/*******************************************************************
* Function: void initializeRobot(void)
* Input Variables: none
* Output Return: none
* Overview: This initialize the robot by using other startups
********************************************************************/
void initializeRobot(void)
{
ATopstat = ATTINY_open();//open the tiny microcontroller
LEopstat = LED_open(); //open the LED module
LCopstat = LCD_open(); //open the LCD module
STEPPER_open(); // Open STEPPER module for use
SPKR_open(SPKR_TONE_MODE);//open the speaker in tone mode
LED_open();
I2C_open();
ADC_open();//open the ADC module
ADC_set_VREF( ADC_VREF_AVCC );// Set the Voltage Reference first so VREF=5V.
// Initialize IR Values and Reset Prefilter
checkIR();
prefilter(1);
// Mistake? odometryTrigger = WORLD_RESOLUTION_SIZE*D_STEP which is about 6
odometryTrigger = WORLD_RESOLUTION_SIZE/2.75;
// pixel array for the LCD screen
for(int i = 0; i < 4; i++) {
for(int j = 0; j < 32; j++) {
pix_arr[i][j] = 0x00;
}
}
}
void CBOT_main(void)
{
STEPPER_open(); // Enables control of the steppers
ATTINY_open(); // Enables reading of the buttons
SPKR_open(SPKR_BEEP_MODE); //enables beeping
LCD_open(); // Enables use of the LCD
ADC_open();//open the ADC module
while(1)
{
if(ATTINY_get_SW_state(ATTINY_SW3))
{
smartGoToGoal(4,4);
}
if(ATTINY_get_SW_state(ATTINY_SW4))
{
wander('a');
}
if (ATTINY_get_SW_state(ATTINY_SW5))
{
char wall = 'l';
while(wall=='l'){
wall = wallFollow('l',4,5,10);
}
}
//TODO:: Please write your application code
}
}
void CBOT_main( void )
{
// Initialize variables
int btnValue=0;//value of button pushed
ATopstat = ATTINY_open();//open the tiny microcontroller
LEopstat = LED_open(); //open the LED module
LCopstat = LCD_open(); //open the LCD module
STEPPER_open(); // Open STEPPER module for use
SPKR_open(SPKR_BEEP_MODE);//open the speaker in beep mode
LED_open();
I2C_open();
ADC_open();//open the ADC module
ADC_set_VREF( ADC_VREF_AVCC );// Set the Voltage Reference first so VREF=5V.
// Initialize IR Values and Reset Prefilter
checkIR();
prefilter(1);
// LCD_printf("PRESS a button\nOR\nWAIT for default\n");
//TMRSRVC_delay(3000);//wait 3 seconds
//btnValue = WaitButton();
LCD_clear;
// Infinite loop
while (1)
{
// update the sensor values
checkLightSensor();
checkIR();
checkContactIR();
//Test contact Sensors
// LCD_printf("Right Contact: %i\nLeft Contact: %i\n\n\n",rightContact,leftContact);
// TMRSRVC_delay(1000);//wait 1 seconds
//Test IR Sensors
// LCD_printf("FrontIR = %3.2f\nBackIR = %3.2f\nLeftIR = %3.2f\nRightIR = %3.2f\n", ftIR,bkIR,ltIR,rtIR);
// TMRSRVC_delay(2000);//wait 2 seconds
// run the moveBehavior FSM
moveBehavior(LIGHT_LOVER);
// debug primitive behaviors
// moveAway();
// moveWall();
// moveRetreat();
// moveTrackLight();
// moveWander();
}
}// end the CBOT_main()
void CBOT_main( void )
{
// Initialize variables
int btnValue=0;//value of button pushed
int i=0;//loop counter
BOOL ltContact;//left contact sensor
BOOL rtContact;//right contact sensor
float ltLght;//left light reading
float rtLght;//right light reading
unsigned char data;
unsigned char pixel1 = 0;
unsigned char pixel2 = 0;
unsigned char pixel3 = 0;
unsigned char pixel4 = 0;
unsigned char pixel5 = 0;
unsigned char pixel6 = 0;
unsigned char pixel7 = 0;
unsigned char pixel8 = 0;
ATopstat = ATTINY_open();//open the tiny microcontroller
LEopstat = LED_open(); //open the LED module
LCopstat = LCD_open(); //open the LCD module
STEPPER_open(); // Open STEPPER module for use.
SPKR_open(SPKR_BEEP_MODE);//open the speaker in beep mode
LED_open();
I2C_open();
ADC_open();//open the ADC module
ADC_set_VREF( ADC_VREF_AVCC );// Set the Voltage Reference first so VREF=5V.
btnValue = WaitButton();
// Infinite loop
while (1)
{
// check sensors
//checkIR();
// if no obstacle detected MOVE
// if obstacle detected STOP
// moveCollide();
moveAway();
}
}// end the CBOT_main()
// ============================ functions =================================== //
void init_bot(void) {
// Start by opening and initializing the needed subsystem modules:
LCD_open();
SPKR_open( SPKR_TONE_MODE );
ATTINY_open();
ADC_open();
ADC_set_VREF( ADC_VREF_AVCC );
// pixel array for the LCD screen
for(int i = 0; i < 4; i++) {
for(int j = 0; j < 128; j++) {
pix_arr[i][j] = 0x00;
}
}
}
void CBOT_main( void )
{
// Initialize Robot
ATopstat = ATTINY_open();//open the tiny microcontroller
LEopstat = LED_open(); //open the LED module
LCopstat = LCD_open(); //open the LCD module
STEPPER_open(); // Open STEPPER module for use
SPKR_open(SPKR_BEEP_MODE);//open the speaker in beep mode
LED_open();
I2C_open();
ADC_open();//open the ADC module
ADC_set_VREF( ADC_VREF_AVCC );// Set the Voltage Reference first so VREF=5V.
// // Print a debug statement
// LCD_printf("It's ALIVE\n\n\n\n");
// TMRSRVC_delay(3000);//wait 3 seconds
// LCD_clear();
// Print the metric Map
// printMetricMap();
// LCD_printf("%i %i %i %i \n%i %i %i %i \n%i %i %i %i \n%i %i %i %i \n",ROBOT_METRIC_WORLD[0][0],ROBOT_METRIC_WORLD[0][1],ROBOT_METRIC_WORLD[0][2],ROBOT_METRIC_WORLD[0][3],ROBOT_METRIC_WORLD[1][0],ROBOT_METRIC_WORLD[1][1],ROBOT_METRIC_WORLD[1][2],ROBOT_METRIC_WORLD[1][3],ROBOT_METRIC_WORLD[2][0],ROBOT_METRIC_WORLD[2][1],ROBOT_METRIC_WORLD[2][2],ROBOT_METRIC_WORLD[2][3],ROBOT_METRIC_WORLD[3][0],ROBOT_METRIC_WORLD[3][1],ROBOT_METRIC_WORLD[3][2],ROBOT_METRIC_WORLD[3][3]);
// TMRSRVC_delay(10000);//wait 10 seconds
// wavefrontMake();
// LCD_printf("%i %i %i %i \n%i %i %i %i \n%i %i %i %i \n%i %i %i %i \n",ROBOT_METRIC_WORLD[0][0],ROBOT_METRIC_WORLD[0][1],ROBOT_METRIC_WORLD[0][2],ROBOT_METRIC_WORLD[0][3],ROBOT_METRIC_WORLD[1][0],ROBOT_METRIC_WORLD[1][1],ROBOT_METRIC_WORLD[1][2],ROBOT_METRIC_WORLD[1][3],ROBOT_METRIC_WORLD[2][0],ROBOT_METRIC_WORLD[2][1],ROBOT_METRIC_WORLD[2][2],ROBOT_METRIC_WORLD[2][3],ROBOT_METRIC_WORLD[3][0],ROBOT_METRIC_WORLD[3][1],ROBOT_METRIC_WORLD[3][2],ROBOT_METRIC_WORLD[3][3]);
// TMRSRVC_delay(10000);//wait 10 seconds
// LCD_clear();
// Test the 4-Neighbor search
// LCD_printf("%i %i %i %i \n%i %i %i %i \n%i %i %i %i \n%i %i %i %i \n",ROBOT_METRIC_WORLD[0][0],ROBOT_METRIC_WORLD[0][1],ROBOT_METRIC_WORLD[0][2],ROBOT_METRIC_WORLD[0][3],ROBOT_METRIC_WORLD[1][0],ROBOT_METRIC_WORLD[1][1],ROBOT_METRIC_WORLD[1][2],ROBOT_METRIC_WORLD[1][3],ROBOT_METRIC_WORLD[2][0],ROBOT_METRIC_WORLD[2][1],ROBOT_METRIC_WORLD[2][2],ROBOT_METRIC_WORLD[2][3],ROBOT_METRIC_WORLD[3][0],ROBOT_METRIC_WORLD[3][1],ROBOT_METRIC_WORLD[3][2],ROBOT_METRIC_WORLD[3][3]);
// TMRSRVC_delay(5000);
// LCD_clear();
currentCellWorld = WORLD_CELL[0][0];
wavefrontMake();
while(currentCellWorld!=reachedEnd){
nextOrientation = fourNeighborSearch(currentCellWorld);
metricMove();
moveMap();
currentCellWorld = shiftMap(currentCellWorld, currentMove, currentOrientation);
}
LCD_printf("LOOOOOOOOOOOOLZ");
TMRSRVC_delay(5000);
LCD_clear();
// Unit test the function
// sqrt function
// int xDelta, yDelta;
// float distance;
// xDelta = abs(-3);
// yDelta = abs(0);
// distance = sqrt(((xDelta*xDelta)+(yDelta*yDelta)));
// LCD_printf("xDel = %d\nyDel = %d\ndist = %f\n\n",xDelta,yDelta,distance);
// TMRSRVC_delay(5000);
// LCD_clear();
// cell values
}// end the CBOT_main()
