void align_ccw(void)
{
clockwise=0;
counterwise=1;
PORTG=0x00;
PORTG|=(1<<0);
unsigned char degree;
PORTC=0x02;
degree_set_new=eeprom_read_byte(25);
if(degree_set_new>1)
{
for(degree=0;degree<50;degree++)
{
PORTC=0xff;
_delay_us(555);
PORTG|=(1<<4);
_delay_us(5);
PORTG&=~(1<<4);
}
degree_set_new--;
eeprom_write_byte(25,degree_set_new);
}
lcd_gotoxy1(5);
lcd_string(" ");
lcd_gotoxy1(0);
lcd_string("CCW=");
lcd_num(degree_set_new);
}
void main()
{
unsigned int adc_xval,adc_yval,adc_zval;
ADCInit();
lcd_init();
while(1)
{
adc_xval=adcRead(0);
lcd_gotoxy1(1);
lcd_showvalue(adc_xval);
adc_yval=adcRead(1);
lcd_gotoxy1(4);
lcd_showvalue(adc_yval);
adc_zval=adcRead(2);
lcd_gotoxy1(7);
lcd_showvalue(adc_zval);
}
}
int main(void)
{
DDRC=0xFF;
lcd_init();
ADC_init();
for(;;) // Loop Forever
{
if(1<<ADCSRA)//if converstion is complete
{
if(ADCH<32)
PORTC=0b11111111;
else if (ADCH<64)
PORTC=0b11111110;
else if (ADCH<95)
PORTC=0b11111100;
else if (ADCH<128)
PORTC=0b11111000;
else if (ADCH<159)
PORTC=0b11110000;
else if (ADCH<191)
PORTC=0b11100000;
else if (ADCH<223)
PORTC=0b11000000;
else
PORTC=0b00000000;
}
lcd_gotoxy1(5);
lcd_showvalue(ADCH);
}
}
int main(void)
{
unsigned char Mystring[20];
Serial_Init();
lcd_init();
print_string("\nSTART MAIN TIMER TEST");
Timer0_Init();
sei();
while(1)
{
if(Update_flag)
{
sprintf(Mystring,"%02d %02d %02d",(unsigned char)HRS_var,(unsigned char)MIN_var,(unsigned char)SEC_var);
print_string("\n\r");
print_string(Mystring);
lcd_gotoxy1(0);
lcd_string(Mystring);
Update_flag = 0;
}
}
}
//main here
int main(void) {
uint8_t txrxrole = 0; // 1 transmitter 0 receiver
uint8_t i = 0;
//nrf24l01 variables
uint8_t bufferout[NRF24L01_PAYLOAD];
uint8_t bufferin[NRF24L01_PAYLOAD];
#if DEBUGENABLED == 1
//init uart
USART_Init(103);
#endif
//LCD init
lcd_init();
lcd_gotoxy1(0);
//init nrf24l01
nrf24l01_init();
//init interrupt
sei();
txrxrole = ROLERX; /////////////////////////////////////////////////
#if DEBUGENABLED == 1
if(txrxrole == ROLETX)
uart_putc('T');
else if(txrxrole == ROLERX)
uart_putc('R');
#endif
//setup buffer
for(i=0; i<sizeof(bufferout); i++)
bufferout[i] = i+'a';
for(i=0; i<sizeof(bufferin); i++)
bufferin[i] = 0;
//sending buffer addresses
uint8_t sendpipe = 0;
uint8_t addrtx0[NRF24L01_ADDRSIZE] = NRF24L01_ADDRP0;
uint8_t addrtx1[NRF24L01_ADDRSIZE] = NRF24L01_ADDRP1;
uint8_t addrtx2[NRF24L01_ADDRSIZE] = NRF24L01_ADDRP2;
uint8_t addrtx3[NRF24L01_ADDRSIZE] = NRF24L01_ADDRP3;
uint8_t addrtx4[NRF24L01_ADDRSIZE] = NRF24L01_ADDRP4;
uint8_t addrtx5[NRF24L01_ADDRSIZE] = NRF24L01_ADDRP5;
#if DEBUGENABLED == 1 && NRF24L01_PRINTENABLE == 1
nrf24l01_printinfo(uart_puts, uart_putc);
#endif
//main loop
for(;;)
{
if(txrxrole == ROLETX)
{//Tx
#if DEBUGENABLED == 1
char pipebuffer[5];
uart_puts("sending data, on pipe ");
itoa(sendpipe, pipebuffer, 10);
uart_puts(pipebuffer);
uart_puts("... ");
#endif
if(sendpipe == 0){
//set tx address for pipe 0
nrf24l01_settxaddr(addrtx0);
} else if(sendpipe == 1) {
//set tx address for pipe 1
nrf24l01_settxaddr(addrtx1);
} else if(sendpipe == 2) {
//set tx address for pipe 2
nrf24l01_settxaddr(addrtx2);
} else if(sendpipe == 3) {
//set tx address for pipe 3
nrf24l01_settxaddr(addrtx3);
} else if(sendpipe == 4) {
//set tx address for pipe 4
nrf24l01_settxaddr(addrtx4);
} else if(sendpipe == 5) {
//set tx address for pipe 5
nrf24l01_settxaddr(addrtx5);
}
//write buffer
uint8_t writeret = nrf24l01_write(bufferout);
#if DEBUGENABLED == 1
if(writeret == 1)
uart_puts("ok\r\n");
else
uart_puts("failed\r\n");
#endif
sendpipe++;
sendpipe%=6;
#if DEBUGENABLED == 0
}
#endif
#if DEBUGENABLED == 1
_delay_ms(1000);
#endif
}
else if(txrxrole == ROLERX)
void motor_execute(void)
{cli();
unsigned char degree_exec_cw;
unsigned char degree_exec;
unsigned char degree_exec_ccw;
unsigned char variance;
degree_set_new=eeprom_read_byte(25);
for(degree_exec_cw=degree_set_new;degree_exec_cw<600;) // 600 for 6000 degrees
{
PORTC=0x33;
motor_dir_cw();
for(degree=0;degree<50;degree++)
{cli();
PORTG|=(1<<4);
_delay_us(555);
PORTG&=~(1<<4);
_delay_us(5);
}
degree_exec_cw++;
eeprom_write_byte(25,degree_exec_cw);
//sei();
_delay_ms(4);
if (flag==1)
{
degree_exec_cw=eeprom_read_byte(25);
lcd_gotoxy2(13);
lcd_num(degree_exec_cw);
_delay_ms(300);
PORTC=0x01;
}
//_delay_ms(240000);
lcd_gotoxy1(10);
lcd_string(" ");
lcd_gotoxy1(10);
lcd_num(eeprom_read_byte(25));
}
for(degree_exec_ccw=600;degree_exec_ccw>1;)
{ PORTC=0x77;
//cli();
motor_dir_ccw();
for(degree=0;degree<50;degree++)
{
PORTG|=(1<<4);
_delay_us(555);
PORTG&=~(1<<4);
_delay_us(5);
}
degree_exec_ccw--;
eeprom_write_byte(25,degree_exec_ccw);
lcd_gotoxy1(10);
lcd_string(" ");
lcd_gotoxy1(10);
lcd_num(eeprom_read_byte(25));
//sei();
}
sei();
}
int main(void)
{
DDRD |=(1<<4)|(1<<5); //initialising PORTS of motors
DDRD |=(1<<6)|(1<<7);
DDRB |=(1<<0)|(1<<1); // lifting motor initialization
DDRC |=(1<<3);// initialising port of buzzer .
DDRD |=(1<<1);
PORTB |= (1<<5); // activating pullups for switch
lcd_init();
PORTC|= (1<<1); // initialising lcd
lcd_gotoxy1(0);
//init(); //adc initialization
while(1)
{
c1=0;
lcd_gotoxy1(0);
lcd_string("x:");
lcd_showvalue1(currx);
lcd_string("y:");
lcd_showvalue1(curry);
lcd_string("o:");
lcd_showvalue1(ori);
linefollower();
update();
takecareofobject();
c1 = decide();
inch();
turn(c1);
lcd_gotoxy2(0);
lcd_char(c1);
lcd_string("ox : ");
lcd_showvalue1(objx);
lcd_string("oy : ");
lcd_showvalue1(objy);
//if((PINA & (1<<1))||(PINA & (1<<5)))
//f2=0;
if(c1=='N')
break;
}
}
