void left(int rspeed){
motor0(rspeed);
motor1(0xFF);
PTT_PTT3 = 1; //Motor L1
PTT_PTT5 = 1; //Motor L2
PTT_PTT4 = 0; //Motor R1
PTT_PTT6 = 1; //Motor R2
}
void leftManual(int rspeed, int lspeed){
motor0(rspeed);
motor1(lspeed);
PTT_PTT3 = 1; //Motor L1
PTT_PTT5 = 0; //Motor L2
PTT_PTT4 = 0; //Motor R1
PTT_PTT6 = 1; //Motor R2
}
//////////////
// Movement //
//////////////
void stop() {
motor0(0xFF);
motor1(0xFF);
PTT_PTT3 = 1; //Motor L1
PTT_PTT5 = 1; //Motor L2
PTT_PTT4 = 1; //Motor R1
PTT_PTT6 = 1; //Motor R2
}
void forward(int speed) {
motor0(speed);
motor1(speed);
PTT_PTT3 = 0; //Motor L1
PTT_PTT5 = 1; //Motor L2
PTT_PTT4 = 0; //Motor R1
PTT_PTT6 = 1; //Motor R2
}
void back(int speed){
motor0(speed);
motor1(speed);
PTT_PTT3 = 1; //Motor L1
PTT_PTT5 = 0; //Motor L2
PTT_PTT4 = 1; //Motor R1
PTT_PTT6 = 0; //Motor R2
}
int main() {
// set each phase to be 0.5 seconds long, with an ammplitude of 100%
MotorControl motor1(D4, 0.5, 0.5, 0.5, 0.5, 1);
motor1.start();
while(1) {
motor1.run();
// run other code here (check sensors, change motor cycle parameters)
}
}
void main(void) {
PLL_init(); // set system clock frequency to 24 MHz
ad0_enable(); // enable a/d converter 0
ad1_enable(); // enable a/d converter 1
led_enable();
seg7_disable();
servo54_init();
lcd_init(); // enable lcd
motor1_init(); // enable 8-bit pwm1 for computer fan
while(1) {
for (width = 3000; width < 14500; width = width + 150) {
flame = ad0conv(3); // read flame sensor output on channel 3 adc0
range = ad0conv(5); // read range sensor output on channel 7 adc1
set_lcd_addr(0x40);
if (range > 550) {
type_lcd("Flame is near! ");
} else {
type_lcd("Out of range ");
}
set_servo54(width);
ms_delay(10);
if (flame > 1000) {
set_lcd_addr(0x00);
ms_delay(10);
type_lcd("Flame Detected! ");
if (range > 550) {
ms_delay(10);
//Turn the motor on for 8 seconds
set_lcd_addr(0x40);
ms_delay(10);
type_lcd("Flame is near! ");
ms_delay(10);
leds_on(0b11111000); //Motor is on
ms_delay(8000);
motor1(speed);
ms_delay(10);
}
} else {
leds_on(0b11111100); //Motor is off
set_lcd_addr(0x00);
type_lcd("No Flame ");
}
ms_delay(10);
}
}
}
void set_rgb_led(char r, char g, char b){
motor0(r);
motor1(g);
motor2(b);
}
void motor1toe(){
motor1(1,3);
}
void motor1open(){
motor1(0,3);
}
void stop(){
motor0(127);
motor1(127);
}
void move(u08 dir) {
motor0(dir);
motor1(dir);
}
void RedBot::move(float power)
{
motor0(power);
motor1(power);
}
void turnOffCollector()
{
motor1(127);
motor0(127);
}
void turnOnCollector()
{
motor1(SHOOTER_SPEED);
delayMs(3000);
motor0(COLLECTOR_SPEED);
}
void remote_controlled(void)
{
/*¨Parts:
-Leds (L)
-Motors (M)
-servos (S)
-complete movement (R) */
char part;
int opt1=0;
int opt2=0;
int opt3=0;
//scanf("%1c%1i%3i%3i",&part,&opt1,&opt2,&opt3);
scanf("%1c%1i%3i",&part,&opt1,&opt2);
switch (part)
{
/* Motors M+#of motor + speed (99 to -99) */
case 'M':
switch (opt1)
{
case 1:
motor1(opt2);
break;
case 2:
motor2(opt2);
break;
case 3:
motor3(opt2);
break;
case 4:
motor4(opt2);
break;
}
break;
case 'R':
move(opt2,opt3);
break;
case 'S':
switch(opt1)
{
case 1:
pwm_update(SERVO_0,opt2);
break;
case 2:
pwm_update(SERVO_1,opt2);
break;
case 3:
pwm_update(SERVO_2,opt2);
break;
case 4:
pwm_update(SERVO_3,opt2);
break;
}
break;
/* Leds, L + # of led + option
L1000 turn off led 1
L1001 turn on led 1
L1002 toggle led 1 */
case 'L':
switch (opt1)
{
case 1:
switch(opt2)
{
case 0:
ioport_set_pin_level(LED1,0);
break;
case 1:
ioport_set_pin_level(LED1,1);
break;
case 2:
ioport_toggle_pin_level(LED1);
break;
}
break;
case 2:
switch(opt2)
{
case 0:
ioport_set_pin_level(LED2,0);
break;
case 1:
ioport_set_pin_level(LED2,1);
break;
case 2:
ioport_toggle_pin_level(LED2);
break;
}
break;
case 3:
switch(opt2)
{
case 0:
ioport_set_pin_level(LED3,0);
break;
case 1:
ioport_set_pin_level(LED3,1);
break;
case 2:
ioport_toggle_pin_level(LED3);
break;
}
break;
case 4:
switch(opt2)
{
case 0:
ioport_set_pin_level(LED4,0);
break;
case 1:
ioport_set_pin_level(LED4,1);
break;
case 2:
ioport_toggle_pin_level(LED4);
break;
}
break;
case 5:
switch(opt2)
{
case 0:
ioport_set_pin_level(LED5,0);
break;
case 1:
ioport_set_pin_level(LED5,1);
break;
case 2:
ioport_toggle_pin_level(LED5);
break;
}
break;
case 6:
switch(opt2)
{
case 0:
ioport_set_pin_level(LED6,0);
break;
case 1:
ioport_set_pin_level(LED6,1);
break;
case 2:
ioport_toggle_pin_level(LED6);
break;
}
break;
}
// case 'M':
// break;
//
// case 'S':
// break;
//
// case 'R':
// break;
}
}
int main() {
usartInit(57600);
usartEnableReceiver();
usartEnableTransmitter();
usartStdio();
setBit(DDRB, M1_DIR);
setBit(DDRD, M1_PWM);
setBit(DDRD, M2_DIR);
setBit(DDRD, M2_PWM);
clrBit(PORTB, M1_DIR);
clrBit(PORTD, M1_PWM);
clrBit(PORTD, M2_PWM);
clrBit(PORTD, M2_DIR);
timer0FastPWMMaxMode();
timer0ClockPrescaller64();
timer0OC0ANonInvertedMode();
timer0OC0BNonInvertedMode();
timer0SetCompareAValue(0);
timer0SetCompareBValue(0);
timer0DeactivateCompareAInterrupt();
timer0DeactivateCompareBInterrupt();
timer2ClockPrescaller256();
timer2NormalMode();
timer2OC2AOff();
timer2OC2BOff();
timer2ActivateOverflowInterrupt();
i2c_init();
adxl345_init();
l3g4200d_init();
l3g4200d_setoffset(0.11, -1.71, -0.46);
//l3g4200d_settemperatureref();
PID_init(&PID, 15,0.2,1, 0);
PID_SetMode(&PID, 1);
PID_SetOutputLimits(&PID, -255, 255);
PID.mySetpoint = 0;
motor1(0);
motor2(0);
// printf("\e[1;1H\e[2J");
// printf("STARTED!\r\n");
// _delay_ms(200);
// motor1(120);
// printf("Motor1 = 120\r\n");
// _delay_ms(500);
// motor1(-120);
// printf("Motor1 = -120\r\n");
// _delay_ms(500);
// motor1(120);
// printf("Motor1 = 120\r\n");
// _delay_ms(500);
// motor1(0);
// printf("Motor1 = 0\r\n");
sei();
while(1);
return 0;
}
void RedBot::move(float powerLeft, float powerRight)
{
motor0(powerLeft);
motor1(powerRight);
}
