int main(void)
{
pinIO();
serialSetupUSB();
timerSetup();
motorSetup();
encSetup();
//infinete loop in which we count
while(1)
{
//currentVelocity = velocityGet();
moveForward(16);
delay(10);
moveBackward(16);
} //remain here forever, never end the main function.
return 0; //we should never really return
}
void stepperControl(stepper *stepper){
motorSetup();
while(1){
if (stepper->period != 0.0){
// Do math with the rate to scail it and set dir
//printf("period = %f",*period);
if (stepper->period > 0){
digitalWrite(motor1Dir, HIGH);
digitalWrite(motor2Dir, LOW);
stepper->count--;
} else {
digitalWrite(motor1Dir, LOW);
digitalWrite(motor2Dir, HIGH);
stepper->count++;
}
// Do the step
digitalWrite(motor1Step, HIGH);
digitalWrite(motor2Step, LOW);
wait(&stepper->period);
digitalWrite(motor1Step, LOW);
digitalWrite(motor2Step, HIGH);
wait(&stepper->period);
} else {
delay(5);
}
}
}
int main(void)
{
/* Init board */
BoardInit();
/* Init GPIO */
InitGPIO();
/* Init UART */
MAP_PRCMPeripheralClkEnable(PRCM_UARTA0, PRCM_RUN_MODE_CLK);
InitTerm();
/* Init I2C */
I2C_IF_Open(I2C_MASTER_MODE_FST);
/* Init the internet! */
// http://azug.minpet.unibas.ch/~lukas/bricol/ti_simplelink/resources/swru368.pdf SECTION 10
dhcpParams.lease_time = 1000;
dhcpParams.ipv4_addr_start = 0xc0a80102;
dhcpParams.ipv4_addr_last = 0xc0a801fe;
sl_Start(NULL,NULL,NULL);
MAP_UtilsDelay(8000000);
// config IP etc
ipV4.ipV4 = 0xc0a80101;
ipV4.ipV4Mask = 0xFFFFFF00;
ipV4.ipV4Gateway = 0xc0a80101;
ipV4.ipV4DnsServer = 0xc0a80101;
sl_NetCfgSet(SL_IPV4_AP_P2P_GO_STATIC_ENABLE, 1 ,sizeof(SlNetCfgIpV4Args_t), (unsigned char*) &ipV4);
sl_WlanSetMode(ROLE_AP);
// config SSID
sl_WlanSet(SL_WLAN_CFG_AP_ID,WLAN_AP_OPT_SSID, strlen(myssid), (unsigned char*) myssid);
sl_Stop(100);
sl_Start(NULL,NULL,NULL);
// start DHCP server
sl_NetAppStop(SL_NET_APP_DHCP_SERVER_ID);
sl_NetAppSet(SL_NET_APP_DHCP_SERVER_ID, NETAPP_SET_DHCP_SRV_BASIC_OPT, outLen,(unsigned char*) &dhcpParams);
sl_NetAppStart(SL_NET_APP_DHCP_SERVER_ID);
//Stop Internal HTTP Serve
long lRetVal = -1;
lRetVal = sl_NetAppStop(SL_NET_APP_HTTP_SERVER_ID);
ASSERT_ON_ERROR( lRetVal);
//Start Internal HTTP Server
lRetVal = sl_NetAppStart(SL_NET_APP_HTTP_SERVER_ID);
ASSERT_ON_ERROR( lRetVal);
/* Finished init the internet! */
setRLED();
/* Wait for operator */
while(!readDIP1());
clearRLED();
/* Init IMU (alongside timers and interrupt */
imu_setup();
/* Init odometers */
odometer_setup();
set_controller_parameters(kp, ki, kd);
set__odo_controller_parameters(kp_odo, ki_odo, kd_odo);
/* Init motors (alongside motor GPIO, timers and interrupt */
motorSetup();
controller_setup();
odometer_controller_setup(); // MUST be the last init called!
while(1)
{
_SlNonOsMainLoopTask();
}
}
int main(void)
{
pinIO();
serialSetupUSB();
serialSetupP2P();
timerSetup();
//pwmSetup();
setupA2D();
motorSetup();
encSetup();
int motor1;
//int motor1speed = 200;
int motor2speed = 200;
char targetVelocity1 = 0;
char currentVelocity;
float pop;
char error = 0;
//infinete loop in which we count
while(1)
{
//currentVelocity = velocityGet();
motor1 = motorSet(39);
motor1 = 200;
//targetVelocity1 = 30;
//error = targetVelocity1 - currentVelocity;
//int test
/* if (currentVelocity > targetVelocity1)
{
if(motor1speed > 0)
{
motor1speed -=2;
} else {
motor1speed = 0;
}
} else if (currentVelocity < targetVelocity1)
{
if(motor1speed < 798)
{
motor1speed +=2;
} else {
motor1speed = 798;
}
//motor1speed = 798*(float)(1-(float)(currentVelocity / targetVelocity1));
}*/
motor1Forward(motor1);
motor2Forward(motor2speed);
} //remain here forever, never end the main function.
return 0; //we should never really return
}
