int main(void){
volatile uint32_t delay;
int i;
PLL_Init();
Output_Init();
// CAN0_Open();
DisableInterrupts();
SYSCTL_RCGCGPIO_R |= 0x20;
while((SYSCTL_PRGPIO_R&0x0020) == 0){};// ready?
Count = 0; // allow time to finish activating
// GPIO_PORTF_DIR_R |= 0x04; // make PF2 out (built-in LED)
// GPIO_PORTF_AFSEL_R &= ~0x04; // disable alt funct on PF2
// GPIO_PORTF_DEN_R |= 0x04; // enable digital I/O on PF2
// // configure PF2 as GPIO
// GPIO_PORTF_PCTL_R = (GPIO_PORTF_PCTL_R&0xFFFFF0FF)+0x00000000;
// GPIO_PORTF_AMSEL_R = 0; // disable analog functionality on PF
GPIO_PORTF_LOCK_R = 0x4C4F434B; // 2) unlock GPIO Port F
GPIO_PORTF_CR_R = 0x1F; // allow changes to PF4-0
GPIO_PORTF_AMSEL_R = 0x00; // 3) disable analog on
GPIO_PORTF_DIR_R &= ~0x03; // make PB6 in
GPIO_PORTF_AFSEL_R |= 0x03; // enable alt funct on PB6
GPIO_PORTF_DEN_R |= 0x03; // enable digital I/O on PB6
// configure PB6 as T0CCP0
GPIO_PORTF_PCTL_R = (GPIO_PORTF_PCTL_R&0xFFFFFF00)+0x00000077;
GPIO_PORTF_AMSEL_R &= ~0xFF; // disable analog functionality on PB6
SYSCTL_RCGCGPIO_R |= 0x01;
delay = SYSCTL_RCGCGPIO_R; // 2) allow time for clock to stabilize
delay = SYSCTL_RCGCGPIO_R;
GPIO_PORTA_DIR_R |= 0x01; // 3.11) make PA6 output
GPIO_PORTA_AFSEL_R &= ~0x01; // 4.11) disable alternate function on PA6
GPIO_PORTA_DEN_R |= 0x01; // 5.11) enable digital I/O on PA6
GPIO_PORTA_AMSEL_R = 0; // 6.11) disable analog functionality on PA6
Switch_Init();
Init_Timer4A();
Timer4A_Wait(80000000); //wait 1 sec
Init_Timer5A(80000);
ADC0_InitTimer3ATriggerSeq3PD3(6000);
ADC0_InitTimer3BTriggerSeq2PD2(5500);
TimerCapture_Init(UserTask2);
InitMotors();
EnableInterrupts();
while(1) {
getSensorValues();
printSensorValues(0);
if(buttonL) {
printSensorValues(6);
ControlMotors(35000,35000);
ST7735_SetCursor(0,8);ST7735_OutString("Buttonback");
buttonL = 0;
for(i = 0; i < 1440000; i++);
}
if(buttonR) {
printSensorValues(6);
ControlMotors(35000,35000);
ST7735_SetCursor(0,1);ST7735_OutString("ButtonR");
buttonR = 0;
for(i = 0; i < 1440000; i++);
}
if (Ping1 < 18) {
//ControlMotors(40000, 40000);
ST7735_SetCursor(0,1);
ST7735_OutString("Stopped");
printSensorValues(3);
// while(1) {
ST7735_SetCursor(0,1);ST7735_OutString("Stopped");
getSensorValues();
printSensorValues(0);
// }
if(IR_L > IR_R) {
ControlMotors(35000,35000);
ST7735_SetCursor(0,8);ST7735_OutString("BL");
}
else {
ControlMotors(35000,35000);
ST7735_SetCursor(0,8);ST7735_OutString("BR");
}
for(i = 0; i < 1440000; i++);
}
else if (((Ping2 > 80) != (Ping3 > 80)) && (Ping1 < 40)) {
if (Ping2>80) {
//spot turn right
ControlMotors(20000, 60000);
}
if (Ping3>80) {
//spot turn left
ControlMotors(60000, 20000);
}
// ControlMotors(40000,40000);
}
else if(IR_L < 1500 && IR_R < 1500) {
ControlMotors(70000,65000);
ST7735_SetCursor(0,8);ST7735_OutString("FO");
}
else if(IR_L < IR_R) {
ControlMotors(70000,50000);
ST7735_SetCursor(0,8);ST7735_OutString("LE");
}
else if(IR_R < IR_L) {
ControlMotors(70000,72000);
ST7735_SetCursor(0,8);ST7735_OutString("RI");
}
}
}
//---------------------------- PING_Init -----------------------------
//called before OS_Launch
void PING_Init(void (*task)(void)){
TimerCapture_Init(task);
//setup edge interrupt (with interrupts not enabled for PB6; )
}
