int main(void) {
// Initialize the UART,Timers, and I2C1v
Board_init();
Board_configure(USE_SERIAL | USE_LCD | USE_TIMER);
dbprint("Starting encoders...\n");
I2C_init(I2C_ID, I2C_CLOCK_FREQ);
Encoder_init();
Interface_init();
Timer_new(TIMER_TEST, PRINT_DELAY );
while (!Timer_isExpired(TIMER_TEST)) {
Encoder_runSM();
}
// Not working?
//Encoder_setZeroPitch();
//Encoder_setZeroYaw();
dbprint("Encoders initialized.\n");
DELAY(STARTUP_DELAY)
Timer_new(TIMER_TEST, PRINT_DELAY );
bool clearedCalibrateMessage = TRUE;
Timer_new(TIMER_TEST2,CALIBRATE_HOLD_DELAY);
//Interface_waitLightOnTimer(CALIBRATE_HOLD_DELAY);
Interface_waitLightOnTimer(CALIBRATE_HOLD_DELAY);
LCD_setPosition(0,0);
dbprint("Encoders:\n");
while(1) {
if (Timer_isExpired(TIMER_TEST)) {
LCD_setPosition(1,0);
dbprint(" P=%.1f,\n Y=%.1f\n",Encoder_getPitch(), Encoder_getYaw());
Timer_new(TIMER_TEST, PRINT_DELAY );
}
if (Interface_isOkPressed() && Timer_isExpired(TIMER_TEST2)) {
Encoder_setZeroPitch();
Encoder_setZeroYaw();
LCD_setPosition(3,0);
dbprint("Zeroed encoders.\n");
clearedCalibrateMessage = FALSE;
Interface_waitLightOnTimer(CALIBRATE_HOLD_DELAY);
Interface_readyLightOff();
Timer_new(TIMER_TEST2,CALIBRATE_HOLD_DELAY);
}
if (Timer_isExpired(TIMER_TEST2) && !clearedCalibrateMessage) {
clearedCalibrateMessage = TRUE;
LCD_setPosition(3,0);
dbprint(" ");
Interface_readyLightOn();
}
Encoder_runSM();
Interface_runSM();
}
return (SUCCESS);
}
int main(void) {
// Initialize the UART,Timers, and I2C1v
Board_init();
Board_configure(USE_SERIAL | USE_LCD | USE_TIMER);
dbprint("Starting encoders...\n");
I2C_init(ENCODER_I2C_ID, I2C_CLOCK_FREQ);
if (Encoder_init() != SUCCESS) {
dbprint("Failed init. encoder\n");
return FAILURE;
}
Timer_new(TIMER_TEST, PRINT_DELAY );
while (!Timer_isExpired(TIMER_TEST)) {
Encoder_runSM();
}
// Not working?
//Encoder_setZeroPitch();
//Encoder_setZeroYaw();
dbprint("Encoders initialized.\n");
DELAY(STARTUP_DELAY);
Timer_new(TIMER_TEST, PRINT_DELAY );
LCD_setPosition(0,0);
dbprint("Encoders:\n");
while(1){
if (Timer_isExpired(TIMER_TEST)) {
LCD_setPosition(1,0);
dbprint(" P=%.1f,\n Y=%.1f\n",Encoder_getPitch(), Encoder_getYaw());
/*dbprint("Encoders:\n P=%d,\n Y=%d\n",
readDevice(SLAVE_PITCH_READ_ADDRESS,SLAVE_PITCH_WRITE_ADDRESS),
readDevice(SLAVE_YAW_READ_ADDRESS,SLAVE_YAW_WRITE_ADDRESS));*/
/*dbprint("Encoders:\n P=%.1f,\n Y=%.1f\n",
readDevice(SLAVE_PITCH_READ_ADDRESS,SLAVE_PITCH_WRITE_ADDRESS) * DEGREE_PER_NUMBER,
readDevice(SLAVE_YAW_READ_ADDRESS,SLAVE_YAW_WRITE_ADDRESS) * DEGREE_PER_NUMBER);*/
Timer_new(TIMER_TEST, PRINT_DELAY );
}
Encoder_runSM();
}
return (SUCCESS);
}
/**
* Function: runMasterSM
* @return None.
* @remark Executes one cycle of the command center's state machine.
* @author David Goodman
* @date 2013.03.09 */
void runMasterSM() {
//Magnetometer_runSM();
// Record these button presses since we don't know
// if they will be pressed after runSM
lockPressed = isLockPressed();
zeroPressed = isZeroPressed();
if(lockPressed || zeroPressed){
#ifdef USE_ENCODERS
Encoder_runSM();
#endif
if(lockPressed) {
printf("Lock was pressed.\n");
#ifdef USE_NAVIGATION
#ifdef USE_ENCODERS
Encoder_enableZeroAngle();
Encoder_runSM();
Coordinate ned; // = Coordinate_new(ned, 0, 0 ,0);
if (Navigation_getProjectedCoordinate(&ned, Encoder_getYaw(),
Encoder_getPitch(), height)) {
printf("Desired coordinate -- N: %.6f, E: %.6f, D: %.2f (m)\n",
ned.x, ned.y, ned.z);
#ifdef USE_XBEE
Mavlink_send_start_rescue(XBEE_UART_ID, TRUE, 0,ned.x, ned.y);
#endif
}
else {
printf("Failed to obtain desired NED coordinate.\n");
}
Encoder_disableZeroAngle();
#else
printf("Navigation module is disabled.\n");
#endif
#endif
}
else if (zeroPressed) {
// Zero was pressed
#ifdef USE_ENCODERS
Encoder_setZeroAngle();
#endif
useLevel = TRUE;
#ifdef USE_MAGNETOMETER
Magnetometer_runSM();
heading = Magnetometer_getDegree();
updateHeading();
#endif
//printf("Zeroing...\n");
}
else {
}
}
if (!zeroPressed) {
if (useLevel)
printf("Done zeroing.\n");
useLevel = FALSE;
}
#ifdef USE_ACCELEROMETER
Accelerometer_runSM();
updateAccelerometerLEDs();
#endif
#ifdef USE_NAVIGATION
Navigation_runSM();
#endif
#ifdef USE_XBEE
Xbee_runSM();
#endif
}
