void main(){
set_tris_a(0x01);
set_tris_b(0x00);
setup_adc(adc_clock_internal);
setup_adc_ports(AN0);
Servo_init(48); //Coloca a +-90° los servos declarados
while(true){
set_adc_channel(0); //RA0 sensor del dedo pulgar
delay_us(20);
sensor_pulgar = getc_adc();
sensor_pulgar = map(sensor_pulgar, 511, 1023, 0, 180);
Servo_PWM(SERVO_DEDO_PULGAR, sensor_pulgar);
}
}
void motorTest(SmartCar * smartCar) {
int16_t speed = 300;
Motor_Enable(&smartCar->motor);
Servo_init(&smartCar->servo);
Servo_runAs(&smartCar->servo,0);
while (1) {
Servo_runAs(&smartCar->servo,0);
smartCar->motor.sendPID = 1;//for bluetooth send start
Motor_runAs(&smartCar->motor, speed);
Segment_print(&smartCar->segment[0], smartCar->motor.targetSpeed);
Segment_print(&smartCar->segment[1], Encoder_get(&smartCar->encoder));
Segment_print(&smartCar->segment[2], smartCar->motor.currentSpeed);
switch (board.button.check()) {
case 1: // fast
if (speed < 2000) {
speed = speed + 50;
} else {
speed = 2000;
}
break;
case 2: // slow
if (speed > -2000) {
speed = speed - 50;
} else {
speed = -2000;
}
break;
case 3: // reverse
speed = -speed;
break;
case 4: //motor test end
smartCar->motor.sendPID = 0;//for bluetooth send stop
speed = 0;
Motor_Disable(&smartCar->motor);
Segment_print(&smartCar->segment[0], speed);
Segment_print(&smartCar->segment[1], speed);
return;
}
}
}
int main(void)
{
IO_init();
Timer1_init();
ADC_init();
Motor_stop();
Servo_init();
LCD_init();
sei();
while(1)
{
inherent_function();
}
while(1);
return 0;
}
int main(void) {
bt_init(BAUD_RATE);
Sonar_init(CONTINUOUS);
Servo_init(MANUAL, SCAN_AND_LOCK);
motorDriverInit();
while(1){
bt_getStr( tab ); // Get string from buffer
if(strlen( tab )){ // If isn't empty...
//bt_sendStr( tab ); // ...send it back.
if ( strcmp(tab, "w") == 0 ) {
driveForward(speed);
}
else if ( strcmp(tab, "s") == 0) {
driveReverse(speed);
}
else if ( strcmp(tab, " ") == 0) {
stop();
}
else if ( strcmp(tab, "a") == 0) {
driveReverseLeftTrack(40);
driveForwardRightTrack(40);
}
else if ( strcmp(tab, "d") == 0) {
driveForwardLeftTrack(40);
driveReverseRightTrack(40);
}
else if ( strcmp(tab, "ServoScanAndLock") == 0) {
ServoChangeMode(SWEEP);
ServoChangeSweepMode(SCAN_AND_LOCK);
}
else if ( strcmp(tab, "ServoScanAndGo") == 0) {
ServoChangeMode(SWEEP);
ServoChangeSweepMode(SCAN_AND_GO);
}
else if ( strcmp(tab, "ServoCenter") == 0) {
ServoChangeMode(MANUAL);
ServoMoveByDegree(0);
}
else if ( strncmp(tab, "SonarStartMeas",14) == 0) {
int new_deg = ParseIntNumber(tab,14,3);
SonarStartMeas(new_deg);
}
else if ( strncmp(tab, "SonarGetDistance",16) == 0) {
char buffor[12];
int new_deg = ParseIntNumber(tab,16,3);
sprintf(buffor, "%04d,%04hu\n",new_deg,SonarGetDistance(new_deg));
bt_sendStr(buffor);
}
else if ( strcmp(tab, "e") == 0) {
if (speed<=90){
speed+=10;
}
}
else if ( strcmp(tab, "q") == 0) {
if (speed>=10){
speed-=10;
}
}
else if (strncmp(tab, "speed",5) == 0){
int new_speed = ParseIntNumber(tab,5,3);
if (new_speed >= 0 && new_speed <= 100){
speed = new_speed;
}
}
else if ( strncmp(tab, "SonarLockRange",14) == 0) {
int new_range = ParseIntNumber(tab,14,3);
ServoChangeLockRange(new_range);
}
}
}
};
