Bodenseehaie - Microcontroller Software

Main software for our soccer robots (open league) for RoboCup-Junior. With this code we won the RoboCup 2016.

The code is developed as an Atmel-Studio Project (but should compile with GCC as well) and is intended to be run on an Atmel/Microchip-AtXMega64A1.

Fuses

In Atmel-Studio: Tools->Device Programming

FF;00;FF;FF;F2

LEDs

LED 1: Watchdog

LED 2: Brownout

LED 1 and 2: Software Reset

LED 3: On Line or out of bounds

LED 4: Captured Ball

LED 5: -

LED 6: Voltage warning

LED 7: IMU is starting

LED 8: IMU fully calibrated

Switch

Switch 1: Motors

Switch 2 und 4: Spielprogramm:

Switch 2	Switch 4	Mode
0	0	Normal mode
1	0	Mode with special tricks
0	1	Goalie
1	1	PID and line test

Switch 3: Display output enable (if motors are off USB is enabled as well)

Switch 5: Activ/Passiv

Switch 6: Line calibration