uint16_t pid_find_max_encoder_value(void){
uint16_t enc_val = 0, prev_enc_val = -1;
motor_speed(75);
//Stop at left end
while(enc_val != prev_enc_val){
printf("In while\n");
enc_val = motor_encoder_read();
_delay_ms(100);
prev_enc_val = motor_encoder_read();
}
printf("Out of while\n");
motor_speed(0);
motor_encoder_reset();
//Stop at right end and set max
motor_speed(-75);
enc_val = 0, prev_enc_val = -1;
while(enc_val != prev_enc_val){
enc_val = motor_encoder_read();
_delay_ms(100);
prev_enc_val = motor_encoder_read();
}
motor_speed(0);
//Max value of encoder.
return enc_val;
}
void motor_init(void) {
DDRF |= (1<<MOTOR_DIR) | (1<<MOTOR_EN) | (1<<MOTOR_SEL) | (1<<MOTOR_RST) | (1<<MOTOR_OE);
DDRK = 0;
PORTF |= (1 << MOTOR_EN);
motor_encoder_reset();
}
//MOTOR SPEED NEEDS TO BE TUNED FOR INDIVIDUAL GAME BOARD
void motor_controller_calibrate_by_reset(){
uint8_t speed = 65;
motor_init();
uint16_t position;
uint16_t prev_position;
motor_speed(speed);
motor_direction(right);
_delay_ms(150);
position = motor_encoder_read();
//go right until stopped, then set encoder to zero
while(position != prev_position){
position = motor_encoder_read();
_delay_ms(100);
prev_position = position;
position = motor_encoder_read();
printf("position: %u\tPrev: %u\n", position, prev_position);
}
motor_encoder_reset();
motor_speed(speed);
motor_direction(left);
_delay_ms(150);
//go left until stopped, set max left to current position
do{
position = motor_encoder_read();
_delay_ms(100);
prev_position = position;
position = motor_encoder_read();
printf("position: %d\n", position);
} while(position != prev_position);
max_left = position;
motor_speed(0);
motor_speed(speed);
motor_direction(right);
_delay_ms(100);
while(motor_encoder_read() > 4500){
_delay_ms(100);
}
}
// Initializes the motor in port C
void motor_init() {
max520_init(MAX520_TWI_ADDRESS);
DDRC |= (1<<PC3) | (1<<PC4) | (1<<PC5) | (1<<PC6) | (1<<PC7);
DDRK = 0;
motor_output_enable(ENABLE);
motor_encoder_reset();
motor_encoder_select_byte(ENCODER_HIGH);
motor_speed(0);
motor_enable(ENABLE);
}
void motor_init(){
max520_init();
MOTOR_DDR |=
(1 << MOTOR_EN) |
(1 << MOTOR_DIR) |
(1 << MOTOR_SEL) |
(1 << MOTOR_ENCODER_RESET) |
(1 << MOTOR_OUTPUT_EN);
MOTOR_PORT |=
(1 << MOTOR_EN) |
(1 << MOTOR_DIR) |
(1 << MOTOR_SEL);
MOTOR_PORT &= ~(1 << MOTOR_OUTPUT_EN);
DDRK = 0;
motor_encoder_reset();
}
uint16_t controller_init(){
motor_speed(75);
uint16_t enc_val = 0, prev_enc_val = -1;
while(enc_val != prev_enc_val){
enc_val = motor_encoder_read();
_delay_ms(100);
prev_enc_val = motor_encoder_read();
}
motor_speed(0);
motor_encoder_reset();
motor_speed(-75);
enc_val = 0, prev_enc_val = -1;
while(enc_val != prev_enc_val){
enc_val = motor_encoder_read();
_delay_ms(100);
prev_enc_val = motor_encoder_read();
}
motor_speed(0);
//Find max value of encoder.
return enc_val;
}
