178293f34e7 100644
--- a/ball_and_beam-2018/matlab/process_test.mdl
+++ b/ball_and_beam-2018/matlab/process_test.mdl
@@ -6,7 +6,7 @@ Model {
NumRootInports 0
NumRootOutports 0
ParameterArgumentNames ""
- ComputedModelVersion "1.9"
+ ComputedModelVersion "1.11"
NumModelReferences 0
NumTestPointedSignals 0
}
@@ -28,9 +28,9 @@ Model {
ModifiedByFormat "%<Auto>"
LastModifiedBy "andersb"
ModifiedDateFormat "%<Auto>"
- LastModifiedDate "Fri Jul 27 17:25:58 2018"
- RTWModifiedTimeStamp 454541743
- ModelVersionFormat "1.%<AutoIncrement:9>"
+ LastModifiedDate "Thu Sep 13 13:46:49 2018"
+ RTWModifiedTimeStamp 458747140
+ ModelVersionFormat "1.%<AutoIncrement:11>"
ConfigurationManager "None"
SampleTimeColors off
SampleTimeAnnotations off
@@ -690,7 +690,7 @@ Model {
}
System {
Name "process_test"
- Location [774, 280, 1489, 926]
+ Location [764, 206, 1479, 852]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
@@ -704,12 +704,12 @@ Model {
ShowPageBoundaries off
ZoomFactor "100"
ReportName "simulink-default.rpt"
- SIDHighWatermark "21"
+ SIDHighWatermark "25"
Block {
BlockType Constant
Name "Constant1"
SID "2"
- Position [375, 255, 400, 275]
+ Position [375, 335, 400, 355]
Value "2.5"
}
Block {
@@ -737,7 +737,16 @@ Model {
Name "Display"
SID "5"
Ports [1]
- Position [510, 317, 605, 393]
+ Position [510, 397, 605, 473]
+ Decimation "1"
+ Lockdown off
+ }
+ Block {
+ BlockType Display
+ Name "Display1"
+ SID "24"
+ Ports [1]
+ Position [555, 127, 650, 203]
Decimation "1"
Lockdown off
}
@@ -746,10 +755,10 @@ Model {
Name "Inputs"
SID "6"
Ports [1]
- Position [590, 200, 620, 230]
+ Position [590, 280, 620, 310]
Floating off
- Location [103, 106, 863, 567]
- Open on
+ Location [73, 93, 843, 579]
+ Open off
NumInputPorts "1"
TickLabels "on"
List {
@@ -772,6 +781,38 @@ Model {
YMax "10"
SampleTime "0"
}
+ Block {
+ BlockType Scope
+ Name "Inputs1"
+ SID "25"
+ Ports [1]
+ Position [590, 55, 620, 85]
+ Floating off
+ Location [217, 355, 977, 816]
+ Open off
+ NumInputPorts "1"
+ TickLabels "on"
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
+ }
+ List {
+ ListType ScopeGraphics
+ FigureColor "[0.5 0.5 0.5]"
+ AxesColor "[0 0 0]"
+ AxesTickColor "[1 1 1]"
+ LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
+ LineStyles "-|-|-|-|-|-"
+ LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
+ MarkerStyles "none|none|none|none|none|none"
+ }
+ ShowLegends off
+ TimeRange "100"
+ YMin "-50"
+ YMax "60"
+ SaveName "ScopeData1"
+ SampleTime "0"
+ }
Block {
BlockType Mux
Name "Mux1"
@@ -785,7 +826,7 @@ Model {
Name "Mux2"
SID "9"
Ports [2, 1]
- Position [530, 197, 565, 233]
+ Position [530, 277, 565, 313]
Inputs "2"
}
Block {
@@ -803,8 +844,8 @@ Model {
Ports [1]
Position [290, 240, 320, 270]
Floating off
- Location [39, 560, 495, 794]
- Open on
+ Location [19, 544, 475, 778]
+ Open off
NumInputPorts "1"
TickLabels "on"
List {
@@ -831,7 +872,7 @@ Model {
Name "S-Function"
SID "12"
Ports [1, 2]
- Position [425, 156, 485, 189]
+ Position [425, 236, 485, 269]
FunctionName "analogin"
Parameters "h [30 31 32 33 34]"
EnableBusSupport off
@@ -856,6 +897,16 @@ Model {
Parameters "h"
EnableBusSupport off
}
+ Block {
+ BlockType S-Function
+ Name "S-Function3"
+ SID "22"
+ Ports [1, 2]
+ Position [420, 141, 480, 174]
+ FunctionName "encoderin"
+ Parameters "h [30]"
+ EnableBusSupport off
+ }
Block {
BlockType S-Function
Name "S-Function4"
@@ -871,7 +922,7 @@ Model {
Name "S-Function5"
SID "16"
Ports [1, 2]
- Position [420, 246, 480, 279]
+ Position [420, 326, 480, 359]
FunctionName "digitalin"
Parameters "h [30 31]"
EnableBusSupport off
@@ -903,7 +954,7 @@ Model {
Ports [0, 1]
Position [15, 80, 45, 110]
Amplitude "10"
- Frequency "0.1"
+ Frequency "0.5"
SampleTime "h"
}
Block {
@@ -945,13 +996,6 @@ Model {
DstBlock "Outputs"
DstPort 1
}
- Line {
- SrcBlock "S-Function"
- SrcPort 2
- Points [10, 0; 0, 25]
- DstBlock "Mux2"
- DstPort 1
- }
Line {
SrcBlock "Mux2"
SrcPort 1
@@ -965,13 +1009,6 @@ Model {
DstBlock "S-Function"
DstPort 1
}
- Line {
- SrcBlock "S-Function"
- SrcPort 1
- Points [0, -40; -275, 0]
- DstBlock "S-Function1"
- DstPort 1
- }
Line {
SrcBlock "S-Function1"
SrcPort 1
@@ -1012,5 +1049,40 @@ Model {
DstBlock "S-Function5"
DstPort 1
}
+ Line {
+ SrcBlock "S-Function"
+ SrcPort 1
+ Points [0, -50; -85, 0]
+ DstBlock "S-Function3"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "S-Function3"
+ SrcPort 1
+ Points [0, -35; -270, 0]
+ DstBlock "S-Function1"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "S-Function3"
+ SrcPort 2
+ Points [30, 0]
+ Branch {
+ DstBlock "Display1"
+ DstPort 1
+ }
+ Branch {
+ Points [0, -95]
+ DstBlock "Inputs1"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "S-Function"
+ SrcPort 2
+ Points [10, 0; 0, 25]
+ DstBlock "Mux2"
+ DstPort 1
+ }
}
}