void main(void)
{
uart_init(LOG_PORT, BAUD_CALC(115200));
uart_init(COMMAND_PORT, BAUD_CALC(115200));
sei();
int i = -255;
char c;
//write_motors(COMMAND_PORT, 200, 200);
// go(240, 240);
// go(5, 10);
// _delay_ms(1000);
// go(-200, -200);
while (1)
{
go (127, 127);
// i++;
// go(i, i);
// if (i >= 255)
// i = -255;
// _delay_ms(20);
}
}
int main(void)
{
/*init all the things*/
motors_init(PHASE_CORRECT, PRESCALE_8);
uart_init(BAUD_CALC(9600));
sei();
adc_init();
wdt_init(WDTO_500MS);
/********************/
go(0, 0);
uart_putc(ACK);
over_current_a = 0;
over_current_b = 0;
while (1)
{
current_a = analog_read(C_SENS_A);
current_b = analog_read(C_SENS_B);
req_t = get_request_type();
if (req_t == CURRENT_REQ)
{
write_current(current_a, current_b);
}
else if (req_t == MOTORS_SET)
{
read_motors(&speed_a, &speed_b);
wdt_reset();
}
//manage current sens
#ifdef CURRENT_LIMIT
if ((current_a < CURRENT_LIMIT) && (current_b < CURRENT_LIMIT))
{
go(speed_a, speed_b);
over_current_a = over_current_b = 0;
}
else
{
//overcurrent
go(0, 0);
uart_putc('!');
over_current_a = current_a - CURRENT_LIMIT;
over_current_b = current_b - CURRENT_LIMIT;
}
#endif
}
return (0);
}
int main(void)
{
//BA
//set_motors(PHASE_CORRECT, PRESCALE_8);
uart_init(COMMAND_PORT, BAUD_CALC(57600));
sei();
int16_t speed = 30;
int8_t crement = 1;
while (1)
{
if ((speed >= MAXSPEED) || (speed <= MINSPEED))
{
crement *= -1;
}
speed += crement;
go(speed, speed);
_delay_ms(5);
}
}
int main(void)
{
//uart_set_FrameFormat(USART_8BIT_DATA|USART_1STOP_BIT|USART_NO_PARITY|USART_ASYNC_MODE); // default settings
uart_init(BAUD_CALC(115200)); // 8n1 transmission is set as default
stdout = &uart0_io; // attach uart stream to stdout & stdin
stdin = &uart0_io; // uart0_in if no TX and uart0_out if no RX (depends on config macros)
sei(); // enable interrupts, library wouldn't work without this
uart_puts("hello from usart 0\r\n"); // write const string to usart buffer // C++ restriction, in C its the same as uart_putstr()
//uart_puts("hello world\r\n"); // write const string to usart buffer // C++ restriction, in C its the same as uart_putstr()
// if you do not have enough SRAM memory space to keep all strings, try to use puts_P instead
uart_puts_P("hello from flashed, usart\r\n"); // write string to usart buffer from flash memory // string is parsed by PSTR() macro
_delay_ms(5000);
uart_puts_p(foo_string);
char buffer[25];
uart_gets(buffer, 25); // read at most 24 bytes from buffer (CR,LF will not be cut)
int a;
uart_puts("gimmie a number: ");
a = uart_getint();
uart_puts("numba a: ");
uart_putint(a);
uart_puts("\r\n");
while(1)
{
uart_puts("bytes waiting in receiver buffer : ");
uart_putint(uart_AvailableBytes()); // ask for bytes waiting in receiver buffer
//uart_getsln(buffer, 25); // read 24 bytes or one line from usart buffer
if (!strcmp(buffer, "people who annoy you"))
{
uart_putc('>');
_delay_ms(5000);
uart_puts_P(" naggers");
}
uart_puts("\r\n");
/*
uart_putfloat(0.1337f);
uart_puts("\r\n");
uart_putstr(buffer); // write array string to usart buffer
uart_puts("\r\n");
printf("Say my name: ");
scanf("%s", buffer);
printf("So it's %s, You are damn' right.\n", buffer);
_delay_ms(5000);
*/
}
}
