//Main
void main(void) {
initBoard();
backlightOn();
//Configure interrupts
//Interrupt on RB1 = SW_E
OpenRB1INT(PORTB_CHANGE_INT_ON & FALLING_EDGE_INT & PORTB_PULLUPS_OFF & PORTB_INT_PRIO_HIGH);
//Interrupt on RB0 = SW_W
OpenRB0INT(PORTB_CHANGE_INT_ON & FALLING_EDGE_INT & PORTB_PULLUPS_OFF & PORTB_INT_PRIO_LOW);
//Enable button input => not needed, see dwengoBoard.c->initBoard();
TRISB = 0xFF;
//Init motors
initializeMotors();
initializeSensors();
while (TRUE)
{
if(SW_N == 0)
{
mode = 0;
clearLCD();
printStringToLCD("Doing moves brah", 1, 0);
leftMotor(700);
rightMotor(700);
delay_s(4);
leftMotor(1000);
rightMotor(700);
delay_s(4);
leftMotor(700);
rightMotor(1000);
delay_s(4);
leftMotor(-700);
rightMotor(700);
delay_s(4);
}
else if(mode == 1)
{
//Light eating
}
else if(SW_S == 0)
{
//Start light eating
//mode = 1;
clearLCD();
printStringToLCD("Going to send string", 0, 0);
initializeRS232();
sendData();
}
else
{
//printStringToLCD("Cool story bro", 0, 0);
}
}
}
void sendMyInfo()
{ // if we pull the trigger... IDENITIFY OURSELF!
clearLCD();
delay(50);
selectLineOne();
Serial.print("Sending my info!");
delay(1000);
clearLCD();
sendDelay = 0;
}
void main(void) {
unsigned char counter;
BYTE camera_on = FALSE;
BYTE camera_rec = FALSE;
BYTE sw_e_prev = FALSE;
BYTE sw_w_prev = FALSE;
TRISA = OUTPUT;
initBoard();
initLCD();
clearLCD();
backlightOn();
setCursorLCD(0,0);
appendStringToLCD("The Stalker");
setCursorLCD(1, 0);
appendStringToLCD("...........");
while (TRUE) {
if (SW_E == PRESSED) {
sw_e_prev = TRUE;
} else if (sw_e_prev == TRUE) { //SW_E key up
sw_e_prev = FALSE;
clearLCD();
setCursorLCD(0,0);
if (camera_on == TRUE) {
appendStringToLCD("Shut down cam");
camera_on = FALSE;
} else {
appendStringToLCD("Power up cam");
camera_on = TRUE;
}
switchPower();
}
if (SW_W == PRESSED) {
sw_w_prev = TRUE;
} else if (sw_w_prev == TRUE) { //SW_E key up
sw_w_prev = FALSE;
clearLCD();
setCursorLCD(0,0);
if (camera_rec == TRUE) {
appendStringToLCD("Stop rec");
camera_rec = FALSE;
} else {
appendStringToLCD("Start rec");
camera_rec = TRUE;
}
switchRec();
}
delay_ms(200);
}
}
/*
* This function is called in lab1p2.c for testing purposes.
* If everything is working properly, you should get this to look like the video on D2L
* However, it is suggested that you test more than just this one function.
*/
void testLCD(){
initLCD();
int i = 0;
while(1){
printCharLCD('c');
for(i = 0; i < 1000; i++) delayUs(1000);
clearLCD();
printStringLCD("Hello!");
moveCursorLCD(1, 2);
for(i = 0; i < 1000; i++) delayUs(1000);
printStringLCD("Hello!");
for(i = 0; i < 1000; i++) delayUs(1000);
clearLCD();
}
}
void pre_auton()
{
// Set bStopTasksBetweenModes to false if you want to keep user created tasks running between
// Autonomous and Tele-Op modes. You will need to manage all user created tasks if set to false.
bStopTasksBetweenModes = true;
// All activities that occur before the competition starts
// Example: clearing encoders, setting servo positions, ...
clearLCD();
displayLCDCenteredString(0, autonNames[selectedAuton]);
displayLCDCenteredString(1, "< Enter >");
while(nLCDButtons != centerButton) // Center LCD button is not pressed
{
if(nLCDButtons == 0) // There are currently no buttons pressed
{
wait1Msec(10); // No need to waste processor cycles
}
else
{
if(nLCDButtons == leftButton && (selectedAuton - 1) >= 0) // The left button is pressed and a subtraction of 1 won't lead to a non-choice
{
selectedAuton--; // Decrease our current autonomous selection index by 1
}
if(nLCDButtons == rightButton && (selectedAuton + 1) <= totalAutons)// The right button is pressed and an addition of 1 won't lead to a non-choice
{
selectedAuton++; // Increase our current autonomous selection index by 1
}
while(nLCDButtons != 0) // Make sure we release the button to prevent it being impossible to use 1 step
{
wait1Msec(10); // No need to waste processor cycles
}
}
// Add our selections to the display
clearLCDLine(0);
displayLCDCenteredString(0, autonNames[selectedAuton]);
}
clearLCD();
displayLCDCenteredString(0, autonNames[selectedAuton]);
displayLCDCenteredString(1, "Locked In");
}
void switchRec() {
PORTAbits.RA1 = HIGH;
delay_ms(1000);
PORTAbits.RA1 = LOW;
delay_ms(1000);
clearLCD();
}
void loop() {
if (Serial.available() > 0) {
readInHit();
selectLineOne();
Serial.print("Input: ");
Serial.print(inBit);
Serial.print(" ");
selectLineTwo();
Serial.print("Hit by: ");
Serial.print( playerNameString() );
delay(5000);
clearLCD();
flushSerialIn();
}
if ((digitalRead(triggerPin) == HIGH) && (sendDelay > 200))
sendMyInfo();
selectLineOne();
Serial.print("No Hit... ");
selectLineTwo();
Serial.print("Gun:");
if (sendDelay < 200)
Serial.print(" Charging.. ");
else
Serial.print(" READY! ");
delay(10);
if (sendDelay == 32760) // prevent int overflow.
sendDelay = 32760;
else
sendDelay++;
}
void initLCD(void) {
LCD_BACKLIGHT_DIR = OUTPUT; // Set LCD backlight-pin as output
ADCON1 = 0x0A; // RE0-2 digital
delay_ms(5); // wait 5ms
LCD_DATA = 0;
LCD_DATA_DIR = 0xff;
LCD_RS_DIR = OUTPUT;
LCD_RW_DIR = OUTPUT;
LCD_EN_DIR = OUTPUT;
LCD_RS = 0;
LCD_RW = 0;
LCD_EN = 0;
delay_ms(15);
LCD_DATA_DIR = 0;
commandLCD(0b00110000);
commandLCD(0b00110000);
commandLCD(0b00110000);
commandLCD(0b00111000);
commandLCD(0b00000110);
commandLCD(0b00011000);
commandLCD(0b00001100);
lcd_info.line = lcd_info.pos = 0;
clearLCD();
}
void initBoard(void){
//if LCD display is connected (default)
#ifndef NO_LCD
initLCD();
clearLCD();
#endif
// Set buttons as inputs
SW_C_IN;
SW_N_IN;
SW_E_IN;
SW_S_IN;
SW_W_IN;
// Enalbe pullups for the switches
SW_C_HIGH;
SW_N_HIGH;
SW_E_HIGH;
SW_S_HIGH;
SW_W_HIGH;
// Set led pins as output
LEDS_DIR = PORT_HIGH; //LED pins as output
LEDS = PORT_LOW; //Turn LEDs off
}
void updateMainMenuText()
{
if(buttonPressed)
{
buttonPressed = 0;
delayMs(20);
clearLCD();
delayMs(20);
if(cursorHighlightMainMenu == Messaging)
{
currentMenuState = Messaging;
}
else if(cursorHighlightMainMenu == Time)
{
currentMenuState = Time;
}
else if(cursorHighlightMainMenu == PowerOff)
{
currentMenuState = PowerOff;
}
else if(cursorHighlightMainMenu == GoBack)
{
currentMenuState = GoBack;
}
}
}
void lostBall() {
//Unfortunately we lost track of where the ball was.
//We could try to relocate it, we're going back to seek mode.
setSpeed(0);
clearLCD(LCD);
sendStringToLCD(LCD, "Lost the ball!");
_delay_ms(10);
unsigned dirL = getDirL();
unsigned dirR = getDirR();
setDirL(-1);
setDirR(-1);
setSpeed(EVASIVE_SPEED);
_delay_ms(EVASIVE_REV_DURATION);
setSpeed(0);
_delay_ms(250);
setDir(1);
setSpeed(0);
setDirL(dirL);
setDirR(dirR);
//disableTBDetect();
botState.phoneLooking = false;
setBotMode(MODE_PICKUP);
}
void eHealthDisplayClass::initECGScreen(void)
{
clearLCD();
delay(200);
timePrevious = 0;
timePreviousMeassure = 0;
time = 0;
countPrevious = 0;
//ECG LOGO
line(20, 49, 21, 49, 1); line(22, 49, 24, 55, 1);
line(24, 55, 28, 45, 1); line(28, 45, 29, 49, 1);
line(29, 49, 32, 49, 1); delay(100);
//LETRAS POR PANTALLA
coordinates(42, 52); writeLCD("ECG");
coordinates(100, 52); writeLCD( "cpm");
delay(150);
timePreviousMeassure = millis();
count = 0;
printHeart(1);
x = 8;
}
void init()
{
WDTCTL = WDTPW + WDTHOLD; // disable WDT
BCSCTL1 = CALBC1_1MHZ; // 1MHz clock
DCOCTL = CALDCO_1MHZ;
P1OUT = 0;
P2OUT = 0;
P1DIR = 0;
P2DIR = 0;
WDTCTL = WDT_ADLY_1000; // WDT 1s interval timer
IE1 = WDTIE; // Enable WDT interrupt
P1DIR |= LCD5110_SCE_PIN + LCD5110_DC_PIN + BACKLIGHT;
P1OUT |= LCD5110_SCE_PIN + LCD5110_DC_PIN;
SPI_init();
__delay_cycles(50000);
initLCD();
clearLCD();
defaultRX = 0;
NRF_init(86);
NRF_down();
initKeyboard();
// end init
};
int main(void)
{
setClock();
lcdPortConfig();
lcdInit();
clearLCD(black);
while(1)
{
if(boxes._1)
makeOpenBox(220,80,yellow);
else
makeBox(220,80,yellow);
if(boxes._2)
makeOpenBox(120,80,green);
else
makeBox(120,80,green);
if(boxes._3)
makeOpenBox(20,80,red);
else
makeBox(20,80,red);
}
}
/*
* Handle note-on messages
* Precondition: 1 <= channel <= 16, 0 <= pitch < 128, 0 <= velocity < 128
*/
void HandleNoteOn(byte channel, byte pitch, byte velocity)
{
//If zero velocity, turn the note off
if (velocity == 0) {
HandleNoteOff(channel, pitch, velocity);
return;
}
double freq = frequencyTable[pitch];
if (useSerial) {
//Print a message to Serial Monitor
Serial.println("NOTE ON");
Serial.println("Channel: " + String(channel) + ", Pitch: " + String(pitch) + ", Velocity: " + String(velocity));
Serial.println("Computed Frequency: "+String(freq)+"Hz");
}
if (useLCD) {
//Print a message to the LCD
clearLCD();
printToLCD(0,0,"On F="+String(freq)+"Hz");
printToLCD(0,1,"P="+String(pitch)+", V="+String(velocity));
}
ledOff(); //just to be safe
DueTimer timer = Timer.getAvailable();
timer.attachInterrupt(blinkLED);
timer.setFrequency(freq);
timer.start();
activeTimers[pitch] = timer;
}
/** LCD (Mode Select Menu) **/
void modeMenu(void){
_INT1IF = LOW; //set INT1 flag back to zero
_INT2IF = LOW; //set INT2 flag back to zero
clearLCD();
setCursor(1,1);
putsLCD("Stir");
setCursor(2,1);
putsLCD("Shake");
modeMenuSelect = 32766; // this handles cursor position by means of modulus
myBOOLs.mainMenuTrue = FALSE; // these determine which menu for ext interrupt 2
myBOOLs.modeMenuTrue = TRUE; // these determine which menu for ext interrupt 2
myBOOLs.rpmMenuTrue = FALSE; // these determine which menu for ext interrupt 2
while(myBOOLs.modeDecide){
if(modeMenuSelect % 2 == 0){
setCursor(1,0);
putsLCD(">");
setCursor(2,0);
putsLCD(" ");
}
else{
setCursor(1,0);
putsLCD(" ");
setCursor(2,0);
putsLCD(">");
}
}
}
void UART_1602_Init()
{
uart3_init(9600);
backlightOn() ;
clearLCD();
lcdPosition(0,0);
}
int main(void) {
initLCD();
char chr1[] = {0x15, 0xa, 0x15, 0xa, 0x15, 0xa, 0x15, 0xa};
char chr2[] = {0x1f, 0x11, 0xa, 0x4, 0x4, 0x4, 0x4, 0x4};
char chr3[] = {0x0, 0x3, 0x0, 0x7, 0x0, 0xf, 0x0, 0x1f};
char chr4[] = {0x4, 0xa, 0x4, 0x0, 0x0, 0x0, 0x0, 0x0};
char chr5[] = {0x0, 0xe, 0x11, 0x1b, 0x11, 0x15, 0xe, 0x0};
char chr6[] = {0x0, 0x0, 0x0, 0x4, 0x4, 0x1f, 0xe, 0x4};
char chr7[] = {0x0, 0x3, 0x4, 0xe, 0x1f, 0x17, 0x1b, 0xe};
char chr8[] = {0x1f, 0x15, 0xe, 0x4, 0x1f, 0x4, 0xa, 0x11};
uploadCustomCharacterAt(0, chr1);
uploadCustomCharacterAt(1, chr2);
uploadCustomCharacterAt(2, chr3);
uploadCustomCharacterAt(3, chr4);
uploadCustomCharacterAt(4, chr5);
uploadCustomCharacterAt(5, chr6);
uploadCustomCharacterAt(6, chr7);
uploadCustomCharacterAt(7, chr8);
clearLCD();
printLCDXY("Custom Characters",0,0);
gotoLCD(1,1);
characterLCD(0);
characterLCD(1);
characterLCD(2);
characterLCD(3);
characterLCD(4);
characterLCD(5);
characterLCD(6);
characterLCD(7);
}
virtual void TeleopInit() {
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
if (_autonomousCommand)
{
_autonomousCommand->Cancel();
}
clearLCD();
_teleopCommand = (Command*)_teleopChooser->GetSelected();
// _teleopCommand = (Command*)_noOpCmd;
printCommandToLCD(_teleopCommand->GetName());
// if (! CommandBase::azimuthSubsystem->IsCalibrated())
// {
// CommandBase::azimuthSubsystem->CalibrateAzimuth();
// }
_teleopCommand->Start();
// _testRobotCmd->Start();
// _cmd = new TestBridgeArmCmd(CommandBase::oi->driveTrigger);
// _cmd->Start();
}
int main()
{
enableInterrupts();
initTMR2();
char key = 'x';
while(1);
{
clearLCD();
InitKeyPad();
switch(state)
{
case findKey:
ScanKeys(); //should i update the key value here?
break;
case debouncePress:
delayUs(5000); //Proper Delay?
break;
case debounceRelease:
delayUs(5000);
break;
case display:
printCharLCD(key);
break;
}
}
}
void switchPower() {
PORTAbits.RA0 = LOW;
delay_ms(1000);
PORTAbits.RA0 = HIGH;
delay_ms(1000);
clearLCD();
}
void csetSpeedL( char *pszFrame ) {
unsigned int iVal = atoi(pszFrame);
clearLCD(LCD);
sendStringToLCD(LCD, "Set L to: ");
sendIntToLCD(LCD, iVal);
setSpeedL(iVal);
}
void toggleDEBUGSplashScreen(void){
clearLCD();
// go to position 1, 4
// print 'DEBUG MODE'
goToLine(4);
HOSTLCD.print("DEBUG MODE ENABLED");
}
void testLCD(){
clearLCD();
moveCursorLCD(0,0);
printStringLCD(" DUNCAN JULIAN ");
moveCursorLCD(0,1);
printStringLCD(" KYLE SULTAN ");
}
void toggleSplashScreen(void){
clearLCD();
/* Draws a sprite saved in the backpack. x and y sets the upper left corner,
n is the number of the stored sprite, n sets the mode (same modes ad text).
sprite 0 is the sparkfun logo, other uploaded sprites will be deleted if power is removed.
Example: lcd.drawSprite(10,10,0,7); // Draws the sparkfun logo
*/
HOSTLCD.print(0x7C,BYTE);
HOSTLCD.print(0x0B,BYTE);
HOSTLCD.print(0x00,BYTE);
HOSTLCD.print(0x00,BYTE);
HOSTLCD.print(0x01,BYTE);
HOSTLCD.print(0x07,BYTE); // override mode
// go to position 1, 7
goToLine(7);
HOSTLCD.print("Session ID: " + SessionID);
// go to position 1, 8
// print Version ID
goToLine(8);
HOSTLCD.print("Version ID: " + VersionID);
// print the sprite, the version ID and the session ID
// Also print the authors and the company name
}
void initMenusThroughMenus(void){
clearLCD();
goToLine(1);
// install the menus in memory
LCDprint("Menus init(); OK");
delay(100);
}
/**
* setup
* Initialises all appropriate global-level variables and sets up all modules
* appropriately. Also retrieves previous state from EEPROM.
*/
void setup()
{
char welcomeStr1[] = "Welcome to ";
char welcomeStr2[] = " FennecScales!";
int timer = 0;
setupPower();
retrieveState();
initialiseRS232();
initialiseADC();
setupTMR1();
setupSPI();
//initialiseEEPROM();
//initiateTTS();
initLCD();
initialiseNumPad();
//initialisePushBtn();
clearLCD();
stringToLCD(welcomeStr1, LCD_LINE_1);
stringToLCD(welcomeStr2, LCD_LINE_2);
/* Configure interrupts */
INTCONbits.GIE = 1; // Enable global interrupts and priority
INTCONbits.PEIE = 1;
RCONbits.IPEN = 1;
for (timer = 0; timer <= 0x3FF; ++timer)
{
writeLEDbar(timer, 0x3FF);
}
}
bool testEncoder () {
playSound(soundException);
clearLCD();
displayLCDCenteredString(0,"LIFT");
displayLCDCenteredString(1,"ROBOT");
delay(1000);
SensorValue[encoderError] = 0;
bool performsWell = true;
//Flywheel
clearLCD();
displayLCDCenteredString(0,"Encoder Test");
int initValue = SensorValue[flywheelEncoder];
startAutoFlywheel(VELOCITY_LONG);
delay(1000);
if(SensorValue[flywheelEncoder]==initValue) {
performsWell = false;
displayLCDCenteredString(1,"Failed");
} else {
displayLCDCenteredString(1,"Passed");
}
startTask(stopFlywheel);
//Drivebase
delay(1000);
clearLCD();
displayLCDCenteredString(0,"Drivebase Test");
int initWheelValues[2];
initWheelValues[0] = nMotorEncoder(leftWheel13);
initWheelValues[1] = nMotorEncoder(rightWheel13);
setWheelSpeed();
delay(2000);
if(initWheelValues[0]==nMotorEncoder(leftWheel13)) {
performsWell = false;
displayLCDCenteredString(1,"Left Failed");
} else if(initWheelValues[1]==nMotorEncoder(rightWheel13)) {
performsWell = false;
displayLCDCenteredString(1,"Right Failed");
} else {
displayLCDCenteredString(1,"Passed");
}
setWheelSpeed(0);
return performsWell;
}
void csetSpeedR( char *pszFrame ) {
//setLCDCursor(LCD, LCD->config.lineLength);
//sendStringToLCD(LCD, pszFrame);
unsigned int iVal = atoi(pszFrame);
clearLCD(LCD);
sendStringToLCD(LCD, "Set R to: ");
sendIntToLCD(LCD, iVal);
setSpeedR(iVal);
}
void openLCD(void)
{
LCD_DIR = 0xFF; /* configure LCD_DAT port for output */
delayby10ms(10);
cmd2LCD(0x28); /* set 4-bit data, 2-line display, 5x7 font */
cmd2LCD(0x0C); /* turn on display, cursor, blinking */
cmd2LCD(0x06); /* move cursor right */
clearLCD();
}
