int main()
{
// Initialize the encoders and specify the four input pins.
encoders_init(IO_C2, IO_C3, IO_C4, IO_C5);
while(1)
{
// Read the counts for motor 1 and print to LCD.
lcd_goto_xy(0,0);
print_long(encoders_get_counts_m1());
print(" ");
// Read the counts for motor 2 and print to LCD.
lcd_goto_xy(4,0);
print_long(encoders_get_counts_m2());
print(" ");
// Print encoder errors, if there are any.
if(encoders_check_error_m1())
{
lcd_goto_xy(0,1);
print("Error 1");
}
if(encoders_check_error_m2())
{
lcd_goto_xy(0,1);
print("Error 2");
}
delay_ms(50);
}
}
int main(void)
{
adc_init();
spi_init();
switches_init();
encoders_init();
for (;;)
{
// Check the SS pin, if it is low, send the data through SPI.
if (spi_slave_selected())
{
spi_enable();
for (uint8_t i=0; i<ENCODER_COUNT; ++i)
{
spi_transfer16(g_encoderValues[i]);
}
spi_transfer8(g_downMask);
spi_disable();
}
switches_update();
encoders_update();
}
}
/*
* MOTOR FUNCTIONS
*/
static void motor_init()
{
/* setup encoder (only 1 motor - motor 2) */
encoders_init(IO_D3, IO_D2, IO_D1, IO_D0);
/* initial data values */
encoders_get_counts_and_reset_m2();
g_motor_state.direction = DIRECTION_FORWARD;
g_motor_state.enabled = true;
g_motor_state.speed = DEFAULT_MOTOR_SPEED;
}
int main(void) {
init_menu();
clear();
init_motor();
init_timers();
encoders_init(IO_D2, IO_D3, IO_C4, IO_C5);
sei();
while (1)
{
if(g_pd_release) {
pd_task();
g_pd_release = 0;
}
if(g_velocity_release) {
velocity_task();
g_velocity_release = 0;
}
if(g_encoder_release) {
encoder_task();
g_encoder_release = 0;
}
if(g_log_release) {
log_task();
g_log_release = 0;
}
if(g_interpolate_release) {
interoplate_task();
g_interpolate_release = 0;
}
serial_check();
check_for_new_bytes_received();
}
}
int main()
{
// Initialize the encoders
encoders_init(IO_D2, IO_D3, IO_A3, IO_A2);
float count = 0;
char forward = TRUE;
int motor_speed = 100;
//set_motors(100, 255);
while(1)
{
clear();
lcd_goto_xy(0,0);
//Calculate the count
count = encoders_get_counts_m1() / ENCODER_COUNT_PER_REVOLUTION;
// Increment and decrement speed if top or bottom buttons were pressed.
unsigned char button = get_single_debounced_button_press(ANY_BUTTON);
if ((button & TOP_BUTTON) && motor_speed < 250) // if top button pressed
motor_speed = motor_speed + 5;
if ((button & BOTTOM_BUTTON) && motor_speed > 80) // if bottom button pressed
motor_speed = motor_speed - 5;
//If the user is holding the middle button we want to stop the motor.
if(button_is_pressed(MIDDLE_BUTTON) & MIDDLE_BUTTON)
{
print("Paused ");
set_motors(0,0);
}
else
{
// Set motor speed dependent on direction.
if(forward)
{
set_motors(motor_speed, 0);
print("Forward ");
}
else
{
set_motors(-motor_speed, 0);
print("Reverse ");
}
// At 0 and 2 we need to switch directions.
if(count >= 2 && forward)
forward = FALSE;
if(count <= 0 && !forward)
forward = TRUE;
}
// Print the motor speed and revolutions
print_long(motor_speed);
print_count(count);
//Delay so LCD doesn't flicker too much
delay_ms(50);
}
}
