void main (void)
{
WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer
// Set 16MHz clock
BCSCTL1 = CALBC1_16MHZ;
DCOCTL = CALDCO_16MHZ;
// Startup Delay
_delay_cycles(2000);
// Initialize serial port
SERIAL_init();
// Enable interrupt
_EINT();
rxEchoPos = 0;
// Set the servo port to digital output
P2DIR |= BIT2;
int deg; // servo rotation degree
// Main loop
while(1)
{
// load the target degree from the serial port
deg = checkSerial();
// if there is a new value
if(deg > -1)
{
// Move the servo
moveServo(deg);
}
__delay_cycles(1000);
}
}
void loop() {
//checkBlink();
checkOnOff();
checkSerial();
if(bHaveNewMsg){
writeNewMsg();
}
//int reader = analogRead(0);
//Serial.print(reader/4);
//Serial.print('\n');
}
void fingerRoll(int del, int dir)
{
if(dir==CLOSE)
{
for(int i=NUM_FINGERS-1;i>=0;i--)
{
fingerControl(i,100,0, gripSpeed);
if(checkSerial())
return;
customDelay(del);
}
}
else
{
for(int i=0;i<NUM_FINGERS;i++)
{
fingerControl(i,0,0, gripSpeed);
if(checkSerial())
return;
customDelay(del);
}
}
}
int main(void) {
uchar owAddrBytes[8];
uchar writeBuffer[] = {0x64, 0xEE, 0x00, 0x00, 0x00, 0x02, 0x03};
portNum = 0;
strcpy(portName,"DS2490-1");
strcpy(serial, "FA00000001743763");
portNum = owAcquireEx(portName);
if(portNum <= 0 ) {
printf("Error acquiring 1-wire USB device\n");
return 1;
}
// Convert string-based serial to owAddress
if(!checkSerial(serial, owAddrBytes)) {
owRelease(portNum);
return 1;
}
// DO STUFF HERE
owSerialNum(portNum, owAddrBytes, FALSE);
// 1) Test Maxq Read status
testMaxQReadStatus(portNum, owAddrBytes);
// 2) See what's in the command buffer initially
testReadCmdBuffer(portNum, owAddrBytes, 7);
// 3) Write something to the command buffer
testWriteCmdBufferExStart(portNum, owAddrBytes, writeBuffer, 7);
// 4) Test Maxq Read status
testMaxQReadStatus(portNum, owAddrBytes);
// 5) Read back what we wrote
testReadCmdBuffer(portNum, owAddrBytes, 7);
// Notice that the write succeeds but the release sequence response fails.
owRelease(portNum);
printf("Finished Successfully\n");
return 0;
}
// this is executed continuously
void appBase::run() {
float idletime;
uint32_t thisLoop;
// delay loop to force update on even looptime boundaries
while ( millis() < nextLoop ) { // delay until time for next loop
if( /* lcd != NULL && */ buttons != NULL ) // check for button press
checkInput();
checkSerial(); // Has a command been received?
}
thisLoop = millis(); // actual time marker for this loop
// time stamp = system time, seconds, for this set of samples
timestamp = 0.001 * float( thisLoop ) - reftime;
getSamples(); // retrieve values from MCP9800 and MCP3424
if( first ) { // use first set of samples for RoR base values only
first = false;
initControl();
}
else {
logSamples(); // output results to serial port
doControl(); // perform control operations, if required
}
// save values for RoR calculation in next loop
for( int j = 0; j < _NCHAN; j++ ) {
int k = chan.getChan( j );
if( k != 0 ) {
--k;
flast[k] = ftemps[k];
lasttimes[k] = ftimes[k];
}
}
idletime = looptime - ( millis() - thisLoop );
// complain if we don't have some time left
if (idletime < _IDLE_TIME_ALARM ) {
Serial.print("# idle: ");
Serial.println(idletime);
}
nextLoop += looptime; // time mark for start of next update
// Serial.print("nextLoop="); Serial.print( nextLoop );
// Serial.print(" looptime="); Serial.print( looptime );
// Serial.println();
}
int main(int argc, char *argv[])
{
if(argc != 3)
{
printf("Usage: %s username serial\n", argv[0]);
return -1;
}
char *ptr;
unsigned long serial = strtoul(argv[2], &ptr, 10);
if (checkSerial(argv[1], serial))
{
printf("Serial WRONG!\n");
}
else
{
printf("Serial OK!\n");
}
return 0;
}
void ClockController::tick() {
int time[7];
rtc.get(time, true);
seconds = time[0];
minutes = time[1];
hours = time[2];
//int dow = time[3];
day = time[4];
month = time[5];
year = time[6];
temperature = rtc.getTemperature();
if(currentFace != NULL) {
if(seconds != currentFace->seconds ||
minutes != currentFace->minutes ||
hours != currentFace->hours)
currentFace->setTime(hours, minutes, seconds);
if(day != currentFace->day ||
month != currentFace->month ||
year != currentFace->year)
currentFace->setDate(day, month, year);
if(temperature != currentFace->temperature)
currentFace->setTemperature(temperature);
currentFace->lastUpdate = millis();
currentFace->updateDisplay();
}
checkForBeep();
checkSerial();
}
void demoMode(void)
{
MYSERIAL.println("Demo starting");
printGrip(FIST_GRIP,OPEN);
gripMovement(FIST_GRIP,BLANK,OPEN, gripSpeed);
if(checkSerial())
return;
customDelay(gripDuration);
printGrip(FIST_GRIP,CLOSE);
gripMovement(FIST_GRIP,BLANK,CLOSE, gripSpeed);
if(checkSerial())
return;
customDelay(gripDuration);
printGrip(FIST_GRIP,OPEN);
gripMovement(FIST_GRIP,BLANK,OPEN, gripSpeed);
if(checkSerial())
return;
customDelay(gripDuration);
printGrip(FINGER_ROLL,CLOSE);
fingerRoll(300,CLOSE);
if (checkSerial())
return;
customDelay(gripDuration / 4);
printGrip(FINGER_ROLL,OPEN);
fingerRoll(300,OPEN);
if (checkSerial())
return;
customDelay(gripDuration / 2);
printGrip(FINGER_ROLL,CLOSE);
fingerRoll(300,CLOSE);
if(checkSerial())
return;
customDelay(gripDuration/2);
printGrip(FINGER_ROLL,OPEN);
fingerRoll(300,OPEN);
printGrip(FINGER_ROLL,CLOSE);
fingerRoll(300,CLOSE);
if(checkSerial())
return;
customDelay(gripDuration/4);
printGrip(FIST_GRIP,OPEN);
gripMovement(FIST_GRIP,BLANK,OPEN, gripSpeed);
if(checkSerial())
return;
customDelay(gripDuration);
for(int i=0;i<NUM_GRIPS;i++)
{
printGrip(i,CLOSE);
gripMovement(i,BLANK,CLOSE, gripSpeed);
if(checkSerial())
return;
customDelay(gripDuration);
printGrip(i,OPEN);
gripMovement(i,BLANK,OPEN, gripSpeed);
if(checkSerial())
return;
customDelay(gripDuration);
}
#ifdef TRIPOD_GRIP
printGrip(TRIPOD_GRIP,CLOSE);
gripMovement(TRIPOD_GRIP,BLANK,CLOSE, gripSpeed);
if(checkSerial())
return;
customDelay(gripDuration);
printGrip(TRIPOD_GRIP,OPEN);
gripMovement(TRIPOD_GRIP,BLANK,OPEN, gripSpeed);
if(checkSerial())
return;
customDelay(gripDuration);
#endif
printGrip(PINCH_GRIP,CLOSE);
gripMovement(PINCH_GRIP,BLANK,CLOSE, gripSpeed);
if(checkSerial())
return;
customDelay(gripDuration);
printGrip(FIST_GRIP,OPEN);
gripMovement(FIST_GRIP,BLANK,OPEN, gripSpeed);
if(checkSerial())
return;
customDelay(gripDuration);
printGrip(FINGER_ROLL,CLOSE);
fingerRoll(430,CLOSE);
customDelay(gripDuration/2);
printGrip(FIST_GRIP,OPEN);
gripMovement(FIST_GRIP,BLANK,OPEN, gripSpeed);
if(checkSerial())
return;
if(!advancedSettings.demoFlag)
demoFlag = 0;
MYSERIAL.println("Demo complete");
// if demo mode is enabled from start up
if(advancedSettings.demoFlag)
{
MYSERIAL.println("\nStart up demo mode ON");
MYSERIAL.println("Enter A0 to disable this mode");
}
}