void main(void)
{
byte tbfr, tbfl, tbrr, tbrl;
DisableInterrupts;
SOPT = 0x00; //disable watchdog
ICGC1 = 0b01110100; // select external crystal
Delay(64); // start up delay for crystal
SCISetup(); // setup serial communication via RS-232 I/F
//--------------------------------------------------------
// Initialization
//--------------------------------------------------------
// for motor driving with PWM from TPM1
TPM1SC = 0b00001000; // edge-aligned PWM on bus clock
TPM1MOD = (word)(pwmPeriod * busClock * 1000); // set PWM period
TPM1C2SC = 0b00101000; // edge-aligned PWM with high-true pulses for PTF0 (left motor IN_A)
TPM1C3SC = 0b00101000; // edge-aligned PWM with high-true pulses for PTF1 (left motor IN_B)
TPM1C4SC = 0b00101000; // edge-aligned PWM with high-true pulses for PTF2 (right motor IN_A)
TPM1C5SC = 0b00101000; // edge-aligned PWM with high-true pulses for PTF3 (right motor IN_B)
// for motor speed control with timer overflow interrupt of TPM2
TPM2SC = 0b01001000; // enable timer overflow and input capture on bus rate clock
TPM2MOD = (word)(controlPeriod * busClock * 1000); // set motor speed control period
TPM2C0SC = 0b01000100; // enable interrups on positive edge for PTF4 (left tachometer)
TPM2C1SC = 0b01000100; // enable interrups on positive edge for PTF5 (right tachometer)
diffLeft = 0; // difference between two consecutive counter values for left motor
diffRight = 0; // difference between two consecutive counter values for right motor
travelDistance = 0; // distance to travel; one unit is approximately 05 mm
scaleFactor = 200; // scale factor used in motor speed control
nomSpeed = 0x2000; // nominal speed
pwLeft = defaultSpeed; // PWM duty cycle for left motor
pwRight = defaultSpeed; // PWM duty cycle for right motor
pwMax = 90; // maximum for PWM duty cycle
pwMin = 40; // minimum for PWM duty cycle
// for ADC
ADC1CFG = 0b00000000; // on bus clock, 8-bit conversion
APCTL1 = 0b11111111; // use all 8 pins of port B for ADC
// for motor status
leftMotor = MOTOR_STATUS_STOP;
rightMotor = MOTOR_STATUS_STOP;
// now we are ready to go!
EnableInterrupts;
//
// Now we set the mouse operation mode based on the status of two front
// touch bars -- at the moment of turning it on -- as follows:
//
// ---------------------------------------------------------------------
// touchBarFrontLeft | touchBarFrontRight | Operation Mode
// ---------------------------------------------------------------------
// not touched | not touched | MOUSE_MODE_DEBUG (DEFAULT)
// not touched | touched | MOUSE_MODE_COMBAT
// touched | not touched | MOUSE_MODE_LINE_FOLLOWING
// touched | touched | MOUSE_MODE_OBSTACLE_AVOIDING
// ---------------------------------------------------------------------
//
PTAPE = 0xFF; // enable port A pullups for touchbar switches and infrared sensors
PTADD = 0x00; // set port A as input
tbfl = touchBarFrontLeft;
tbfr = touchBarFrontRight;
tbfl = 1;
tbfr = 1;
if ((tbfl == 0) && (tbfr == 0)) {
mouseMode = MOUSE_MODE_DEBUG;
Test();
}
else if ((tbfl == 0) && (tbfr == 1)) {
mouseMode = MOUSE_MODE_COMBAT;
Combat();
}
else if ((tbrl == 1) && (tbrr == 0)) {
mouseMode = MOUSE_MODE_LINE_FOLLOWING;
LineFollowing();
}
else {
mouseMode = MOUSE_MODE_OBSTACLE_AVOIDING;
AvoidObstacle();
}
for (;;) {
// do nothing; just waiting for interrupts
}
}
void main(void)
{
byte tbfr, tbfl, tbrr, tbrl;
DisableInterrupts;
SOPT = 0x00; //disable watchdog
ICGC1 = 0b01110100; // select external crystal
Delay(64); // start up delay for crystal
SCISetup(); // setup serial communication via RS-232 I/F
//--------------------------------------------------------
// Initialization
//--------------------------------------------------------
// for motor driving with PWM from TPM1
TPM1SC = 0b00001000; // edge-aligned PWM on bus clock
TPM1MOD = (word)(pwmPeriod * busClock * 1000); // set PWM period
TPM1C2SC = 0b00101000; // edge-aligned PWM with high-true pulses for PTF0 (left motor IN_A)
TPM1C3SC = 0b00101000; // edge-aligned PWM with high-true pulses for PTF1 (left motor IN_B)
TPM1C4SC = 0b00101000; // edge-aligned PWM with high-true pulses for PTF2 (right motor IN_A)
TPM1C5SC = 0b00101000; // edge-aligned PWM with high-true pulses for PTF3 (right motor IN_B)
// for motor speed control with timer overflow interrupt of TPM2
TPM2SC = 0b01001000; // enable timer overflow and input capture on bus rate clock
TPM2MOD = (word)(controlPeriod * busClock * 1000); // set motor speed control period
TPM2C0SC = 0b01000100; // enable interrups on positive edge for PTF4 (left tachometer)
TPM2C1SC = 0b01000100; // enable interrups on positive edge for PTF5 (right tachometer)
diffLeft = 0; // difference between two consecutive counter values for left motor
diffRight = 0; // difference between two consecutive counter values for right motor
travelDistance = 0; // distance to travel; one unit is approximately 05 mm
scaleFactor = 2; // scale factor used in motor speed control
nomSpeed = 0x2000; // nominal speed
pwLeft = defaultSpeed; // PWM duty cycle for left motor
pwRight = defaultSpeed; // PWM duty cycle for right motor
pwMax = 50; // maximum for PWM duty cycle
pwMin = 10; // minimum for PWM duty cycle
/*
// for KBI handling
PTDPE = 0xFF; // enable port D pullups for push button switch
PTDDD = 0x00; // set port D as input; switches 3 and 4 are connected to port D3 and D2, respectively
KBI1SC = BitClear(1, KBI1SC); // KBIE=0; disable KBI
KBI1PE = 0x60; // enable KBI function for pins 5 and 6 only
KBI1SC = BitClear(0, KBI1SC); // KBIMOD=0; select edge-only detection
KBI1SC = BitSet(2, KBI1SC); // KBACK=1; clear KBI flag
KBI1SC = BitSet(1, KBI1SC); // KBIE=1; enable KBI
*/
// for ADC
ADC1CFG = 0b00000000; // on bus clock, 8-bit conversion
APCTL1 = 0b11111111; // use all 8 pins of port B for ADC
// for motor status
leftMotor = MOTOR_STATUS_STOP;
rightMotor = MOTOR_STATUS_STOP;
/*
//
// Now we are going to set the mouse operation mode according to rocker switches 1 & 2 as follows:
// --------------------------------------------------------------
// SW1 | SW2 | Operation Mode | LED8* | LED9*
// --------------------------------------------------------------
// Open** | Open | MOUSE_MODE_OBSTACLE_AVOIDING | ON | ON
// Open | Closed | MOUSE_MODE_LINE_FOLLOWING | ON | OFF
// Closed | Open | MOUSE_MODE_COMBAT | OFF | ON
// Closed | Closed | MOUSE_MODE_DEBUG | OFF | OFF
// --------------------------------------------------------------
// * We assume that PTC2 and PTC6 are connected to LED8 and LED9, respectively.
// ** These switches are active low and input a logic high when set to the open position.
//
PTAPE = 0xFF; // enable port A pullups for push button switch
PTADD = 0x00; // set port A as input; switches 1 and 2 are connected to port A0 and A1, respectively
sw1 = PTAD_PTAD0; // read switch configuration
sw2 = PTAD_PTAD1; // read switch configuration
PTCDD = 0xFF; // set port C as output
PTCD = 0xFF; // turn off LEDs
// simple FSM for motor status handling
if (sw1 == 1) {
if (sw2 == 1) {
mouseMode = MOUSE_MODE_OBSTACLE_AVOIDING;
PTCD_PTCD2 = 1;
PTCD_PTCD6 = 1;
AvoidObstacle();
}
else {
mouseMode = MOUSE_MODE_LINE_FOLLOWING;
PTCD_PTCD2 = 1;
PTCD_PTCD6 = 0;
LineFollowing();
}
}
else {
if (sw2 == 1) {
mouseMode = MOUSE_MODE_COMBAT;
PTCD_PTCD2 = 0;
PTCD_PTCD6 = 1;
}
else {
mouseMode = MOUSE_MODE_DEBUG;
// reserved for another mode in the future
PTCD_PTCD2 = 0;
PTCD_PTCD6 = 0;
Debug();
}
}
*/
PTAPE = 0xFF; // enable port A pullups for push button switch
PTADD = 0x00; // set port A as input; switches 1 and 2 are connected to port A0 and A1, respectively
//----------------------------------------------------------------------------------
// Note that we temporarily comment out the following for testing the sample program
//----------------------------------------------------------------------------------
// tbfl = touchBarFrontLeft;
// tbfr = touchBarFrontRight;
// tbrl = touchBarRearLeft;
// tbrr = touchBarRearRight;
//----------------------------------------------------------------------------------
// Then, set the following to enter a test mode for testing component functions
//----------------------------------------------------------------------------------
/* tbfl = 0;
if ((tbfl == 1) && (tbfr == 1)) {
mouseMode = MOUSE_MODE_OBSTACLE_AVOIDING;
AvoidObstacle();
}
else if ((tbrl == 1) && (tbrr == 1)) {
mouseMode = MOUSE_MODE_LINE_FOLLOWING;
LineFollowing();
}
else {
Test();
// Debug();
} */
AvoidObstacle();
// now we are ready to go!
EnableInterrupts;
for (;;) {
// do nothing; just waiting for interrupts
}
}