//Function to Initialize LCD
void lcd_init()
{
_delay_ms(1);
lcd_wr_command(0x28); //4-bit mode and 5x8 dot character font
lcd_wr_command(0x01); //Clear LCD display
lcd_wr_command(0x06); //Auto increment cursor position
lcd_wr_command(0x0E); //Turn on LCD and cursor
lcd_wr_command(0x80); //Set cursor position
}
void lcd_cursor (char row, char column)
{
switch (row) {
case 1: lcd_wr_command (0x80 + column - 1); break;
case 2: lcd_wr_command (0xc0 + column - 1); break;
case 3: lcd_wr_command (0x94 + column - 1); break;
case 4: lcd_wr_command (0xd4 + column - 1); break;
default: break;
}
}
//Function to Initialize LCD
void lcd_init()
{
_delay_ms(1);
lcd_wr_command(0x28); //LCD 4-bit mode and 2 lines.
lcd_wr_command(0x01);
lcd_wr_command(0x06);
lcd_wr_command(0x0E);
lcd_wr_command(0x80);
}
//Function to Initialize LCD
void lcd_init()
{
//lcd_set_4bit();
lcd_reset_RW();
lcd_reset_EN();
_delay_ms(1);
lcd_wr_command(0x38); //LCD 4-bit mode and 2 lines.
lcd_wr_command(0x0f);
lcd_wr_command(0x06);
lcd_wr_command(0x01);
lcd_wr_command(0x80);
}
int kkkk(void)
{
velocity(255,255);
forward();
while(1)
{
servo_1(0);
servo_2(0);
servo_3(0);
forward();
red_read(); //display the pulse count when red filter is selected
_delay_ms(500);
green_read(); //display the pulse count when green filter is selected
_delay_ms(500);
blue_read(); //display the pulse count when blue filter is selected
_delay_ms(500);
lcd_wr_command(0x01);
print_sensor(1,1,3); //Prints value of White Line Sensor1
print_sensor(1,5,2); //Prints Value of White Line Sensor2
print_sensor(1,9,1); //Prints Value of White Line Sensor3
print_sensor(2,1,11);
servo_1(100);
servo_2(100);
servo_3(100);
_delay_ms(7000);
}
}
void main()
{
unsigned char tag1[] = "4100A352E959"; // This is the valid tag the system is looking for
unsigned char *str;
rf_init_devices();
while(1)
{
_delay_ms(50);
rf_display(); // read the tag, store it and display
str = rf_return(); // get the read tag details into another string
lcd_cursor(1,1);
lcd_string(str);
_delay_ms(100);
if(!strcmp(str,tag1)) // compare the required tag with the tag which is read
{
lcd_cursor(2,1);
lcd_string(" Valid Tag");
}
else
{
lcd_cursor(2,1);
lcd_string(" invalid tag");
}
_delay_ms(100);
lcd_wr_command(0x01);
}
return 0;
}
void lcd(char *str)
{
lcd_wr_command(0x01);
lcd_cursor(1,1);
lcd_string(str);
buzzer();
_delay_ms(1000);
}
void main(void)
{
rf_init_devices(); //initializes the usart3, configures lcd ports and initializes the lcd,
lcd_cursor(2,4); //move the cursor to 2nd row 4th column
_delay_ms(50);
rf_display(); //this function is used to scan the rfid tag and is used to display the same on the lcd screen
cli();
lcd_wr_command(0x01); //this code is used to clear the lcd screen
return 0;
}
void no_filter()
{
filter_clear(); //select clear filter
pulse=0; //reset the count to 0
_delay_ms(500); //capture the pulses for 100 ms or 0.1 second
no_ff = (pulse); //store the count in variable called blue
_delay_ms(100);
lcd_cursor(1,1); //set the cursor on row 1, column 1
lcd_string("no filter"); // Display "no filter" on LCD
lcd_print(2,1,no_ff,5); //Print the count on second row
_delay_ms(1000); // Display for 1000ms or 1 second
lcd_wr_command(0x01); //Clear the LCD
}
void blue_read(void) // function to select blue filter and display the count generated by the sensor on LCD. The count will be more if the color is blue. The count will be very less if its red or green.
{
//Blue
filter_blue(); //select blue filter
pulse=0; //reset the count to 0
_delay_ms(100); //capture the pulses for 100 ms or 0.1 second
blue = pulse; //store the count in variable called blue
lcd_cursor(1,1); //set the cursor on row 1, column 1
lcd_string("Blue Pulses"); // Display "Blue Pulses" on LCD
lcd_print(2,1,blue,5); //Print the count on second row
_delay_ms(1000); // Display for 1000ms or 1 second
lcd_wr_command(0x01); //Clear the LCD
}
void green_read(void) // function to select green filter and display the count generated by the sensor on LCD. The count will be more if the color is green. The count will be very less if its blue or red.
{
//Green
filter_green(); //select green filter
pulse=0; //reset the count to 0
_delay_ms(100); //capture the pulses for 100 ms or 0.1 second
green = pulse; //store the count in variable called green
lcd_cursor(1,1); //set the cursor on row 1, column 1
lcd_string("Green Pulses"); // Display "Green Pulses" on LCD
lcd_print(2,1,green,5); //Print the count on second row
_delay_ms(1000); // Display for 1000ms or 1 second
lcd_wr_command(0x01); //Clear the LCD
}
/*
* Main function, will call different phases, locate/clean
*/
int main(void)
{
unsigned char sharp;
unsigned int value=0;
init_devices();
lcd_set_4bit();
lcd_init();
lcd_wr_command(0x0C);// Display ON Cursor OFF
while(1) {
if (phase == 1) {
locate();
}
sharp = ADC_Conversion(11); //Stores the Analog value of front sharp connected to ADC channel 11 into variable "sharp"
value = Sharp_GP2D12_estimation(sharp); //Stores Distance calsulated in a variable "value".
lcd_print(2,1,value,3);
}
servo_1_free();
return 0;
}
void lcd_cursor_on(void)
{
lcd_wr_command(0x0E);
}
//Function to bring cursor at home position
void lcd_home()
{
lcd_wr_command(0x80);
}
void display_clear(void)
{
lcd_wr_command(0x01);
}
//Display ON/ OFF Control 0(rs) 0(rw) 0 0 0 0 1 D C B Set display(D), cursor(C), and blinking of cursor(B) on/off control bit.
void lcd_cursor_off(void)
{
lcd_wr_command(0x0C);
}
int calcThresh()
{
int c[4],i;
red_read();
blue_read();
green_read();
for(i=0;i<4;i++)
c[i]=0;
for(i=0;i<4;i++)
{
//read();
if(red>green && red>blue)
if(c[0]>red)
{
if(c[3]<red)
c[3]=red;
}
else
{
if(c[3]<c[0])
c[3]=c[0];
c[0]=red;
}
else if(blue>green && red<blue)
if(c[1]>blue)
{
if(c[3]<blue)
c[3]=blue;
}
else
{
if(c[3]<c[1])
c[3]=c[1];
c[1]=blue;
}
else
if(c[2]>green)
{
if(c[3]<green)
c[3]=green;
}
else
{
if(c[3]<c[2])
c[3]=c[2];
c[2]=green;
}
}
int t=c[3];
lcd_cursor(1,1); //set the cursor on row 1, column 1
lcd_string("Threshold"); // Display "Blue Pulses" on LCD
t+=200;
lcd_print(2,1,t,5);
_delay_ms(10000);
lcd_wr_command(0x01); //Clear the LCD
lcd((char*)t);
return t;
}