int main () {
//Schnittstellen initialisieren
uart_init(38400);
uart_putstr((char*)"uart init ...\n\r");
can_init(BITRATE_10_KBPS);
sei();
//Objekte erstellen
Board board;
board.ledOn(0, true);
/*can_t message;
message.id = 0x01;
message.flags.rtr = 0;
message.length = 3;
message.data[0] = 'L';
message.data[1] = '3';
message.data[2] = '1';
message.data[3] = 'N';
message.data[4] = '4';
message.data[5] = '2';
message.data[6] = 'P';
message.data[7] = 'I';
while(true){
while(!board.buttonDown(1));
can_send_message(&message);
board.ledSwitch(3);
board.ledSwitch(4);
_delay_ms(500);
}
while(true);*/
/*
// message.data[0] = '0';
// message.data[1] = '1';
// message.data[2] = '2';
// message.data[3] = '3';
// message.data[4] = '4';
// message.data[5] = '5';
// message.data[6] = '6';
// message.data[7] = '7';
while(true) {
if (board.buttonDown()) {
can_send_message(&message);
board.ledSwitch(3);
_delay_ms(1000);
}
}*/
// can_filter_t filter0;
// filter0.id = 1;
// filter0.mask = 0x0;
// filter0.flags.rtr = 0;
//
// can_set_filter(0, &filter0);
//
// can_t message;
// message.id = 0x01;
// message.flags.rtr = 0;
// message.length = 1;
// message.data[0] = 0xFF;
//
// can_send_message(&message);
//
// while(true) {
// if (can_check_message()) {
// can_t msg;
// can_get_message(&msg);
// for (int i = 0; i < msg.length; i++) uart_putc(msg.data[i]);
// uart_putc(' ');
// board.ledSwitch(1);
// board.ledSwitch(2);
// board.ledSwitch(3);
// board.ledSwitch(4);
// }
// }
MotionController mc;
Motor motor;
//Startenstellungen herstelln
board.ledOn(7,true);
//mc.pbreak();
board.ledOn(0,true);
//IRSensor ir;
//while(!board.buttonDown());
_delay_ms(500);
while(true) {
while(!board.buttonDown(1));
motor.setSpeed(150, 150, 150, 150);
_delay_ms(1000);
motor.setSpeed(0, 0, 0, 0);
}
//while(!board.buttonDown());
//_delay_ms(200);
/*for (int j = 200; j > 0; j--) {
for(int i = 0; i < 4; i++) motor.setSpeed(i, 150);
_delay_ms(500);
for(int i = 0; i < 4; i++) motor.setSpeed(i, 0);
_delay_ms(j);
for(int i = 0; i < 4; i++) motor.setSpeed(i, -150);
_delay_ms(500);
for(int i = 0; i < 4; i++) motor.setSpeed(i, 0);
_delay_ms(j);
}*/
/*const int delay = 1000;
while(true) {
for(int i = 0; i < 4; i++) motor.setSpeed(i, 150);
_delay_ms(500);
for(int i = 0; i < 4; i++) motor.setSpeed(i, 0);
_delay_ms(delay);
for(int i = 0; i < 4; i++) motor.setSpeed(i, -150);
_delay_ms(500);
for(int i = 0; i < 4; i++) motor.setSpeed(i, 0);
_delay_ms(delay);
}*/
//while(true) {
//while(!board.buttonDown());
//for(int i = 0; i < 4; i++) motor.setSpeed(i, 150);
//_delay_ms(20);
/*for (int i = 0; i < 4; i++) motor.setSpeed(i, 77);
_delay_ms(20);
for(int i = 0; i < 4; i++) motor.setSpeed(i, 50);
_delay_ms(20);
for(int i = 0; i < 4; i++) motor.setSpeed(i, 41);
_delay_ms(20);
for(int i = 0; i < 4; i++) motor.setSpeed(i, 37);
_delay_ms(20);*/
//for(int i = 0; i < 4; i++) motor.setSpeed(i, 35);
//_delay_ms(1000);
//for (unsigned int i = 0; i < 4; i++) motor.setSpeed(i, 0);
//_delay_ms(100);
//for(int i = 0; i < 4; i++) motor.setSpeed(i, -150);
//_delay_ms(20);
/*for(int i = 0; i < 4; i++) motor.setSpeed(i, -77);
_delay_ms(20);
for(int i = 0; i < 4; guint id = g_io_add_watch(micbutton, G_IO_IN, mic_button_callback, NULL);i++) motor.setSpeed(i, -50);
_delay_ms(20);
for(int i = 0; i < 4; i++) motor.setSpeed(i, -41);
_delay_ms(20);
for(int i = 0; i < 4; i++) motor.setSpeed(i, -37);
_delay_ms(20);*/
//for(int i = 0; i < 4; i++) motor.setSpeed(i, -35);
//_delay_ms(1000);
//for (unsigned int i = 0; i < 4; i++) motor.setSpeed(i, 0);
//}
//while(true);
//(255-speed)*pow(e, (-0.05)*x)+speed;
//mc.drive(FRONT, speed);
/*motors.setSpeed(0, 100);
motors.setSpeed(1, 100);
motors.setSpeed(2, 100);
motors.setSpeed(3, 100);*/
//while(!board.buttonDown());
/*for(int i = 0; i < 1000; i++) {
_delay_ms(1);
board.ledSwitch(3);
}*/
/*_delay_ms(500);
board.ledOn(6, true);
motors.setSpeed(0, 0);
motors.setSpeed(1, 0);
motors.setSpeed(2, 0);
motors.setSpeed(3, 0);*/
//mc.pbreak();
//while(true);
/*motor.test(0);
_delay_ms(500);
motor.test(1);
_delay_ms(500);
motor.test(2);
_delay_ms(500);
motor.test(3);*/
/*while(true) {
mc.drive(FRONT, speed);
_delay_ms(500);
mc.pbreak();
_delay_ms(1000);
mc.drive(BACK, speed);
_delay_ms(500);
mc.pbreak();
_delay_ms(1000);
}*/
/*while(!board.buttonDown());
motor.setSpeed(100, 100, 100, 100);
_delay_ms(1000);
motor.setSpeed(-100, -100, -100, -100);
_delay_ms(60);
motor.setSpeed(0, 0, 0, 0);*/
/*while(!board.buttonDown());
motor.test(0);
motor.test(1);
motor.test(2);
motor.test(3);*/
/*while(true) {
while(!board.buttonDown());
mc.drive(FRONT, speed);
_delay_ms(1000);
mc.pbreak();
_delay_ms(500);
mc.drive(LEFT, speed);
_delay_ms(500);
mc.pbreak();
_delay_ms(500);
mc.drive(BACK, speed);
_delay_ms(1000);
mc.pbreak();
_delay_ms(500);
mc.drive(RIGHT, speed);
_delay_ms(500);
mc.pbreak();
_delay_ms(500);
}*/
/*while(true) {
while(!board.buttonDown());
mc.drive(FRONT, 255);
//motor.setSpeed(speed, speed, speed, speed);
_delay_ms(1000);
motor.setSpeed(0, 0, 0, 0);
//mc.drive(FRONT, speed/2);
_delay_ms(400);
mc.drive(BACK, speed);
_delay_ms(1000);
mc.pbreak();
}*/
/*while(true) {
if (board.buttonDown(3)) {
motor.setSpeed(0, 0, 0, 0);
board.ledOn(0, 1);
board.ledOn(1, 0);
board.ledOn(2, 0);
_delay_ms(500);
}
if (board.buttonDown(1)) {
motor.setSpeed(speed, 0, 0, 0);
board.ledOn(0, 0);
board.ledOn(1, 1);
board.ledOn(2, 0);
_delay_ms(500);
}
if (board.buttonDown(2)) {
motor.setSpeed(-speed, 0, 0, 0);
board.ledOn(0, 0);
board.ledOn(1, 0);
board.ledOn(2, 1);
_delay_ms(500);
}
if (board.buttonDown(0)) {
motor.setSpeed(speed/2, 0, 0, 0);
board.ledOn(0, 0);
board.ledOn(1, 1);
board.ledOn(2, 0);
_delay_ms(500);
}
_delay_ms(5);
}*/
/*while(!board.buttonDown());
mc.drive(FRONT, speed);
_delay_ms(1000);
mc.pbreak();*/
/*while(true) {
mc.drive(FRONT, 120);
_delay_ms(500);
mc.pbreak();
_delay_ms(500);
mc.drive(RIGHT, 120);
_delay_ms(500);
mc.pbreak();
_delay_ms(500);
mc.drive(BACK, 120);
_delay_ms(500);
mc.pbreak();
_delay_ms(500);
mc.drive(LEFT, 120);
_delay_ms(500);
mc.pbreak();
_delay_ms(500);
}*/
while(!board.buttonDown());
for (int i = 0; i < 3; i++) {
mc.drive(FRONTRIGHT, speed);
_delay_ms(800);
mc.pbreak();
_delay_ms(200);
mc.drive(BACKRIGHT, speed);
_delay_ms(800);
mc.pbreak();
_delay_ms(200);
mc.drive(BACKLEFT, speed);
_delay_ms(800);
mc.pbreak();
_delay_ms(200);
mc.drive(FRONTLEFT, speed);
_delay_ms(800);
mc.pbreak();
_delay_ms(200);
}
mc.drive(BACKRIGHT, speed);
_delay_ms(800);
mc.pbreak();
_delay_ms(500);
mc.drive(FRONT, speed);
_delay_ms(800);
mc.pbreak();
_delay_ms(300);
mc.drive(BACK, speed);
_delay_ms(800);
mc.pbreak();
_delay_ms(300);
while(!board.buttonDown());
mc.drive(FRONT, speed);
_delay_ms(1000);
mc.pbreak();
while(!board.buttonDown());
mc.drive(RIGHT, speed);
_delay_ms(1000);
mc.pbreak();
while(!board.buttonDown());
mc.drive(BACK, speed);
_delay_ms(1000);
mc.pbreak();
while(!board.buttonDown());
mc.drive(LEFT, speed);
_delay_ms(1000);
mc.pbreak();
while(!board.buttonDown());
mc.drive(FRONTRIGHT, speed);
_delay_ms(1000);
mc.pbreak();
while(!board.buttonDown());
mc.drive(BACKRIGHT, speed);
_delay_ms(1000);
mc.pbreak();
while(!board.buttonDown());
mc.drive(BACKLEFT, speed);
_delay_ms(1000);
mc.pbreak();
while(!board.buttonDown());
mc.drive(FRONTLEFT, speed);
_delay_ms(1000);
mc.pbreak();
/*while(true) {
//uart_debug(" r:%d", ir.getStatus(1));
//uart_debug(" b:%d", ir.getStatus(5));
//uart_debug(" l:%d", ir.getStatus(7));
//uart_debug(" f:%d", ir.getStatus(9));
uart_debug(" 0:%d", ir.getStatus(0));
//uart_debug("%d", ir.getStatus(0));
uart_debug("\r\n");
_delay_ms(5);
}*/
/*bool tmp = false;
while(true) {
bool status = ir.getStatus(7);
uart_debug("tmp: %d\n\r", tmp);
if (status) { /// ball found
mc.drive(FRONT, speed);
_delay_ms(100);
uart_debug("FRONT\n\r");
}
else { /// seek the ball
mc.drive(ROTATERIGHT, speed-10);
_delay_ms(5);
mc.pbreak();
uart_debug("ROTATERIGHT\n\r");
}
if (board.buttonDown()) {
mc.pbreak();
_delay_ms(1000);
while(!board.buttonDown());
_delay_ms(1000);
}
_delay_ms(5);
}*/
//while(true) {
/*unsigned char values = 0;
values |= (ir.getStatus(9) << 3);
values |= (ir.getStatus(7) << 2);
values |= (ir.getStatus(5) << 1);
values |= (ir.getStatus(1) << 0);*/
//board.ledSwitch(0);
/*if (values == 0x0F) {
//uart_debug("PBREAK"); // alles high
mc.pbreak();
}
else if (values == 0x00) { // ball aus
//uart_debug("PBREAK");
mc.pbreak();
}
else if (values == 0x01) { // rechts
//uart_debug("BACK");
mc.drive(BACK, speed);
}
else if (values == 0x02) { // hinten
//uart_debug("LEFT");
mc.drive(LEFT, speed);
}
else if (values == 0x03) { // hinten rechts
//uart_debug("LEFT");
mc.drive(LEFT, speed);
}
else if (values == 0x04) { // links
//uart_debug("BACK");
mc.drive(BACK, speed);
}
else if (values == 0x05) { // hinten (nahe)
//uart_debug("LEFT");
mc.drive(LEFT, speed);
}
else if (values == 0x06) { // hinten links
//uart_debug("BACK");
mc.drive(BACK, speed);
}
else if (values == 0x07) { // hinten nahe
//uart_debug("RIGTH");
mc.drive(RIGHT, speed);
}
else if (values == 0x08) { // links
//uart_debug("BACK");
mc.drive(BACK, speed);
}
else if (values == 0x09) { // vorne rechts
//uart_debug("FRONTRIGHT");
mc.drive(FRONTRIGHT, speed);
}
else if (values == 0x0A) { // rechts und links
//uart_debug("PBREAK");
mc.pbreak();
}
else if (values == 0x0B) { // rechts
//uart_debug("BACK");
mc.drive(BACK, speed);
}
else if (values == 0x0C) { // vorne links
//uart_debug("LEFT");
mc.drive(LEFT, speed);
}
else if (values == 0x0D) { // vorne
//uart_debug("FRONT");
mc.drive(FRONT, speed);
}
else if (values == 0x0E) { // hinten
//uart_debug("RIGHT");
mc.drive(RIGHT, speed);
}
else {
//uart_debug("ERROR UNKNOWN CASE");
}*/
/*if (board.buttonDown()) {
mc.pbreak();
_delay_ms(500);
while(!board.buttonDown());
_delay_ms(500);
}*/
//uart_debug("\n\r");
//_delay_ms(50);
//}
}
