Final Report - Claymore - Grand Valley State University

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7.3 C Code //Author: Brian Coleman //Class: EGR 345 //Date: 11/29/05 //Include files #include #include #include #include "sio.c" //Function prototypes void CLK_setup(void); void IO_setup(void); void IO_update(void); void move_step(int dir, int step_delay); void write_step(int step); int check_targets(void); void delay(int ticks); void stop(void); //Global Constants #define UP 1 #define DOWN 0 #define HIGH 1 #define LOW 0 #define Start 0 //Initial target #define TARGET_1 -9 //Left-most target #define TARGET_2 -4 //Inner-left target #define TARGET_3 1 //Inner-right target #define TARGET_4 6 //Right-most target # define NUM_INTERRUPTS 10 //Number of interrupts per sec # define DELAY_TIME 25 //1 is the maximum speed #define FIRE_DELAY 200 //Air release time //Variables int steps[] = {1, 2, 4, 8}; int position = 0; int last_target = 0; 31
int current_target = 0; int destination = 0; int current_step = int i; -1; unsigned int CNT_timer1; //The delay time volatile unsigned int CLK_ticks = 0; //The current number of ms since last increment of CLK_seconds volatile unsigned since start int CLK_seconds = 0; //The current number of seconds /*------------------------------- Interrupt Stuff --------------------- ----------*/ SIGNAL(SIG_OVERFLOW1) / /The interrupt calls this function { CLK_ticks += (NUM_INTERRUPTS*10); if(CLK_ticks >= 1000) { beginning } } CLK_ticks -= 1000; CLK_seconds++; //Counts the number of seconds from the IO_update(); TCNT1 = CNT_timer1; void CLK_setup(void) //Starts the interrupt service routine { TCCR1A = (0
Page 1 and 2: Grand Valley State University Padno
Page 3 and 4: Table of Contents 1. Design Descrip
Page 5 and 6: pressure was applied, the flap rota
Page 7 and 8: ATMega32 1 2 3 4 Target Lines PWM A
Page 9 and 10: 2. Free Body diagram and Differenti
Page 11 and 12: ∑ ⎟ ⎞ ⎛ d M = Tm − TF = J
Page 13 and 14: where, V= potential energy, and T=
Page 15 and 16: x i 0x ( t) = x + V t , ( 2.28) whe
Page 17 and 18: 2 2 2 h = a + o , ( 2.39) where, h=
Page 19 and 20: 1. The flap in front of the nozzle
Page 22 and 23: 7.1.2 Orthographic Prints 21
Page 24 and 25: Figure 13: Barrel Figure 15: Air no
Page 26 and 27: Figure 18: Ball stopper flap Figure
Page 28 and 29: Figure 22: Rubber foot Figure 23: H
Page 30 and 31: Figure 26: Hopper U-joint Figure 27
Page 34 and 35: } CNT_timer1 = 0xFFFF - 80; TCNT1 =
Page 36 and 37: } } /*-----------------------------
Page 38 and 39: int main(void) { } sio_cleanup(); s
Page 40 and 41: VL= Kpot*state($,1)-Vzero; //estima

Final Report - Claymore - Grand Valley State University

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