static void button_readState() {
/* middle button - pause */
int button_press;
int button_release;
button_press = get_single_debounced_button_press(ANY_BUTTON);
button_release = get_single_debounced_button_release(ANY_BUTTON);
switch (g_middle_button.state) {
case BUTTON_STATE_RELEASED:
if (button_press & MIDDLE_BUTTON) {
g_middle_button.state = BUTTON_STATE_PRESSED;
if (g_motor_state.enabled) {
g_motor_state.enabled = false;
g_motor_state.direction = DIRECTION_FORWARD;
play_note(A(5), 200, 12);
} else {
g_motor_state.enabled = true;
play_note(A(5), 200, 12);
}
}
break;
case BUTTON_STATE_PRESSED:
if (button_release & MIDDLE_BUTTON) {
g_middle_button.state = BUTTON_STATE_RELEASED;
}
break;
}
/* bottom button - speed down */
switch (g_bottom_button.state) {
case BUTTON_STATE_RELEASED:
if (button_press & BOTTOM_BUTTON) {
g_bottom_button.state = BUTTON_STATE_PRESSED;
g_motor_state.speed = MIN(g_motor_state.speed + 5, 255);
}
break;
case BUTTON_STATE_PRESSED:
if (button_release & BOTTOM_BUTTON) {
g_bottom_button.state = BUTTON_STATE_RELEASED;
}
break;
}
/* top button - speed up */
switch (g_top_button.state) {
case BUTTON_STATE_RELEASED:
if (button_press & TOP_BUTTON) {
g_top_button.state = BUTTON_STATE_PRESSED;
g_motor_state.speed = MAX(g_motor_state.speed - 5, 0);
}
break;
case BUTTON_STATE_PRESSED:
if (button_release & TOP_BUTTON) {
g_top_button.state = BUTTON_STATE_RELEASED;
}
break;
}
}
int main()
{
lcd_init_printf();
clear(); // clear the LCD
printf("Time: ");
while (1)
{
unsigned char button = get_single_debounced_button_press(ANY_BUTTON);
switch (button)
{
case BUTTON_A:
play_note(A(4), 50, 10);
break;
case BUTTON_B:
play_note(B(4), 50, 10);
break;
case BUTTON_C:
play_note(C(5), 50, 10);
}
button = get_single_debounced_button_release(ANY_BUTTON);
switch (button)
{
case BUTTON_A:
play_note(A(5), 50, 10);
break;
case BUTTON_B:
play_note(B(5), 50, 10);
break;
case BUTTON_C:
play_note(C(6), 50, 10);
}
unsigned long ms = get_ms(); // get elapsed milliseconds
// convert to the current time in minutes, seconds, and hundredths of seconds
unsigned char centiseconds = (ms / 10) % 100;
unsigned char seconds = (ms / 1000) % 60;
unsigned char minutes = (ms / 60000) % 60;
lcd_goto_xy(0, 1); // go to the start of the second LCD row
// print as [m]m:ss.cc (m = minute, s = second, c = hundredth of second)
printf("%2u:%02u.%02u", minutes, seconds, centiseconds);
}
}
int main()
{
// Initialize the encoders
encoders_init(IO_D2, IO_D3, IO_A3, IO_A2);
float count = 0;
char forward = TRUE;
int motor_speed = 100;
//set_motors(100, 255);
while(1)
{
clear();
lcd_goto_xy(0,0);
//Calculate the count
count = encoders_get_counts_m1() / ENCODER_COUNT_PER_REVOLUTION;
// Increment and decrement speed if top or bottom buttons were pressed.
unsigned char button = get_single_debounced_button_press(ANY_BUTTON);
if ((button & TOP_BUTTON) && motor_speed < 250) // if top button pressed
motor_speed = motor_speed + 5;
if ((button & BOTTOM_BUTTON) && motor_speed > 80) // if bottom button pressed
motor_speed = motor_speed - 5;
//If the user is holding the middle button we want to stop the motor.
if(button_is_pressed(MIDDLE_BUTTON) & MIDDLE_BUTTON)
{
print("Paused ");
set_motors(0,0);
}
else
{
// Set motor speed dependent on direction.
if(forward)
{
set_motors(motor_speed, 0);
print("Forward ");
}
else
{
set_motors(-motor_speed, 0);
print("Reverse ");
}
// At 0 and 2 we need to switch directions.
if(count >= 2 && forward)
forward = FALSE;
if(count <= 0 && !forward)
forward = TRUE;
}
// Print the motor speed and revolutions
print_long(motor_speed);
print_count(count);
//Delay so LCD doesn't flicker too much
delay_ms(50);
}
}
int main()
{
DDRC = 0; // all inputs
PORTC = (1 << PORTC4) | (1 << PORTC5); // enable pull-ups on SDA and SCL, respectively
TWSR = 0; // clear bit-rate prescale bits
TWBR = 17; // produces an SCL frequency of 400 kHz with a 20 MHz CPU clock speed
clear();
//enable accelerometer
i2c_start();
i2c_write_byte(0x30); // write acc
i2c_write_byte(0x20); // CTRL_REG1_A
i2c_write_byte(0x27); // normal power mode, 50 Hz data rate, all axes enabled
i2c_stop();
//enable magnetometer
i2c_start();
i2c_write_byte(0x3C); // write mag
i2c_write_byte(0x02); // MR_REG_M
i2c_write_byte(0x00); // continuous conversion mode
i2c_stop();
vector a, m;
char ribbon_segment[8];
unsigned char button;
enum calibration_mode mode = CAL_NONE;
vector cal_m_max = {0, 0, 0};
vector cal_m_min = {0, 0, 0};
while(1)
{
// see if a button was pressed to enable calibration mode
// each button displays max and min measurements for one axis:
// top = X, middle = Y, bottom = Z
// if any button is pressed a second time, return to normal mode
button = get_single_debounced_button_press(ANY_BUTTON);
if (button & TOP_BUTTON)
{
if (mode != CAL_X)
mode = CAL_X;
else
mode = CAL_NONE;
}
else if (button & MIDDLE_BUTTON)
{
if (mode != CAL_Y)
mode = CAL_Y;
else
mode = CAL_NONE;
}
else if (button & BOTTOM_BUTTON)
{
if (mode != CAL_Z)
mode = CAL_Z;
else
mode = CAL_NONE;
}
if (mode == CAL_NONE) // normal mode - display heading and compass ribbon
{
vector a_avg = {0,0,0}, m_avg = {0,0,0};
// take 5 acceleration and magnetic readings and average them
for(int i = 0; i < 5; i++)
{
read_data(&a, &m);
a_avg.x += a.x;
a_avg.y += a.y;
a_avg.z += a.z;
m_avg.x += m.x;
m_avg.y += m.y;
m_avg.z += m.z;
}
a_avg.x /= 5;
a_avg.y /= 5;
a_avg.z /= 5;
m_avg.x /= 5;
m_avg.y /= 5;
m_avg.z /= 5;
int heading = get_heading(&a_avg, &m_avg, &p);
// select the portion of the ribbon to display
strlcpy(ribbon_segment, &ribbon[(heading + 5) / 10], 8);
clear();
print_long(heading);
lcd_goto_xy(4, 0);
print_character('v'); // center indicator
lcd_goto_xy(1, 1);
print(ribbon_segment); // ribbon segment
}
else // calibration mode - record and display max/min measurements
{
read_data_raw(&a, &m);
if (m.x < cal_m_min.x) cal_m_min.x = m.x;
if (m.x > cal_m_max.x) cal_m_max.x = m.x;
if (m.y < cal_m_min.y) cal_m_min.y = m.y;
if (m.y > cal_m_max.y) cal_m_max.y = m.y;
if (m.z < cal_m_min.z) cal_m_min.z = m.z;
if (m.z > cal_m_max.z) cal_m_max.z = m.z;
clear();
switch (mode)
{
case CAL_X:
print("Xmax:");
print_long(cal_m_max.x);
lcd_goto_xy(0, 1);
print("min:");
print_long(cal_m_min.x);
break;
case CAL_Y:
print("Ymax:");
print_long(cal_m_max.y);
lcd_goto_xy(0, 1);
print("min:");
print_long(cal_m_min.y);
break;
default:
print("Zmax:");
print_long(cal_m_max.z);
lcd_goto_xy(0, 1);
print("min:");
print_long(cal_m_min.z);
break;
}
}
delay_ms(100);
}
}
