int beginConsoleInput()
{
int userchoice = 0;
while ((userchoice = chooseInput() ) >= 0)
{
system("clear");
/*according to the result of chooseInput, execute next task*/
switch (userchoice)
{
case LED_EXAMPLES :
exampleMenu();
break;
case LED_MANUAL :
// launch method for manual input;
break;
case LED_FILE :
fileMenu();
break;
case LED_NETWORK :
// launch method for network input;
break;
default :
fprintf(stderr,"Wrong user choice! closing program...\n");
return 1;
}
}
return 0;
}
void getADC() {
if (conversion) {
switch (flag) {
case 0:
ADC0 = ADC;
break;
case 1:
ADC1 = ADC;
break;
case 2:
ADC2 = ADC;
break;
case 3:
ADC3 = ADC;
break;
case 4:
ADC4 = ADC;
break;
case 5:
ADC5 = ADC;
break;
case 6:
ADC6 = ADC;
break;
case 7:
ADC7 = ADC;
break;
}
clear(ADCSRA, ADEN); //Enable/Start conversion
clear(ADCSRA, ADSC); //^
clear(ADCSRA, ADATE);
clear(ADCSRA, ADIF);
if (flag >= 0 && flag < 8) {
flag = (flag + 1) % 8;
chooseInput(flag);
}
set(ADCSRA, ADATE); //Set trigger to free-running mode
set(ADCSRA, ADEN); //Enable/Start conversion
set(ADCSRA, ADSC); //^
set(ADCSRA, ADIF); //Enable reading results
conversion = 0;
}
ADCarr[0] = ADC0;
ADCarr[1] = ADC1;
ADCarr[2] = ADC2;
ADCarr[3] = ADC3;
ADCarr[4] = ADC4;
ADCarr[5] = ADC5;
ADCarr[6] = ADC6;
ADCarr[7] = ADC7;
}
/*char isStuck() {
m_wait(100);
//localize(data);
distfrombound = data[1] + ((float)BOUNDARYTHRESHOLD)*sin((data[2]+90.0)*3.14/180.0*-1.0);
if (distfrombound > 60.0 || distfrombound < -60.0) {
return 1;
}
m_usb_tx_int((int)distfrombound);
m_usb_tx_char('\n');
}
long loccounter = 0;
float prevx = 0.0;
float prevy = 0.0;
*/
int main(void)
{
//goal side
clear(DDRB,1);
clear(PORTB,1);
if (check(PINB,1)) {
goal = 1;
}
set(DDRB,0);
set(PORTB,0);
set(DDRD,5);
set(DDRD,3);
//wireless stuffs
m_bus_init();
m_rf_open(CHANNEL, RXADDRESS, PACKET_LENGTH);
int counter = 0;
//
//m_num_init();
int flag;
m_clockdivide(0);
m_disableJTAG();
//TIMER 0: For Controlling the solenoid
//
// set(TCCR0B, WGM02);
// set(TCCR0A, WGM01);
// set(TCCR0A, WGM01);
//
// set(TCCR0A, COM0B1);
// clear(TCCR0A, COM0B0);
//
// set(TCCR0B, CS02);
// set(TCCR0B, CS01);
// set(TCCR0B, CS00);
//
set(DDRB,7);
// OCR0A = 0xFF;
// OCR0B = 0xff;
//
//TIMER 1: For Controlling the left wheel
set(TCCR1B, WGM13);
set(TCCR1B, WGM12);
set(TCCR1A, WGM11);
set(TCCR1A, WGM10);
set(TCCR1A, COM1B1);
clear(TCCR1A, COM1B0);
clear(TCCR1B, CS12);
clear(TCCR1B, CS11);
set(TCCR1B, CS10);
set(DDRB,6);
OCR1A = 0xFFFF;
OCR1B = 0;
//TIMER 3: For Controlling the right wheel
//up to ICR3, clear at OCR3A & set at rollover
set(TCCR3B, WGM33);
set(TCCR3B, WGM32);
set(TCCR3A, WGM31);
clear(TCCR3A, WGM30);
set(TCCR3A, COM3A1);
clear(TCCR3A, COM3A0);
clear(TCCR3B, CS32);
clear(TCCR3B, CS31);
set(TCCR3B, CS30);
ICR3 = 0xFFFF;
OCR3A = 0;
// //Set TCNT0 to go up to OCR0A
// clear(TCCR0B, WGM02);
// set (TCCR0A, WGM01);
// clear(TCCR0A, WGM00);
//
// // Don't change pin upon hitting OCR0B
// clear(TCCR0A, COM0A1);
// clear(TCCR0A, COM0A0);
//
// // Set clock scale to /1024
// set(TCCR0B, CS02);
// clear(TCCR0B, CS01);
// set(TCCR0B, CS00);
//
// // Set Frequency of readings to 1/SAMPLERATE; dt = 1/SAMPLERATE
// OCR0A = (unsigned int) ((float) F_CPU / 1024 / REPORTRATE);
// OCR0B = 1;
// Set up interrupt for reading values at sampling rate
//Pin for controlling solenoid pulse
set(DDRB,7);
//Pins for controlling speed of left and right wheel
set(DDRB,6);
set(DDRC,6);
//Pins for determining direction of wheels
set(DDRB,2);
set(DDRB,3);
//Blue LED for Comm Test
//set(DDRB,5);
//ADC's
sei(); //Set up interrupts
set(ADCSRA, ADIE);
clear(ADMUX, REFS1); //Voltage reference is AR pin (5V)
clear(ADMUX, REFS0); //^
set(ADCSRA, ADPS2); //Set scale to /128
set(ADCSRA, ADPS1); //^
set(ADCSRA, ADPS0); //^
set(DIDR0, ADC0D); //Disable digital input for F0
set(DIDR0, ADC1D),
set(DIDR0, ADC4D);
set(DIDR0, ADC5D);
set(DIDR0, ADC6D);
set(DIDR0, ADC7D);
set(DIDR2, ADC8D);
set(DIDR2, ADC9D);
set(ADCSRA, ADATE); //Set trigger to free-running mode
chooseInput(0);
set(ADCSRA, ADEN); //Enable/Start conversion
set(ADCSRA, ADSC); //^
set(ADCSRA, ADIF); //Enable reading results
//Limit Switch stuffs
// clear(DDRB,0); //set to input, RIGHT LIMIT SWITCH
// clear(DDRB,1); //set to input, LEFT LIMIT SWITCH
//
// clear(PORTB,0); //disable internal pull up resistor
// clear(PORTB,1); //disable internal pull up resistor
//int state; // state variable
state = 0; //set state
play = 0;
long count = 0;
if (state == 70) {
m_usb_init(); // connect usb
while(!m_usb_isconnected()); //wait for connection
}
//m_bus_init();
m_wii_open();
//m_usb_init();
m_red(ON);
local_init();
localize(data);
m_red(OFF);
//set(TIMSK0, OCIE0A);
while(1)
{
if (play) {m_red(ON);}
else {m_red(OFF);}
// m_wait(100);
// m_red(TOGGLE);
// localize(data);
/*if (loccounter == LOCCOUNT) {
if (sqrt((data[0]-prevx)*(data[0]-prevx)+(data[1]-prevy)-(data[1]-prevy)) < 1.0) {
m_red(ON);
reverse();
m_wait(100);
state = 6;
}
else {
m_red(OFF);
state = 2;
}
prevx = data[0];
prevy = data[1];
loccounter = 0;
}*/
//loccounter++;
// localize(data);
// locdata[1] = (char)data[0];
// locdata[2] = (char)data[1];
// toggle(PORTD,3);
changedState = 0;
angle_dif = 0;
//Detect weather we have the puck
getADC();
//if (!play) game_pause();
if (ADCarr[7] > 500) {
//set(PORTD,5);
//set(PORTD,5);
iHaveThePuck = 1;
m_green(ON);
if (play && goal == A) state = 3;
if (play && goal == B) state = 4;
} else {
//clear(PORTD,5);
iHaveThePuck = 0;
m_green(OFF);
if (play) state = 2;
}
if(iHaveThePuck && state == 2) {
//set(PORTB,5);
//drive_to_goalA();
}
else {
//clear(PORTB,5);
//if (state != 0) state = 2;
}
// if(isStuck()) {
// //set(PORTD,5);u
// }
// else {
// //clear(PORTD,5);
// }
//localize(data);
// if (check(PINB,0)) {
// set(PORTD,5);
// state = 0x1A;
// } else {
// clear(PORTD,5);
// state = 2;
// }
if (!play) state = buffer[0];
//switch states
switch (state) {
case -2:
getADC();
if (ADCarr[0] > 500) {
m_green(ON);
}
else {m_green(OFF)}
break;
case -1: //test Limit switches
//m_green(ON);
if (check(PINB,1)) {
m_green(ON);
}
else if (check(PINB,0)) {
m_red(ON);
}
else {
m_red(OFF);
m_green(OFF);
}
break;
case 0:
//drive_to_point2(-100,0);
game_pause();
break;
case 1:
findPuck();
break;
case 2:
//m_red(ON);
if (!iHaveThePuck) {
if (play)
drive_to_puck();
}
break;
case 3:
if (play)
drive_to_goalA();
break;
case 4:
if (play)
drive_to_goalB();
break;
case 5:
getADC();
if (ADCarr[7] > 500) {
//set(PORTD,5);
} else {
//clear(PORTD,5);
}
break;
case 6:
if (data[2] > 0) {
rotate(RIGHT,1);
} else {
rotate(LEFT,1);
}
break;
case 7:
drive_to_point2(-50,0);
break;
case 0xA0:
comm_test();
break;
case 0xA1:
play = 1;
drive_to_puck();
break;
case 0xA2:
play = 0;
game_pause();
break;
case 0xA3:
play = 0;
game_pause();
break;
case 0xA4:
play = 0;
game_pause();
break;
case 0xA6:
play = 0;
game_pause();
break;
case 0xA7:
game_pause();
break;
case 69:
set(PORTB,2);
set(PORTB,3);
OCR1B = OCR1A;
OCR3A = ICR3;
break;
case 70:
reportADC();
break;
default:
game_pause();
break;
}
}
}
