void main(void) {
enum bool flag1, flag2, flag3, flag4;
uc_8 count = 0; // counter
Initialise(); // System initialisation
switchesInit(); // Switches initialisation
LEDsInit(); // LED initialisation
sevenSegInit(); // 7segment initialisation
flag = LEDsPut(~count); // display initial value
for(;;) {
if (switchesGet(&temp))
{
count++; //increment counter
flag1 = switchesGet(&temp);
flag2 = LEDsPut(~count);
flag3 = sevenSegPut(Seg1, count);
flag4 = sevenSegPut(Seg2, count);
if (count == 15)
{
count = 0;
}
}
for (int i = 0; i < 100; ++i)
{
for (int j = 0; j < 1000; ++j)
{
// Software time delay to make operations visible
}
}
} /* loop forever */
}
int main(void){
OS_Init();
LEDsInit();
switchesInit(&leftSwitch, &rightSwitch, SWITCH_PRIO);
SBInit(SYS_CLK_FREQ/SBUS_FREQ, SBUS_ID, SBUS_PRIO);
OS_AddThread(&IdleTask, 128, 7);
OS_Launch(SYS_CLK_FREQ/OS_FREQ);
return 0;
}
int main(void)
{
// Initialise System Hardware
INIT_SYSTEM();
// Initialise Memory manager
mqInit();
// Initialise Object's Dictionary
InitOD();
// Initialise PHY's
PHY1_Init();
#ifdef PHY2_ADDR_t
PHY2_Init();
#endif // PHY2_ADDR_t
// Initialize MQTTSN
MQTTSN_Init();
// Initialise optional components
#ifdef LEDsInit
LEDsInit();
#endif // LEDsInit
#ifdef DIAG_USED
DIAG_Init();
#endif // USE_DIAG
SystemTickCnt = 0;
StartSheduler();
while(1)
{
if(SystemTickCnt)
{
SystemTickCnt--;
OD_Poll();
MQTTSN_Poll();
#ifdef DIAG_USED
DIAG_Poll();
#endif // USE_DIAG
}
MQ_t * pBuf;
pBuf = PHY1_Get();
if(pBuf != NULL)
{
mqttsn_parser_phy1(pBuf);
}
#ifdef PHY2_Get
pBuf = PHY2_Get();
if(pBuf != NULL)
{
mqttsn_parser_phy2(pBuf);
}
#endif // PHY2_Get
}
}
//****************************************************************************
//
// This function initializes the LED task. It should be called from the
// application initialization code.
//
//****************************************************************************
void
LEDTaskInit(void *pvParam)
{
//
// Initialize the board LED driver and turn on one LED. This will have
// the effect of the LEDs blinking back and forth, with one on at a time.
//
LEDsInit();
LED_On(LED_1);
}
int main(void)
{
/* perform the needed initialization here */
LEDsInit();
Tec1Init();
Tec2Init();
Tec3Init();
Tec4Init();
ADCInit();
DACInit();
UARTInit();
TimerInit(100);
for(;;)
{
if(LeerTec1()==0)
{
A += 0.1;
UARTSendString(msj1);
}
if(LeerTec2()==0)
{
A -= 0.1;
UARTSendString(msj2);
}
if(LeerTec3()==0)
{
A = 0;
UARTSendString(msj3);
}
if(LeerTec4()==0)
{
UARTSendString(msj4);
}
}
return 0;
}
int
main(void)
{
unsigned long ulPHYMR0;
tBoolean bButtonWasPressed = false;
tMotorState sMotorState=STATE_STOPPED;
tWaveHeader sWaveHeader;
unsigned long ulWaveIndex = 1;
int losL,losH;
ROM_SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_ETH);
ulPHYMR0 = ROM_EthernetPHYRead(ETH_BASE, PHY_MR0);
ROM_EthernetPHYWrite(ETH_BASE, PHY_MR0, ulPHYMR0 | PHY_MR0_PWRDN);
// Display96x16x1Init(true);
// Display96x16x1StringDraw("MOTOR", 29, 0);
// Display96x16x1StringDraw("DEMO", 31, 1);
LEDsInit();
LED_On(LED_1);
PushButtonsInit();
BumpSensorsInit();
MotorsInit();
ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / 100);
ROM_SysTickEnable();
ROM_SysTickIntEnable();
SoundInit();
// WaveOpen((unsigned long *) sWaveClips[ulWaveIndex].pucWav, &sWaveHeader);
//mozliwe ze trzeba przed kazdym odtworzeniem ;/
// while(WaveOpen((unsigned long *)
// sWaveClips[ulWaveIndex].pucWav,
// &sWaveHeader) != WAVE_OK);//do zablokowania w razie bledu
for(;;)
{
tBoolean bButtonIsPressed;
tBoolean bBumperIsPressed[2];
bButtonIsPressed = !PushButtonGetDebounced((tButton)1);
bBumperIsPressed[0] = !BumpSensorGetDebounced((tBumper)0);
bBumperIsPressed[1] = !BumpSensorGetDebounced((tBumper)1);
switch(sMotorState)
{
case STATE_STOPPED:
{
if(bButtonIsPressed && !bButtonWasPressed)
{
sterowanie(0,50,50);
sMotorState = STATE_RUNNING;
}
break;
}
case STATE_RUNNING:
{
if(bButtonIsPressed && !bButtonWasPressed)
{
MotorStop((tSide)0);
MotorStop((tSide)1);
sMotorState = STATE_STOPPED;
}
else if(bBumperIsPressed[0])
{
MotorStop((tSide)0);
MotorStop((tSide)1);
// WavePlayStart(&sWaveHeader); mozliwe ze tu
losL =10+ g_ulTickCount % 20;//i dać los zamiast 15,mamy losowe skrecanie(10-30)
losH =40+ g_ulTickCount % 30;//i dać los zamiast 60,mamy losowe skrecanie(40-70)
sterowanie(1,losL,losH);
sMotorState = STATE_TYL;
}
else if(bBumperIsPressed[1]){
MotorStop((tSide)0);
MotorStop((tSide)1);
losL =10+ g_ulTickCount % 20;//i dać los zamiast 15,mamy losowe skrecanie(10-30)
losH =40+ g_ulTickCount % 30;//i dać los zamiast 60,mamy losowe skrecanie(40-70)
sterowanie(1,losH,losL);
// WavePlayStart(&sWaveHeader); mozliwe ze tu
sMotorState = STATE_TYL;
}
break;
}
case STATE_TYL:
{//cofanie tez moze byc losowe np losH+losL(50-100)+160=(210-260)
while(cofanie<250);
MotorStop((tSide)0);
MotorStop((tSide)1);
sterowanie(0,50,50);
sMotorState = STATE_RUNNING;
break;
}
default:
{
MotorStop((tSide)1);
MotorStop((tSide)0);
sMotorState = STATE_STOPPED;
break;
}
}
bButtonWasPressed = bButtonIsPressed;
}
}
