void BIAS_Init(void){
TIM4_PWM_Init();
BIAS_Config();
BIAS_VAUX_SetValue(0);
BIAS_SetValue(4095);
BIAS_VBIAS_1_WriteValue(4095);
BIAS_VBIAS_2_WriteValue(4095);
}
void Steering_Init(void) {
STMFLASH_Read(STEERING_DATA_ADDR, (u16*)(&steering_data), sizeof(struct steering_type));
TIM2_PWM_Init(20000,71);
TIM3_PWM_Init(20000,71);
TIM5_PWM_Init(20000,71);
TIM1_PWM_Init(20000,71);
TIM8_PWM_Init(20000,71);
TIM4_PWM_Init(20000,71);
if(STEERING_INIT_MARK==steering_data.mark)
Steering_Move(steering_data.init);
else
Steering_Move(default_init);
}
int main(void)
{
int i;
Systick_Configuration();
LED_Configuration();
button_Configuration();
usart1_Configuration(9600);
SPI_Configuration();
TIM4_PWM_Init();
Encoder_Configration();
buzzer_Configuration();
ADC_Config();
//curSpeedX = 0;
//curSpeedW = 0;
//shortBeep(2000, 8000);
while(1) {
readSensor();
readGyro();
readVolMeter();
printf("LF %d RF %d DL %d DR %d aSpeed %d angle %d voltage %d lenc %d renc %d\r\n", LFSensor, RFSensor, DLSensor, DRSensor, aSpeed, angle, voltage, getLeftEncCount(), getRightEncCount());
displayMatrix("UCLA");
setLeftPwm(100);
setRightPwm(100);
delay_ms(1000);
}
//forwardDistance(4000,0,0,true);
//displayMatrix("Sped");
//targetSpeedX = 100;
//delay_ms(2000);
//
//targetSpeedX = 100;
//delay_ms(2000);
//printf("==============================================\n\r=======================================================\r\n");
//delay_ms(1000);
//displayMatrix("Wat");
//delay_ms(1000);
//displayMatrix("STOP");
//displayMatrix("GO");
turnRightAngle(LEFT);
targetSpeedW = 0;
delay_ms(1000);
turnRightAngle(RIGHT);
targetSpeedW = 0;
delay_ms(1000);
displayMatrix("STOP");
delay_ms(3000);
targetSpeedX = 0;
//
targetSpeedW = 10;
delay_ms(1000);
targetSpeedX = 0;
targetSpeedW = 0;
return 0;
}