int main(void)
{
Timer_Init(); //Initialize timers
Ultrasonic_Init(); //Initialize sensors
LED_Init(); //Initialize LEDs
UART_Init(); //Initialize UART
Motors_Init(); //Initialize motors
sei(); //Enable interrupts
while(1) //Main loop
{
state = 1;
if (check_command(REMOTECONTROLMODE))
{
state = 0;
manual();
}
else if (check_command(LATERALPARKINGMODE))
{
state = 0;
lateral_parking();
}
else if (check_command(MAINPARKINGMODE))
{
state = 0;
random_parking();
}
else if (check_command(FIXEDPARKINGMODE))
{
state = 0;
fixed_parking();
}
else if (check_command(OBSTACLEDODGEMODE))
{
state = 0;
obstacle_dodge();
}
else if (check_command(FOLLOWMODE))
{
state = 0;
follow();
}/*
else if (confirm_input(DANCE))
{
state = 4;
dance();
}*/
}
}
void Setup (void)
{
Menu_EnableAllItems();
Initial_EEPROM_Config_Load();
//Config.QuadFlyingMode = QuadFlyingMode_PLUS;
RX_Init();
if ((Config.RX_mode==RX_mode_SingleMode) && (IS_MISC_SENSOR_SONAR_ENABLED==true))
{
Ultrasonic_Init();
}
// Motors
M1_DIR = OUTPUT;
M2_DIR = OUTPUT;
M3_DIR = OUTPUT;
M4_DIR = OUTPUT;
M1 = 0;
M2 = 0;
M3 = 0;
M4 = 0;
Buzzer_DIR = OUTPUT;
LED_Orange_DIR = OUTPUT;
// Sensors
V_BAT = INPUT;
// Timers
TCCR1A = 0; //Set timer 1 to run at 2.5MHz
TCCR1B = 0;
TCCR1C = 0;
#ifdef TELEMETRY_ENABLED
if (Config.RX_mode==RX_mode_SingleMode)
{
UART_Init(SERIAL_BAUD_RATE); //57600 = 20 115200=10
}
#endif
ADCPort_Init();
Sensors_Init();
KeyBoard_Init();
Timer_Init();
LCD_Init();
LCD_Clear();
Menu_MenuInit();
sei();
//delay_ms(30);
}
