int main()
{
WDTCTL = WDTPW | WDTHOLD;
P1DIR |= BIT0|BIT6;
P1OUT |= BIT0;
// The button is input by default:
//P1DIR &= ~BIT3;
P1REN |= BIT3;
P1OUT |= BIT3;
motor_setup();
/*
for (int i=0; i<2048; ++i) {
// wait to button press
// while (P1IN & BIT3) {
P1OUT ^= BIT0;
// }
motor_fwd();
}
delay_ms(1000);
for (int i=0; i<2048; ++i) {
// wait to button press
// while (P1IN & BIT3) {
P1OUT ^= BIT0;
// }
motor_bwd();
}
*/
delay_ms(2000);
P1OUT |= BIT0;
for (int i=0; i<15; ++i) {
motor_fwd(1);
delay_ms(800);
}
P1OUT &= ~BIT0;
delay_ms(2000);
P1OUT |= BIT6;
for (int i=0; i<15; ++i) {
motor_bwd(1);
delay_ms(800);
}
P1OUT &= ~BIT6;
}
int main()
{
LPC_GPIO1->FIODIR = 1 << 18 | 1 << 27;
LPC_GPIO0->FIODIR = 1 << 4 | 1 << 5 | 1 << 6;
rgb_setup();
rgb_set(0x00,0xFF,00);
motor_setup();
receiver_setup();
servo_setup(); //Initialize servo
servo_steer(0);
rgb_set(0xFF,0,0);
int throttle = 0;
int steering = 0;
int rudder = 0;
int elevator = 0;
int speed = 0;
int servo_position = .5;
int stop = 0;
while(1){
throttle = radio_data[0];
steering = radio_data[1];
rudder = radio_data[2];
elevator = radio_data[3];
if(throttle > 48000){
throttle = 48000;
}
if(throttle < 24000){
stop = 1;
throttle = 24000;
} else {
stop = 0;
}
steering = clip(steering);
rudder = clip(rudder);
elevator = clip(elevator);
speed = (throttle-24000) / 2400;
servo_position = (steering-24000) / 2400;
printf("1:[");
int i = 0;
while(i < 11){
if(i == speed){
printf("|");
} else {
printf(" ");
}
i++;
}
printf("] 2:[");
i = 0;
while(i < 11){
if(i == servo_position){
printf("o");
} else {
printf(" ");
}
i++;
}
printf("] 3:[");
i = 0;
while(i < 11){
if(i == (rudder-24000) / 2400){
printf("|");
} else {
printf(" ");
}
i++;
}
printf("] 4:[");
i = 0;
while(i < 11){
if(i == (elevator-24000) / 2400){
printf("|");
} else {
printf(" ");
}
i++;
}
if(radio_data[4] < 32000){
printf("][v]");
} else if(radio_data[4] < 40000){
printf("][-]");
} else {
printf("][^]");
}
if(radio_data[5] < 32000){
printf("[v]");
} else if(radio_data[5] < 40000){
printf("[-]");
} else {
printf("[^]");
}
if(radio_data[6] < 32000){
printf("[v]");
} else if(radio_data[6] < 40000){
printf("[-]");
} else {
printf("[^]");
}
if(radio_data[7] < 32000){
printf("[v]");
} else if(radio_data[7] < 40000){
printf("[-]");
} else {
printf("[^]");
}
printf("\r\n");
delay_ms(5);
}
return 0;
}
int main()
{
TRACE_CONFIGURE(DBGU_STANDARD, 115200, BOARD_MCK);
printf("-- USB Device CDC Serial Project %s --\n\r", SOFTPACK_VERSION);
printf("-- %s\n\r", BOARD_NAME);
printf("-- Compiled: %s %s --\n\r", __DATE__, __TIME__);
// If they are present, configure Vbus & Wake-up pins
//PIO_InitializeInterrupts(0);
//-------- Init parameters --------------
printf("INIT Parameters\n\r");
init_parameters();
//-------- Load parameters from Flash --------------
printf("Load parameters from Flash\n\r");
FLASH_LoadSettings();
//-------- Init UART --------------
printf("USB Seriel INIT\n\r");
samserial_init();
//-------- Init ADC without Autostart --------------
printf("Init ADC\n\r");
initadc(0);
//-------- On USB recived byte call this function --------------
printf("Init Callback for USB\n\r");
samserial_setcallback(&usb_characterhandler);
//-------- Init Motor driver --------------
printf("Init Motors\n\r");
motor_setup();
//-------- Init Heater I/O --------------
printf("Init Heaters\n\r");
heaters_setup();
//-------- Start SYSTICK (1ms) --------------
printf("Configuring systick.\n\r");
SysTick_Configure(1, BOARD_MCK/1000, SysTick_Handler);
//-------- Timer 0 for Stepper --------------
printf("Init Stepper IO\n\r");
stepper_setup(); //Timer for Stepper
//-------- Timer 0 for Stepper --------------
printf("Configuring Timer 0 Stepper\n\r");
ConfigureTc0_Stepper(); //Timer for Stepper
//-------- Timer 1 for heater PWM --------------
printf("Configuring Timer 1 PWM.\n\r");
ConfigureTc_1();
//-------- Init Planner Values --------------
printf("Plan Init\n\r");
plan_init();
//-------- Check for SD card presence -------
// sdcard_handle_state();
//motor_enaxis(0,1);
//motor_enaxis(1,1);
while (1)
{
//uncomment to use//sprinter_mainloop();
//main loop events go here
do_periodic();
if(buflen < (BUFSIZE-1))
get_command();
if(buflen > 0)
{
//-------- Check and execute G-CODE --------------
process_commands();
//-------- Increment G-Code FIFO --------------
buflen = (buflen-1);
bufindr++;
if(bufindr == BUFSIZE) bufindr = 0;
}
}
}
