int bump_init(){
//Bumper init and interupt
BumpSensorsInit();
BumpSensorsInterupEnable(bump_interuptFunction);
BumperEnableSide(BUMP_LEFT);
BumperEnableSide(BUMP_RIGHT);
return 1;
}
/**
* Performs one-time setup of peripherals
*/
static void vInit(void)
{
/* Sets Clock Speed to 50MHz */
ROM_SysCtlClockSet(
SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN
| SYSCTL_XTAL_16MHZ);
/* Initializes Bumpers with Interrupt */
BumpSensorsInit();
GPIOPinIntEnable(GPIO_PORTE_BASE, (1 << 0) | (1 << 1));
GPIOIntTypeSet(GPIO_PORTE_BASE, (1 << 0) | (1 << 1), GPIO_FALLING_EDGE);
IntEnable(20);
/* Initializes timer, required for scheduler */
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
TimerConfigure(TIMER0_BASE, TIMER_CFG_32_BIT_PER_UP);
TimerEnable(TIMER0_BASE, TIMER_A);
SoundInit();
SoundVolumeSet(95);
IntMasterEnable();
/* Hardware initialization for Bouncy related peripherals */
vBouncyInit();
/* Hardware initialization for Gamepad related peripherals */
vGamepadInit();
initDriveControl();
// Init the rangefinder
initRangeFinder();
return;
}
int
main(void)
{
unsigned long ulPHYMR0;
tBoolean bButtonWasPressed = false;
tMotorState sMotorState=STATE_STOPPED;
tWaveHeader sWaveHeader;
unsigned long ulWaveIndex = 1;
int losL,losH;
ROM_SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_ETH);
ulPHYMR0 = ROM_EthernetPHYRead(ETH_BASE, PHY_MR0);
ROM_EthernetPHYWrite(ETH_BASE, PHY_MR0, ulPHYMR0 | PHY_MR0_PWRDN);
// Display96x16x1Init(true);
// Display96x16x1StringDraw("MOTOR", 29, 0);
// Display96x16x1StringDraw("DEMO", 31, 1);
LEDsInit();
LED_On(LED_1);
PushButtonsInit();
BumpSensorsInit();
MotorsInit();
ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / 100);
ROM_SysTickEnable();
ROM_SysTickIntEnable();
SoundInit();
// WaveOpen((unsigned long *) sWaveClips[ulWaveIndex].pucWav, &sWaveHeader);
//mozliwe ze trzeba przed kazdym odtworzeniem ;/
// while(WaveOpen((unsigned long *)
// sWaveClips[ulWaveIndex].pucWav,
// &sWaveHeader) != WAVE_OK);//do zablokowania w razie bledu
for(;;)
{
tBoolean bButtonIsPressed;
tBoolean bBumperIsPressed[2];
bButtonIsPressed = !PushButtonGetDebounced((tButton)1);
bBumperIsPressed[0] = !BumpSensorGetDebounced((tBumper)0);
bBumperIsPressed[1] = !BumpSensorGetDebounced((tBumper)1);
switch(sMotorState)
{
case STATE_STOPPED:
{
if(bButtonIsPressed && !bButtonWasPressed)
{
sterowanie(0,50,50);
sMotorState = STATE_RUNNING;
}
break;
}
case STATE_RUNNING:
{
if(bButtonIsPressed && !bButtonWasPressed)
{
MotorStop((tSide)0);
MotorStop((tSide)1);
sMotorState = STATE_STOPPED;
}
else if(bBumperIsPressed[0])
{
MotorStop((tSide)0);
MotorStop((tSide)1);
// WavePlayStart(&sWaveHeader); mozliwe ze tu
losL =10+ g_ulTickCount % 20;//i dać los zamiast 15,mamy losowe skrecanie(10-30)
losH =40+ g_ulTickCount % 30;//i dać los zamiast 60,mamy losowe skrecanie(40-70)
sterowanie(1,losL,losH);
sMotorState = STATE_TYL;
}
else if(bBumperIsPressed[1]){
MotorStop((tSide)0);
MotorStop((tSide)1);
losL =10+ g_ulTickCount % 20;//i dać los zamiast 15,mamy losowe skrecanie(10-30)
losH =40+ g_ulTickCount % 30;//i dać los zamiast 60,mamy losowe skrecanie(40-70)
sterowanie(1,losH,losL);
// WavePlayStart(&sWaveHeader); mozliwe ze tu
sMotorState = STATE_TYL;
}
break;
}
case STATE_TYL:
{//cofanie tez moze byc losowe np losH+losL(50-100)+160=(210-260)
while(cofanie<250);
MotorStop((tSide)0);
MotorStop((tSide)1);
sterowanie(0,50,50);
sMotorState = STATE_RUNNING;
break;
}
default:
{
MotorStop((tSide)1);
MotorStop((tSide)0);
sMotorState = STATE_STOPPED;
break;
}
}
bButtonWasPressed = bButtonIsPressed;
}
}
