int main(){
//Initializations
Board_init();
Serial_init();
Timer_init();
if (Drive_init() != SUCCESS) {
printf("Failed to initialize drive module.\n");
}
I2C_init(TILT_COMPASS_I2C_ID, I2C_CLOCK_FREQ);
if (TiltCompass_init() != SUCCESS) {
printf("Failed to initialize tilt compass module.\n");
}
ENABLE_OUT_TRIS = OUTPUT;
while (1) {
printf("Driving north at full speed.\n");
Timer_new(TIMER_TEST, COMMAND_DELAY);
Drive_forwardHeading(100, 0);
while(!Timer_isExpired(TIMER_TEST)) {
//wait for finish
DELAY(1);
Drive_runSM();
TiltCompass_runSM();
}
Drive_stop();
Drive_runSM();
TiltCompass_runSM();
printf("Driving south at full speed.\n");
Timer_new(TIMER_TEST, COMMAND_DELAY);
Drive_forwardHeading(100, 180);
while(!Timer_isExpired(TIMER_TEST)) {
//wait for finish
DELAY(1);
Drive_runSM();
TiltCompass_runSM();
}
Drive_stop();
Drive_runSM();
TiltCompass_runSM();
delayMillisecond(COMMAND_DELAY);
printf("Waiting for retry...\n");
}
return SUCCESS;
}
int main() {
ENABLE_OUT_TRIS = OUTPUT; //Set Enable output pin to be an output, fed to the AND gates
ENABLE_OUT_LAT = MICRO; //Initialize control to that of Microcontroller
Board_init();
Serial_init();
Timer_init();
Drive_init();
I2C_init(I2C_BUS_ID, I2C_CLOCK_FREQ);
TiltCompass_init();
printf("Boat initialized.\n");
Drive_stop();
DELAY(5);
#ifdef MOTOR_TEST
Drive_pivot(0);
#endif
#ifdef RUDDER_TEST
Drive_forwardHeading(0.0, desiredHeading);
#endif
int i = 0;
int velocity[] = {1600, 1600, 1600, 1600, 1600};
velocityPulse = velocity[i];
Timer_new(TIMER_TEST,FINISH_DELAY);
while (1) {
if (Timer_isExpired(TIMER_TEST))
{
i++;
if (i == 5){
i = 0;
}
velocityPulse = velocity[i];
printf("CURRENT VELOCITY: %d\n\n",velocityPulse);
Timer_new(TIMER_TEST,FINISH_DELAY);
}
Drive_runSM();
TiltCompass_runSM();
}
Drive_stop();
return SUCCESS;
}
/**********************************************************************
* Function: initializeAtlas
* @return None.
* @remark Initializes the boat's master state machine and all modules.
* @author David Goodman
* @date 2013.04.24
**********************************************************************/
static void initializeAtlas() {
Board_init();
Serial_init();
Timer_init();
#ifdef USE_DRIVE
Drive_init();
#endif
// I2C bus
I2C_init(I2C_BUS_ID, I2C_CLOCK_FREQ);
#ifdef USE_TILTCOMPASS
TiltCompass_init();
#endif
#ifdef USE_GPS
GPS_init();
#endif
#ifdef USE_NAVIGATION
Navigation_init();
#endif
#ifdef USE_OVERRIDE
Override_init();
#endif
#ifdef USE_BAROMETER
Barometer_init();
Timer_new(TIMER_BAROMETER_SEND, BAROMETER_SEND_DELAY);
#endif
// Start calibrating before use
startSetOriginSM();
Timer_new(TIMER_HEARTBEAT, HEARTBEAT_SEND_DELAY);
Mavlink_sendStatus(MAVLINK_STATUS_ONLINE);
}
