void initialization()
{
motion_pin_config();
left_encoder_pin_config();
right_encoder_pin_config();
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
}
//Function to initialize all the devices
void init_devices()
{
cli(); //Clears the global interrupt
port_init(); //Initializes all the ports
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
sei(); // Enables the global interrupt
}
void init_devices (void)
{
cli(); //Clears the global interrupts
port_init();
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
adc_init();
sei(); //Enables the global interrupts
}
void init_devices (void)
{
cli(); //Clears the global interrupt
port_init(); //Initializes all the ports
uart0_init();
lcd_set_4bit();
lcd_init();
servo_init();
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
sei(); // Enables the global interrupt
}
//Function to initialize all the devices
void init_devices()
{
cli(); //Clears the global interrupt
port_init(); //Initializes all the ports
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
timer5_init();
uart0_init(); //Initailize UART1 for serial communiaction
sei(); // Enables the global interrupt
}
//Function to initialize all the devices
void init_encoders()
{
cli(); //Clears the global interrupt
left_encoder_pin_config();
right_encoder_pin_config();
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
sei(); // Enables the global interrupt
}
void init_devices (void)
{
cli(); //Clears the global interrupts
port_init();
adc_init();
timer5_init();
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
sei(); //Enables the global interrupts
// To initialize the direction of the bot to north
init_location();
}
void init_devices(void)
{
cli(); //Clears the global interrupt
port_init_poz(); //Initializes all the ports
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
port_init(); //Initializes all the ports
color_sensor_pin_interrupt_init();
adc_init();
motion_pin_config();
timer5_init();
timer1_init();
sei(); // Enables the global interrupt
}
//Function to initialize all the devices
void init_devices()
{
cli(); //Clears the global interrupt
port_init(); //Initializes all the ports
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
timer4_init();
adc_init();
timer5_init();
store_init();
uart2_init();
TIMSK4 = 0x01;
sei(); // Enables the global interrupt
}
void init_devices (void)
{
cli(); //Clears the global interrupts
port_init();
adc_init();
timer5_init();
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
uart0_init(); //Initailize UART1 for serial communiaction
c2_position_encoder_interrupt_init();
//Slider_position_encoder_interrupt_init();
timer1_init();
sei(); //Enables the global interrupts
}
void init_devices2 (void)
{
DDRA=0x00;
DDRB&=~_BV(4);
DDRD&=~_BV(6);
PORTA=0xFF;
PORTB|=_BV(4);
PORTD|=_BV(6);
cli(); //Clears the global interrupts
DDRA |= (1 << PA7); // making servo contol pins as output
DDRD |= (1 << PD7);
uart0_init();
port_init();
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
timer2_init();
adc_init();
sei(); //Enables the global interrupts
}
//-------------------------------------------------------------------------------
//call this routine to initialize all peripherals
void init_devices(void)
{
//stop errant interrupts until set up
cli(); //disable all interrupts
port_init();
uart2_init();
adc_init();
timer1_init();
timer5_init();
lcd_set_4bit();
lcd_init();
spi_init();
// below for lines are important for Encoder init
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
EICRB = 0x0A; //pin change int edge 4:7
EIMSK = 0x30;
sei(); //re-enable interrupts
//all peripherals are now initialized
}
void main()
{
unsigned int value,value1;
int a=0,b=0;
cli();
INIT_PORTS(); //Initialize ports
uart0_init(); //Initialize UART0 for xbee communication
timer5_init();
sei();
INIT_PORTS_ROTATE(); //Initialize ports
right_position_encoder_interrupt_init(); //Initialize control registers for wheel
left_position_encoder_interrupt_init(); // encoders.
init_devices();
lcd_set_4bit(); //LCD initialization functions.
lcd_init();
unsigned char angle = 0;
init_devices_servo(); //Initialize servo motors.
data='0';
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(1,1,value,3);
// sharp1 = ADC_Conversion(10); //Stores the Analog value of front sharp connected to ADC channel 11 into variable "sharp"
// value1 = Sharp_GP2D12_estimation(sharp1); //Stores Distance calsulated in a variable "value".
// lcd_print(1,5,value1,3);
// set servo for camera to ground zero
servo_1(0); // code to bring the camera to ground state
_delay_ms(1000);
// set servo for incline to ground zero
servo_2(90); // align camera
_delay_ms(500);
// the bot rotating slowly trying to find the bot
int terminate = 0;
while(data=='0' && terminate < 150)
{
velocity(150,150); //If no ball is detected the rotate and scan
angle_rotate_left(3); // for ball in the arena.
_delay_ms(500);
stop();
_delay_ms(500);
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".
terminate++;
// lcd_print(1,1,value,3);
}
if(terminate == 60)
{
buzzer_on();
return;
}
/*If a ball(red colour) is detected then matlab code sends a '5' signal through
zigbee.If a '5' is received then the robot stops rotating and moves towards the
ball*/
value2 = 100;
if(atoi(data) > 5)
{
lcd_print(1,5,value2,2);
}
velocity(160,184);
// change value
while(value>140)
{
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(1,1,value,3);
forward();
}
stop();
_delay_ms(2000);
/* the servo_1 is for the camera and the servo_2 is for the inclined plane */
// rotate 90 at left
left90_at_place();
_delay_ms(1000);
// rotate the camera 90 degrees to the right
servo_1(90);
_delay_ms(1000);
//rotate in circle
rotate_in_circle();
int perceived_height;
perceived_height = atoi(data);
lcd_print(1,5,perceived_height,5);
// rotate 90 degrees to the right to face the ball again
right90_at_place();
stop();
_delay_ms(2000);
// rotate camera also to ground state to face the ball again
servo_1(0); // code to bring the camera to ground state
_delay_ms(1000);
// set servo for incline
int angle_of_inclination = get_angle(perceived_height);
lcd_print(1,2,angle_of_inclination,5);
servo_2(angle_of_inclination);
_delay_ms(1000);
while(1);
}
//The main invoker routine. It takes as argument the next command to execute and does what is necessary
//Self-explanatory code!
void my_invoker (unsigned char command) {
if(command == BUZZER_ON){
buzzer_on();
return;
}
else if(command == BUZZER_OFF){
buzzer_off();
return;
}
else if(command == MOVE_FORWARD)
{
forward(); //forward
return;
}
else if(command == MOVE_BACKWARD)
{
back(); //back
return;
}
else if(command == MOVE_LEFT)
{
left(); //left
return;
}
else if(command == MOVE_RIGHT)
{
right(); //right
return;
}
else if(command == STOP)
{
stop(); //stop
return;
}
else if(command == SET_VELOCITY)
{
int numargs;
unsigned char * ch = recieve_args(&numargs);
//assert(numargs == 1);
int velleft = (int)*(ch);
int velright = (int)*(ch+1);
velocity(velleft,velright);
return;
}
else if(command == MOVE_BY)
{
int numargs;
unsigned char * ch = recieve_args(&numargs);
int pos_a = (int)*(ch);
int pos_b = (int)*(ch+1);
//int pos = 10;
//while (pos_b--) pos *= 10;
//pos *= pos_a;
//forward_mm(pos);
pos_a += (pos_b << 8);
forward();
velocity(120,120);
while (pos_a--) {
//delay on 5 ms
stop_on_timer4_overflow = 1;
start_timer4();
while (stop_on_timer4_overflow != 0) {;}
}
stop();
send_char(SUCCESS);
leftInt = 0;
rightInt = 0;
return;
}
else if(command == MOVE_BACK_BY)
{
int numargs;
unsigned char * ch = recieve_args(&numargs);
int pos_a = (int)*(ch);
int pos_b = (int)*(ch+1);
//int pos = 10;
//while (pos_b--) pos *= 10;
//pos *= pos_a;
//forward_mm(pos);
pos_a += (pos_b << 8);
back();
velocity(120,120);
while (pos_a--) {
//delay on 5 ms
stop_on_timer4_overflow = 1;
start_timer4();
while (stop_on_timer4_overflow != 0) {;}
}
stop();
send_char(SUCCESS);
leftInt = 0;
rightInt = 0;
return;
}
else if(command == TURN_LEFT_BY)
{
int numargs;
unsigned char * ch = recieve_args(&numargs);
already_stopped = 0;
int pos_a = (int)*(ch);
int pos_b = (int)*(ch+1);
pos_a += (pos_b << 8);
_delay_ms(500);
left();
velocity(200,200);
while (pos_a--) {
//delay on 5 ms
stop_on_timer4_overflow = 1;
start_timer4();
while (stop_on_timer4_overflow != 0) {;}
}
stop();
send_char(SUCCESS);
leftInt = 0;
rightInt = 0;
already_modified_stopped = 0;
return;
}
else if(command == TURN_RIGHT_BY)
{
int numargs;
unsigned char * ch = recieve_args(&numargs);
//assert(numargs == 2);
int pos_a = (int)*(ch);
int pos_b = (int)*(ch+1);
pos_a += (pos_b << 8);
_delay_ms(500);
right();
velocity(200,200);
while (pos_a--) {
//delay on 5 ms
stop_on_timer4_overflow = 1;
start_timer4();
while (stop_on_timer4_overflow != 0) {;}
}
stop();
send_char(SUCCESS);
leftInt = 0;
rightInt = 0;
already_modified_stopped = 0;
return;
}
else if(command == LCD_SET_STRING)
{
int numargs;
unsigned char * ch = recieve_args(&numargs);
int i =0;
lcd_clear();
for(;i<numargs;i++)
{
lcd_wr_char(*(ch+i));
}
return;
}
else if (command == SET_PORT){
int numargs;
unsigned char * ch = recieve_args(&numargs); ;
if (numargs != 2){
}
int portnum = (int) *(ch);
unsigned char value = (unsigned char) *(ch+1);
setPort(portnum,value);
}
else if(command == GET_SENSOR_VALUE)
{
int numargs;
unsigned char * ch = recieve_args(&numargs); ;
if (numargs != 1){
}
int sensornum = (int) *(ch);
//setPort(portnum,value);
getSensorValue(sensornum);
}
else if(command == GET_PORT)
{
int numargs;
unsigned char * ch = recieve_args(&numargs); ;
if (numargs != 1){
}
int portnum = (int) *(ch);
getPort(portnum);
}
else if (command == WHITELINE_FOLLOW_START) {
whiteline_follow_start();
}
else if(command == PRINT_STATE){
buzzer_on();
lcd_num(state);
_delay_ms(1000);
buzzer_off();
}
else if (command == WHITELINE_FOLLOW_END) {
whiteline_follow_end();
}
else if (command == WHITELINE_STOP_INTERSECTION) {
whiteline_stop_intersection_flag = 1;
}
else if(command == ACC_START) {
acc_flag = 1;
}
else if(command == ACC_STOP) {
acc_flag = 0;
acc_modified_flag = 0;
buzzer_off();
}
else if(command == ACC_MODIFIED){
acc_modified_flag = 1;
already_modified_stopped = 0;
}
else if(command == ACC_CHECK){
if (acc_modified_flag == 1 && already_modified_stopped == 1){
send_char((char)1);
}
else {
char value = PORTA;
if (value == 0) send_char((char)2);
else send_char((char)0);
}
}
else if (command == ENABLE_LEFT_WHEEL_INTERRUPT) {
leftInt = 0;
left_position_encoder_interrupt_init();
}
else if (command == ENABLE_RIGHT_WHEEL_INTERRUPT) {
rightInt = 0;
right_position_encoder_interrupt_init();
}
else if (command == GET_LEFT_WHEEL_INTERRUPT_COUNT) {
send_int (leftInt);
leftInt = 0;
}
else if (command == GET_RIGHT_WHEEL_INTERRUPT_COUNT) {
send_int (rightInt);
rightInt = 0;
}
else if (command == SET_TIMER) {
int numargs;
unsigned char * ch = recieve_args(&numargs); ;
if (numargs != 1){
}
int time = (int) *(ch);
timer4_init2(time);
}
else if (command == DISCONNECT) {
disconnect();
}
else { //Error!!! Unrecognized Command
buzzer_on();
_delay_ms(1000);
buzzer_off();
}
}
