void main(void)
{
Init_Ports(); // Initialize Ports
Init_Clocks(); // Initialize Clock System
Init_Conditions();
Init_Interrupts();
TimeMsec = RESET_TIME;
Init_Timers(); // Initialize Timers
Init_LCD(); // Initialize LCD
// "0123456789abcdef"
display_1 = " Homework 9 ";
display_2 = " ";
Display_Process();
/* ---------- Begining of the "While" Operating System ------------- */
while(ALWAYS) // Can the Operating system run
{
ADC_Process();
Control_Process();
Menu_Process();
if(TimeMsec % EVERY_50 == RESET_TIME)
{
Display_Process();
}
}
}
void printMacAddress(void){
if(macFG==TRUE && UCA1BRW == 52){ //when mac address needed, will take from buffer, and print to screen.
while(IOTBufferReceive[37]=='\0'); //wait until all received
for(i=21;i<=28;i++){ //capture first half of MAC address
firstMacBuff[i-21]=IOTBufferReceive[i];
}
for(i=30;i<=37;i++){ //capture second half of MAC address
secondMacBuff[i-30]=IOTBufferReceive[i];
}
lcd_4line();
display_1="Mac Addr:";
macPtr=firstMacBuff;
display_2=macPtr;
macPtr=secondMacBuff;
display_3=macPtr;
display_4=" ";
Display_Process();
macFG=FALSE;
for(i=0;i<40;i++){ //clear IOT buffer so that junk isnt written to terminal after junk-->command
IOTBufferReceive[i]='\0';
}
IOTIndexReceive=0;
}
}
void main(void){
//==============================================================================
// Main Program
//
// Description: This function contains the while loop that runs continuously
// to act for the operating system. It also calls all the functions to
// initialize the system.
//
// Passed : no variables passed
// Locals: no variables declared
// Returned: no values returned
// Globals: volatile unsigned int Time_Sequence;
// volatile char one_time;
// char* display_1
// char* display_2
// char* display_3
// char* display_4
// slow_input_down
// control_state[CNTL_STATE_INDEX]
// char big
// char size_count;
// char posL1
// char posL2
// char posL3
// char posL4
//
// Author: David Pryor
// Date: Feb 2016
// Compiler: Built with IAR Embedded Workbench Version: V4.10A/W32 (6.4.1)
//==============================================================================
Init_Ports(); // Initialize Ports
Init_Clocks(); // Initialize Clock System
Init_Conditions();
Time_Sequence = SWITCH_OFF; //
Init_Timers(); // Initialize Timers
Init_LEDs(); // Initialize LEDs
Init_LCD(); // Initialize LCD
Init_ADC(); // Initialize ADC
//------------------------------------------------------------------------------
// Begining of the "While" Operating System
//------------------------------------------------------------------------------
while(ALWAYS) { // Can the Operating system run
Menu_Process();
ADC_Process(); // call sampling function
if(display_count >= FOR_FOURTH_SECOND){ // update screen every 250 msec
Display_Process();
display_count = SWITCH_OFF;
}
if(menu_items == FALSE){
display_4 = "SW2: Menu";
}
if(switch_two_pressed){
menu_items = TRUE;
switch_two_pressed = SWITCH_OFF;
}
}
//------------------------------------------------------------------------------
}
void draw_circle(void){
Time_Sequence=0;
int i=0;
// 1234567890
display_1 = "FirstTask";
posL1 = 0;
display_2 = "DrawCircle";
posL2 = 0;
display_3 = "ECE306";
posL3 = 2;
display_4 = "Skang";
posL4 = 3;
big = 0;
Display_Process();
while(Time_Sequence<300){}
Time_Sequence=0;
//------------------------------------------------------------------------------
// Begining of the "While" Operating System
//------------------------------------------------------------------------------
while(i<10) { // Can the Operating system run
switch(Time_Sequence){
case 20: // 100 msec
if(one_time){
Init_LEDs(); // Initialize LEDs
one_time = 0;
i++;
}
Time_Sequence = 0; //
case 18: // 50 msec
if(one_time){
P3OUT |= LED5; // Change State of LED 5
one_time = 0;
}
case 1: //
if(one_time){
P3OUT |= LED7; // Change State of LED 7
one_time = 0;
}
break; //
default: break;
}
if(Time_Sequence > 20){
Time_Sequence = 0;
}
}
current_job=circle;
next_job=eight;
}
void main(void)
{
Init_Ports(); // Initialize Ports
Init_Clocks(); // Initialize Clock System
Init_Conditions();
Init_Interrupts();
//PJOUT |= LED1; // Turn LED 1 on to indicate boot
TimeMsec = RESET_TIME;
Init_Timers(); // Initialize Timers
Init_LCD(); // Initialize LCD
//Init_LEDs(); // Initialize LEDs
// "0123456789abcdef"
display_1 = " PROJECT 5 ";
display_2 = " ";
Display_Process();
P1OUT |= IR_LED;
waitMsec(10);
/* ---------- Begining of the "While" Operating System ------------- */
while(ALWAYS) // Can the Operating system run
{
if(TimeMsec % EVERY_50 == RESET_TIME)
Display_Process(); //Refreshes screen every 50 'ticks'
if(TimeMsec % EVERY_2 == RESET_TIME)
{
Switches_Process(); // Poll for switch state change every other 'tick'
ADC_Process();
}
Motors_Process();
Control_Process();
}
}
void main(void)
{
// The 'while' operating system
Init_System();
while(ALWAYS)
{
Display_Process();
Menu_Process();
ADC_Process();
CMD_Process();
}
}
static void startConfig()
{
// Show Start Configuring Message
SERIAL_FLAG_ENABLE(CONFIG_WIFI);
DISABLE_TIMER_ISR(TB1CCTL1);
wifiResetCount=CLEAR;
display_1 = "";
display_2 = "Configuring";
display_3 = "...";
display_4 = "...";
Display_Process();
}
void parseIOTData(void){
for(i=0;i<=100-3;i++){ //search through received strings
if(receiving[i]=='D'){
if(receiving[i+1]==':'){
if(receiving[i+2]=='2'){
Five_msec_Delay(1);
if(receiving[i+3]=='1'){
display_4="Scanning";
Display_Process();
}
else if(receiving[i+3]=='4'){
countP=0; //initialize period counter
Five_msec_Delay(3); //short delay to allow all characters to enter
j=0;
for(i=17;receiving[i] != '\r';i++){ //go from beginning of address until 2nd period hit (2nd group)
if(receiving[i] == '.'){
countP++;
}
if(countP >=2){ //stop copying to buffer if 2nd period has been hit (2nd "group" is copied)
break;
}
firstipBuff[j]=receiving[i];
j++;
}
posL3=(10-j)/2; //center first half of ip address
i++; //skip the period
for(j=0;receiving[i] != '\r';i++){
secondipBuff[j]=receiving[i];
j++;
}
posL4=(10-j)/2; //center second half of ip address
display_1=SSIDPtr; //from D:25
display_2=" ipaddr ";
ipPtr=firstipBuff;
display_3=ipPtr;
ipPtr=secondipBuff;
display_4=ipPtr;
lcd_4line();
Display_Process();
Five_msec_Delay(600); //display IP for 3 seconds before screen gets cleared by menus
posL1=0; //reset line positions back to beginning
posL3=0;
posL4=0;
}
else if(receiving[i+3]=='5'){
Five_msec_Delay(5);//short delay to allow all characters to enter
for(i=32;receiving[i] != '\'' && i<=42 ;i++){ //copy SSID until end of quoted name or until max size for LCD is hit
SSIDBuff[i-32]=receiving[i];
}
SSIDPtr=SSIDBuff;
posL1=(10-(i-32))/2; //center SSID
//SSID is displayed in D:24
}
}
else if(receiving[i+2]=='3'){ //clear display once scanning is complete
if(receiving[i+3]=='5'){
display_4=" ";
Display_Process();
}
}
else if(receiving[i+2]=='4'){ //detect disassociation --> reassociate by resetting module
if(receiving[i+3]=='1'){
uart_puts("AT+CFUN=1\r"); //Get SSID to ncsu
PJOUT &= ~IOT_RESET; //reset IOT
Five_msec_Delay(10); //wait 50 ms
PJOUT |= IOT_RESET; //turn IOT back on (stop reset)
}
}
}
}
}
}
void main(void){
//==============================================================================
// Main Program
//
// Description: This function contains the while loop that runs continuously
// to act for the operating system. It also calls all the functions to
// initialize the system.
//
// Passed : no variables passed
// Locals: no variables declared
// Returned: no values returned
// Globals: volatile unsigned int Time_Sequence;
// volatile char one_time;
// char* display_1
// char* display_2
// char* display_3
// char* display_4
// slow_input_down
// control_state[CNTL_STATE_INDEX]
// char big
// char size_count;
// char posL1
// char posL2
// char posL3
// char posL4
//
// Author: David Pryor
// Date: Feb 2016
// Compiler: Built with IAR Embedded Workbench Version: V4.10A/W32 (6.4.1)
//==============================================================================
Init_Ports(); // Initialize Ports
Init_Clocks(); // Initialize Clock System
Init_Conditions();
Time_Sequence = SWITCH_OFF; //
Init_Timers(); // Initialize Timers
Init_LEDs(); // Initialize LEDs
Init_LCD(); // Initialize LCD
Init_ADC(); // Initialize ADC
Init_Serial_UCA1(0); // BAUD rate 9600
Init_Serial_UCA0(1); // BAUD rate 9600
Five_msec_Delay(1);
PJOUT |= IOT_STA_MINIAP; //turning on miniap (only works this way)
IR_LED_OFF();
lcd_BIG_mid();
display_1 = " David ";
display_2 = "Project 8";
display_3 = " Pryor ";
display_4 = "";
Display_Process();
//------------------------------------------------------------------------------
// Begining of the "While" Operating System
//------------------------------------------------------------------------------
while(ALWAYS) { // Can the Operating system run
ADC_Process(); // call sampling function
if(MainFG){
Menu_Process();
}
else if(BaudMenuFG==TRUE){
Baud_Menu();
}
else if(IOTMenuFG==TRUE){
IOT_Menu();
}
if(StartCommandFG){ //StartCommandFG is true once "." has been received
commandTree();
}
printMacAddress(); //prints mac address to screen
macFG=FALSE; //turn off command to print mac address
clearReceiveBuffer();
parseIOTData();
}
//------------------------------------------------------------------------------
}
void com_menu_program(void){
outchar_com(current_com_character);
outchar_com('6');
if(current_com_character == '2')
if(current_com_character == '3')
if(current_com_character == '7')
switch (current_com_character) {
case 'W':
case 'w':
display_2 = "Forward";
posL2 = RESET;
Display_Process();
left_forward(3500);
right_forward(3000);
__delay_cycles(8000000);
left_forward(RESET);
right_forward(RESET);
display_2 = "";
posL4 = RESET;
Display_Process();
break;
case 'X':
case 'x':
display_2 = "Reverse";
posL2 = RESET;
Display_Process();
left_reverse(3000);
right_reverse(3000);
__delay_cycles(2500000);
left_reverse(0);
right_reverse(0);
display_2 = "";
posL4 = RESET;
break;
case 'D':
case 'd':
display_2 = "Left";
posL2 = RESET;
Display_Process();
left_forward(3000);
right_reverse(3000);
__delay_cycles(2500000);
left_forward(0);
right_reverse(0);
display_2 = "";
posL4 = RESET;
break;
case 'A':
case 'a':
display_2 = "Left";
posL2 = RESET;
Display_Process();
right_forward(3000);
left_reverse(3000);
__delay_cycles(2500000);
right_forward(0);
left_reverse(0); //waitForSeconds(6);
display_2 = "";
posL4 = RESET;
break;
case 'S':
display_2 = "Right";
posL2 = RESET;
Display_Process();
right_reverse(3000);
left_forward(3000);
__delay_cycles(2500000);
right_reverse(0);
left_forward(0); //waitForSeconds(6);
display_2 = "";
posL4 = RESET;
display_2 = "Right";
posL2 = RESET;
Display_Process();
right_reverse(3000);
left_forward(3000);
__delay_cycles(2500000);
right_forward(0);
left_reverse(0); //waitForSeconds(6);
display_2 = "";
posL4 = RESET;
break;
case 's':
display_2 = "Left";
posL2 = RESET;
Display_Process();
right_forward(3000);
left_reverse(3000);
__delay_cycles(2500000);
right_forward(0);
left_reverse(0); //waitForSeconds(6);
display_2 = "";
posL4 = RESET;
display_2 = "Right";
posL2 = RESET;
Display_Process();
right_reverse(3000);
left_forward(3000);
__delay_cycles(2500000);
right_reverse(0);
left_forward(0); //waitForSeconds(6);
display_2 = "";
posL4 = RESET;
break;
case 'F':
follow_toggle = 1;
line_int_toggle = 1;
Line_Follow();
break;
case 'f':
follow_toggle = 0;
Line_Follow();
right_stop();
left_stop();
break;
default:
left_forward(0);
right_reverse(0);
left_reverse(0);
right_forward(0);
}
waitForSeconds(1);
current_com_character = 0x00;
print_com_CR();
//------------------------------------------------------------------------------
}
void main(void){
//==============================================================================
// Main Program
//
// Description: This function contains the while loop that runs continuously
// to act for the operating system. It also calls all the functions to
// initialize the system.
//
// Passed : no variables passed
// Locals: no variables declared
// Returned: no values returned
// Globals: volatile unsigned int Time_Sequence;
// volatile char one_time;
// char* display_1
// char* display_2
// char* display_3
// char* display_4
// slow_input_down
// control_state[CNTL_STATE_INDEX]
// char big
// char size_count;
// char posL1
// char posL2
// char posL3
// char posL4
//
// Author: David Pryor
// Date: Feb 2016
// Compiler: Built with IAR Embedded Workbench Version: V4.10A/W32 (6.4.1)
//==============================================================================
Init_Ports(); // Initialize Ports
Init_Clocks(); // Initialize Clock System
Init_Conditions();
Time_Sequence = SWITCH_OFF; //
Init_Timers(); // Initialize Timers
five_msec_sleep(COUNT_TWOFIDDY_MSEC); // 250 msec delay for the clock to settle (50)
Init_LEDs(); // Initialize LEDs
Init_LCD(); // Initialize LCD
// 1234567890
display_1 = "NCSU";
posL1 = LINE_POS_3;
display_2 = "WOLFPACK";
posL2 = LINE_POS_1;
display_3 = "ECE306";
posL3 = LINE_POS_2;
display_4 = "D Pryor";
posL4 = LINE_POS_1;
big = SWITCH_OFF;
Display_Process();
//------------------------------------------------------------------------------
// Begining of the "While" Operating System
//------------------------------------------------------------------------------
while(ALWAYS) { // Can the Operating system run
switch(Time_Sequence){
case COUNT_TWELVEFIDDY_MSEC: // 1250 msec (250)
if(one_time){
Init_LEDs(); // Initialize LEDs
one_time = SWITCH_OFF;
}
Time_Sequence = SWITCH_OFF; //
case COUNT_ONETHOUSAND_MSEC: // 1000 msec (200)
if(one_time){
one_time = SWITCH_OFF;
}
case COUNT_SEVENFIDDY_MSEC: // 750 msec (150)
if(one_time){
one_time = SWITCH_OFF;
}
case COUNT_FIVEHUNNED_MSEC: // 500 msec (100)
if(one_time){
one_time = SWITCH_OFF;
}
case COUNT_TWOFIDDY_MSEC: // 250 msec (50)
if(one_time){
one_time = SWITCH_OFF;
}
size_count++;
if(size_count > MAX_SIZE_COUNT){
size_count = SWITCH_OFF;
if(big){
//lcd_BIG_mid();
big = SWITCH_OFF;
}else{
//lcd_4line();
big = SWITCH_ON;
}
}
Display_Process();
break; //
default: break;
}
Switches_Process(); // Check for switch state change
if(Time_Sequence > COUNT_TWELVEFIDDY_MSEC){
Time_Sequence = SWITCH_OFF;
}
}
//------------------------------------------------------------------------------
}
void main(void){
//------------------------------------------------------------------------------
// Main Program
// This is the main routine for the program. Execution of code starts here.
// The operating system is Back Ground Fore Ground.
//
//------------------------------------------------------------------------------
init_ports();
Init_Clocks();
Init_Conditions();
init_timers();
five_msec_delay(QUARTER_SECOND);
Init_LCD();
setup_sw_debounce();
init_adc();
P1OUT |= IR_LED;
init_serial_uart();
WDTCTL = WDTPW + WDTHOLD;
setup_pwm();
set_motor_speed(R_FORWARD, PWM_RES);
set_motor_speed(L_FORWARD, PWM_RES);
unsigned int time_sequence = START_VAL; // counter for switch loop
unsigned int previous_count = START_VAL; // automatic variable for
// comparing timer_count
unsigned int display_count = START_VAL;
is_follow_running = FALSE;
//------------------------------------------------------------------------------
// Begining of the "While" Operating System
//------------------------------------------------------------------------------
while(ALWAYS) { // Can the Operating system run
if(get_timer_count() > display_count + QUARTER_SECOND)
{
display_count = get_timer_count();
Display_Process();
time_sequence = START_VAL;
}
update_switches(); // Check for switch state change
update_menu();
if(is_follow_running)
run_follow();
if(uca0_is_message_received())
{
BufferString message = uca0_read_buffer(TRUE);
receive_command(message.head + message.offset);
}
if(uca1_is_message_received())
{
update_menu();
BufferString message = uca1_read_buffer(TRUE);
uca0_transmit_message(message.head, message.offset);
if(find(WIFI_COMMAND_SYMBOL, message))
{
receive_command(message.head + message.offset);
}
if(find(LOST_WIFI_COMMAND_SYMBOL, message))
{
receive_command(CONNECT_NCSU);
}
}
if(time_sequence > SECOND_AND_A_QUARTER)
time_sequence = START_VAL;
unsigned int current_timer_count = get_timer_count();
if(current_timer_count > previous_count)
{
previous_count = current_timer_count % UINT_16_MAX;
time_sequence++;
}
}
//------------------------------------------------------------------------------
}
void main(void){
//==============================================================================
// Main Program
//
// Description: This function contains the while loop that runs continuously
// to act for the operating system. It also calls all the functions to
// initialize the system.
//
// Passed : no variables passed
// Locals: no variables declared
// Returned: no values returned
// Globals: volatile unsigned int Time_Sequence;
// volatile char one_time;
// char* display_1
// char* display_2
// char* display_3
// char* display_4
// slow_input_down
// control_state[CNTL_STATE_INDEX]
// char big
// char size_count;
// char posL1
// char posL2
// char posL3
// char posL4
//
// Author: David Pryor
// Date: Feb 2016
// Compiler: Built with IAR Embedded Workbench Version: V4.10A/W32 (6.4.1)
//==============================================================================
Init_Ports(); // Initialize Ports
Init_Clocks(); // Initialize Clock System
Init_Conditions();
Time_Sequence = SWITCH_OFF; //
Init_Timers(); // Initialize Timers
Init_LEDs(); // Initialize LEDs
Init_LCD(); // Initialize LCD
//------------------------------------------------------------------------------
// Begining of the "While" Operating System
//------------------------------------------------------------------------------
while(ALWAYS) { // Can the Operating system run
if(do_this == TRUE){
Five_msec_Delay(FOR_ONE_SECOND); //pause
display_2 = "FORWARD"; //change display
posL2 = LINE_POS_1;
Display_Process(); //push display
straight_line(); //forward
Five_msec_Delay(FOR_ONE_SECOND); //pause
display_2 = "REVERSE"; //change display
posL2 = LINE_POS_1;
Display_Process(); //push display
straight_line_reverse(); //reverse
Five_msec_Delay(FOR_ONE_SECOND);
display_2 = "FORWARD"; //change display
posL2 = LINE_POS_1;
Display_Process(); //push display
straight_line(); //forward
Five_msec_Delay(FOR_ONE_SECOND);
display_2 = "CW-SPIN"; //change display
posL2 = LINE_POS_1;
Display_Process(); //push display
clockwise_spin(); //forward
Five_msec_Delay(FOR_ONE_SECOND);
display_2 = "CCW-SPIN"; //change display
posL2 = LINE_POS_1;
Display_Process(); //push display
counterclockwise_spin(); //forward
Five_msec_Delay(FOR_ONE_SECOND); //pause
display_2 = ""; //clear display
posL2 = LINE_POS_1;
Display_Process(); //push display
do_this = FALSE;
}
}
//------------------------------------------------------------------------------
}
void IR_Calibration(void){
//==============================================================================
// COMMANDTREE
//
// Description: This function is used as a command tree for input commands
//
// Passed : no variables passed
// Locals: proceed
// Returned: no values returned
// Globals: ADC_Left_Detector
// ADC_Right_Detector
// thresholdL
// thresholdR
// left_calibration_black
// right_calibration_black
// left_calibration_white
// right_calibration_white
// display_1
// display_2
// display_3
// display_4
// switch_two_pressed
//
// Author: David Pryor
// Date: April 2016
// Compiler: Built with IAR Embedded Workbench Version: V4.10A/W32 (6.4.1)
//==============================================================================
int proceed = RESET;
ADC_Process(); // call sampling function
IR_LED_ON();
Five_msec_Delay(FOR_ONE_SECOND);
display_1 = "White Test";
display_2 = "Press SW2";
display_3 = "";
display_4 = "";
Display_Process();
while(proceed == FALSE){
if(switch_two_pressed){
proceed = TRUE;
switch_two_pressed = FALSE;
}
}
ADC_Process(); // call sampling function
right_calibration_white = ADC_Right_Detector;
left_calibration_white = ADC_Left_Detector;
proceed = RESET;
display_1 = "Black Test";
display_2 = "Press SW2";
display_3 = "";
display_4 = "";
Display_Process();
while(proceed == FALSE){
if(switch_two_pressed){
proceed = TRUE;
switch_two_pressed = FALSE;
}
}
ADC_Process(); // call sampling function
right_calibration_black = ADC_Right_Detector;
left_calibration_black = ADC_Left_Detector;
IR_LED_OFF();
thresholdR = ((right_calibration_black + right_calibration_white)/HALF)+THRESHOLD_SENSITIVITY;
thresholdL = ((left_calibration_black + left_calibration_white)/HALF)+THRESHOLD_SENSITIVITY;
}
void receive_command(char* command)
{
BufferString temp_command;
temp_command.head = command;
temp_command.offset = START_ZERO;
if(compare(command, COMMAND_AKNOWLEDGE))
{
uca0_transmit_message(AKNOWLEDGE_MESSAGE, NO_OFFSET);
}
else if(compare(command, SLOW_BAUD))
{
uca1_set_current_baud(BAUD_115200);
uca0_transmit_message(SLOW_BAUD_MESSAGE, NO_OFFSET);
uca1_transmit_message(SLOW_BAUD_COMMAND, NO_OFFSET);
five_msec_delay(SECOND + SECOND);
uca1_transmit_message(SAVE_COMMAND, NO_OFFSET);
five_msec_delay(SECOND);
uca1_set_current_baud(BAUD_9600);
uca1_transmit_message(RESET_COMMAND, NO_OFFSET);
PJOUT &= ~IOT_RESET;
five_msec_delay(QUARTER_SECOND);
PJOUT |= IOT_RESET;
uca0_transmit_message(RESET_MESSAGE, NO_OFFSET);
five_msec_delay(QUARTER_SECOND);
uca1_transmit_message(G_MAC_COMMAND, NO_OFFSET);
}
else if(compare(command, FAST_BAUD))
{
uca1_set_current_baud(BAUD_9600);
uca0_transmit_message(FAST_BAUD_MESSAGE, NO_OFFSET);
uca1_transmit_message(FAST_BAUD_COMMAND, NO_OFFSET);
five_msec_delay(SECOND + SECOND);
uca1_transmit_message(SAVE_COMMAND, NO_OFFSET);
five_msec_delay(SECOND);
uca1_set_current_baud(BAUD_115200);
uca1_transmit_message(RESET_COMMAND, NO_OFFSET);
PJOUT &= ~IOT_RESET;
five_msec_delay(QUARTER_SECOND);
PJOUT |= IOT_RESET;
uca0_transmit_message(RESET_MESSAGE, NO_OFFSET);
}
else if(compare(command, CONNECT_NCSU))
{
uca0_transmit_message(CONNECT_NCSU_MESSAGE, NO_OFFSET);
uca1_transmit_message(SET_SSID_NCSU_COMMAND, NO_OFFSET);
uca1_transmit_message(GET_SSID_NCSU_COMMAND, NO_OFFSET);
five_msec_delay(QUARTER_SECOND);
uca1_transmit_message(SET_HOST_NAME_COMMAND, NO_OFFSET);
uca1_transmit_message(GET_HOST_NAME_COMMAND, NO_OFFSET);
five_msec_delay(QUARTER_SECOND);
uca1_transmit_message(SET_PRIVACY_MODE_COMMAND, NO_OFFSET);
uca1_transmit_message(GET_PRIVACY_MODE_COMMAND, NO_OFFSET);
five_msec_delay(QUARTER_SECOND);
uca1_transmit_message(SET_NETWORK_MODE_COMMAND, NO_OFFSET);
uca1_transmit_message(GET_NETWORK_MODE_COMMAND, NO_OFFSET);
uca1_transmit_message(SAVE_COMMAND, NO_OFFSET);
uca1_transmit_message(GET_NETWORK_MODE_COMMAND, NO_OFFSET);
uca1_transmit_message(SAVE_COMMAND, NO_OFFSET);
five_msec_delay(QUARTER_SECOND);
uca1_transmit_message(RESET_COMMAND, NO_OFFSET);
PJOUT &= ~IOT_RESET;
five_msec_delay(QUARTER_SECOND);
PJOUT |= IOT_RESET;
uca0_transmit_message(RESET_MESSAGE, NO_OFFSET);
}
else if(compare(command, GET_WIFI_STATUS))
{
uca1_transmit_message(GET_WIFI_STATUS_COMMAND, NO_OFFSET);
}
else if(compare(command, GET_WIFI_IP))
{
uca1_transmit_message(GET_WIFI_IP_COMMAND, NO_OFFSET);
}
// Forward Command
else if(find(CAR_FORWARD, temp_command))
{
display_1 = CLEAR_LINE;
display_2 = command;
display_3 = CLEAR_LINE;
display_4 = CLEAR_LINE;
set_motor_speed(R_FORWARD, (int) (MAX_SPEED * 0.87f));
set_motor_speed(L_FORWARD, MAX_SPEED);
lcd_BIG_mid();
five_msec_delay(QUARTER_SECOND);
Display_Process();
uca0_transmit_message("SUCCESS", NO_OFFSET);
turn_on_motor(R_FORWARD);
turn_on_motor(L_FORWARD);
if(CH_TO_DIG(command[COMMAND_TIME_POS]) <= 9)
five_msec_delay(SECOND * CH_TO_DIG(command[COMMAND_TIME_POS]) / COMMAND_TURN_RATIO);
turn_off_motor(R_FORWARD);
turn_off_motor(L_FORWARD);
lcd_4line();
if(command[COMMAND_LENGTH] == COMMAND_CHAR_SYMBOL)
receive_command(command + COMMAND_LENGTH);
}
// Backward Command
else if(find(CAR_BACKWARD, temp_command))
{
display_1 = CLEAR_LINE;
display_2 = command;
display_3 = CLEAR_LINE;
display_4 = CLEAR_LINE;
lcd_BIG_mid();
five_msec_delay(QUARTER_SECOND);
Display_Process();
uca0_transmit_message("SUCCESS", NO_OFFSET);
turn_on_motor(R_REVERSE);
turn_on_motor(L_REVERSE);
five_msec_delay(SECOND * CH_TO_DIG(command[COMMAND_TIME_POS]));
turn_off_motor(R_REVERSE);
turn_off_motor(L_REVERSE);
lcd_4line();
if(command[COMMAND_LENGTH] == COMMAND_CHAR_SYMBOL)
receive_command(command + COMMAND_LENGTH);
}
// Right Command
else if(find(CAR_RIGHT, temp_command))
{
display_1 = CLEAR_LINE;
display_2 = command;
display_3 = CLEAR_LINE;
display_4 = CLEAR_LINE;
lcd_BIG_mid();
five_msec_delay(QUARTER_SECOND);
Display_Process();
uca0_transmit_message("SUCCESS", NO_OFFSET);
turn_on_motor(R_REVERSE);
turn_on_motor(L_FORWARD);
if(CH_TO_DIG(command[COMMAND_TIME_POS]) <= 9)
five_msec_delay(SECOND * CH_TO_DIG(command[COMMAND_TIME_POS]) / COMMAND_TURN_RATIO);
turn_off_motor(R_REVERSE);
turn_off_motor(L_FORWARD);
lcd_4line();
if(command[COMMAND_LENGTH] == COMMAND_CHAR_SYMBOL)
receive_command(command + COMMAND_LENGTH);
}
// Left Command
else if(find(CAR_LEFT, temp_command))
{
display_1 = CLEAR_LINE;
display_2 = command;
display_3 = CLEAR_LINE;
display_4 = CLEAR_LINE;
lcd_BIG_mid();
five_msec_delay(QUARTER_SECOND);
Display_Process();
uca0_transmit_message("SUCCESS", NO_OFFSET);
turn_on_motor(R_FORWARD);
turn_on_motor(L_REVERSE);
if(CH_TO_DIG(command[COMMAND_TIME_POS]) <= 9)
five_msec_delay(SECOND * CH_TO_DIG(command[COMMAND_TIME_POS]) / COMMAND_TURN_RATIO);
turn_off_motor(R_FORWARD);
turn_off_motor(L_REVERSE);
lcd_4line();
if(command[COMMAND_LENGTH] == COMMAND_CHAR_SYMBOL)
receive_command(command + COMMAND_LENGTH);
}
else if(find(CAR_LINE_FOLLOW, temp_command))
{
is_follow_running = is_follow_running ? FALSE : TRUE;
}
}