/*--------------------------------------------------------------------------------------------------------------------
Function: Check_State_Change
Description: Check the MPB state, and see if user wants to change state
Revisions:
--------------------------------------------------------------------------------------------------------------------*/
void Check_State_Change()
{
if (MPB==0) /* Negative logic */
{
delay(25); //Calling a delay for 25ms
if (MPB==0)
{
while (MPB==0);
cmdLCD(CLR_DISP);
gameState = (gameState+1)%2; /* This will take the current state, add 1, and return the remainder. i.e. toggle between 1 and 0.*/
//this won't work without the delay pls.
}
}
}
int main( void ) {
initPMP();
initLCD(7);
initSerial2();
// initSPI();
cmdLCD(0b00000010); //return home??
//writeLCD("hello");
writeLCD("Begin");
// int tempStepperCounts[5];
// int heading_fp; // remember this is in fixed point from spi; 2,14
// double heading;
// int i=0;
while(1) {
if(newMSG) {
cmdLCD(0b00000010); //return home??
writeLCD(" ");
cmdLCD(0b00000010); //return home??
writeLCD(msg);
txSerial("ASS!");
newMSG = 0;
}
// writeLCD("FWD...");
// writeSlave(MOTOR_DRIVER,SPI_MOTOR,(MOTOR_FWD SPI_MOTOR_RIGHT_DIR) |
// (MOTOR_FULL_SPEED SPI_MOTOR_RIGHT_SPEED));
// writeSlave(STEPPER_DRIVER,SPI_STEPPER_DIR,'F');
// writeSlave(STEPPER_DRIVER,SPI_STEPPER_SPEED,30000);
// writeSlave(STEPPER_DRIVER,SPI_STEPPER_STEPS,1500);
// for(i=1;i<5000;i+=500)
// writeSlave(STEPPER_DRIVER,SPI_STEPPER_SPEED,30000-i);
// msDelay(1500);
// writeSlave(MOTOR_DRIVER,SPI_MOTOR,(MOTOR_REV SPI_MOTOR_RIGHT_DIR) |
// (MOTOR_STOP SPI_MOTOR_RIGHT_SPEED));
// msDelay(1500);
// writeLCD("REV...");
// writeSlave(MOTOR_DRIVER,SPI_MOTOR,(MOTOR_REV SPI_MOTOR_RIGHT_DIR) |
// (MOTOR_FULL_SPEED SPI_MOTOR_RIGHT_SPEED));
// writeSlave(STEPPER_DRIVER,SPI_STEPPER_DIR,'R');
// writeSlave(STEPPER_DRIVER,SPI_STEPPER_SPEED,25000);
// writeSlave(STEPPER_DRIVER,SPI_STEPPER_STEPS,1000);
// msDelay(500);
// tempStepperCounts[0] = readSlave(STEPPER_DRIVER,SPI_STEPPER_INPROG);
// tempStepperCounts[1] = readSlave(STEPPER_DRIVER,SPI_STEPPER_INPROG);
// tempStepperCounts[2] = readSlave(STEPPER_DRIVER,SPI_STEPPER_INPROG);
// msDelay(100);
// tempStepperCounts[3] = readSlave(STEPPER_DRIVER,SPI_STEPPER_INPROG);
// msDelay(100);
// tempStepperCounts[4] = readSlave(STEPPER_DRIVER,SPI_STEPPER_INPROG);
// msDelay(1500);
// writeSlave(MOTOR_DRIVER,SPI_MOTOR,(MOTOR_REV SPI_MOTOR_RIGHT_DIR) |
// (MOTOR_STOP SPI_MOTOR_RIGHT_SPEED));
// msDelay(1500);
//// heading_fp = readSlave(COMPASS,COMPASS_HEADING);
//// heading = ((double) heading_fp) / FIXEDPOINT_13BIT;
// cmdLCD(0b00000010); //return home??
// writeLCD(" ");
// cmdLCD(0b00000010); //return home??
};
return (EXIT_SUCCESS);
}
