int main(void) {
InitializeSystem();
// Wait for reset button to be released
while (_PORT(PIO_BTN1) == HIGH) { }
//ADCInitialize();
PWMInitialize();
PWMEnable();
USBDeviceInit();
//ADCStartCapture();
_LAT(PIO_LED1) = HIGH;
ColourEngine::Initialize();
//ColourEngine::PowerOn(1000); // Fade in
ColourEngine::SetPower(power, 0);
//_LAT(PIO_LED2) = HIGH;
while (1) {
USBDeviceTasks();
USBUserProcess();
}
return 0;
}
int main(void)
{
char value[8];
Forward_Backward_State;
// Set the directional pins
TRIS_MOTOR_C = 0; // RB2
TRIS_MOTOR_D = 0; // RB3
LAT_MOTOR_C = 1; // idle mode
LAT_MOTOR_D = 1; // idle mode
// Motor related variables
int duty_cycle1 = 0;
int duty_cycle2 = 0;
// Configure Change notification of RB5 (SW1 momentary switch)
TRISBbits.TRISB5 = 1;
CNPU2bits.CN27PUE=1;
CNEN2bits.CN27IE=1;
IFS1bits.CNIF=0;
IEC1bits.CNIE=1;
// Initialize LCD
LCDInitialize();
// Configure PWM
PWMInitialize();
// Configure A/D unit
ADCInitialize();
while(1)
{
if(done)
{
sprintf(value, "%6d", ADC_value);
LCDMoveCursor(0,0);
LCDPrintString(value);
if((ADC_value > 462 || ADC_value == 462) && (ADC_value <562 || ADC_value == 562))
{
duty_cycle1 = 100;
duty_cycle2 = 100;
}
else if((ADC_value > 563 || ADC_value == 563) && (ADC_value <690 || ADC_value == 690))
{
duty_cycle1 = 75;
duty_cycle2 = 100;
}
else if((ADC_value > 691 || ADC_value == 691) && (ADC_value <818 || ADC_value == 818))
{
duty_cycle1 = 50;
duty_cycle2 = 100;
}
else if((ADC_value > 819 || ADC_value == 819) && (ADC_value <975 || ADC_value == 975))
{
duty_cycle1 = 25;
duty_cycle2 = 100;
}
else if (ADC_value > 975)
{
duty_cycle1 = 0;
duty_cycle2 = 100;
}
else if((ADC_value < 461 || ADC_value == 461) && (ADC_value >334 || ADC_value == 334))
{
duty_cycle1 = 100;
duty_cycle2 = 75;
}
else if((ADC_value < 333 || ADC_value == 333) && (ADC_value >206 || ADC_value == 206))
{
duty_cycle1 = 100;
duty_cycle2 = 50;
}
else if((ADC_value < 205 || ADC_value == 205) && (ADC_value >40 || ADC_value == 40))
{
duty_cycle1 = 100;
duty_cycle2 = 25;
}
else if (ADC_value < 40)
{
duty_cycle1 = 100;
duty_cycle2 = 0;
}
OC1RS = (int)(PR_VALUE*duty_cycle1); //modifying PWM duty cycle
OC1RS = OC1RS / 100;
OC2RS = (int)(PR_VALUE*duty_cycle2); //modifying PWM duty cycle
OC2RS = OC2RS / 100;
sprintf(value, "%3d", duty_cycle1);
LCDMoveCursor(1,0);
LCDPrintString(value);
sprintf(value, "%3d", duty_cycle2);
LCDMoveCursor(1,5);
LCDPrintString(value);
done = 0;
}
}
return 0;
}
