[youtube=http://www.youtube.com/watch?v=ZImGw8d2ksc]

Finally got some time to work on r2 this weekend, and have movement! He can now move arond, and spin and stuff.

Unfortunately, still need to add some odometry, not quite worked out how thats going to work yet!

finally got a gearbox mount that i'm happy with, just need to work out how to add odometry to it, since Plan A had two magnets close and opposite each other.  One wheel turning would turn the other!

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!

[youtube=http://www.youtube.com/watch?v=tNQfu4DB9lU]

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);
	}
}

I've done some playing, and worked out how to turn on the external interrupts on the atmega128 I am using for R2.

Code:

#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);

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

	// 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);

	// 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);

	// 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);
	}
}

Changing Trigger Mode:

By default, the interrupt triggers when the pin is brought low. If we want to change this behavior, we need to poke at the External Interrupt Control Registers, EICRA (for INT0 - INT3) and EICRB (for INT4 - INT7).

Each interrupt pin has 2 bits in the EICR Registers, ISCxO and ISCx1. This Gives 4 possible options for triggering:

• 0 0: Default, Trigger when INTx is held low
• 0 1: Not Used
• 1 0: Trigger when INTx changes from 1 to 0
• 1 1: Trigger when INTx changes from 0 to 1

So, to turn on INT1, and set it to trigger on a rising edge, we,d use the following code:

// enable external interrupt
EIMSK = BIT(INT0);
//  set the interrupt to trigger on a rising edge
EICRA |= BIT(ISC00) | BIT(ISC01);

Video:

[youtube=http://www.youtube.com/watch?v=pSuCHiK-Xq4]

After playing with R2's circuit, I realized I had left no ADC ports for monitoring my battery!  As it is a LiPo battery, it needs a low-voltage cutoff at 6v, or it will not be chargeable again.  I built a simple circuit with an attiny13 and a potential divider, which will trigger an interrupt on my main processor when the battery voltage gets to 6.2v.

Circuit Diagram:

Code:

#define F_CPU 10000000UL
#include #include // delay for up to 65k milliseconds
void delayms(uint16_t millis) 
{
	// loop, delaying 1ms each iteration
	while ( millis ) 
	{
		_delay_ms(1);
		millis--;
	}
}

// initialise the adc
void init_adc ( void )
{
	//select external (VCC) voltage as the reference voltage (x0xx xxxx) 
	ADMUX = 0x00;
	//enable ADC (1000 0000)
	ADCSRA |= 0x80;
}

// read the specified adc
int adc_read ( uint8_t n )
{
	// set the adc to the chosen channel
	ADMUX = n;
	// start the ADC conversion, set the ADC clock to cpu clock / 16 (0100 0100)
	ADCSRA |= 0x44;
	// wait for the adc conversion to be completed
	while((ADCSRA & 0x40) !=0){};
	// return the adc result
	return ADC;
}

int main(void) 
{
	// set PB0 to output
	DDRB |= 1< 	// turn on the ADC
	init_adc();
	// set up our variables
	int reading = 0, prev = 0, temp = 0;
	// loop for ever
	while(1) {
		// take a new adc reading
		reading = adc_read(2);
		// average it with the previous reading
		temp = (reading + prev) / 2;		
		// if the voltage is less than 6
		if ( temp > 185 )
		{
			// turn the output pin on
			PORTB &= ~(1< 		}
		else
		{
			// turn the output pin off
			PORTB |= 1<		} 
		// save the current reading
		prev = reading;
		// wait for 20ms
		delayms(20);
	}
	return 0;
}

Photos: