int main()
{
TCCR0A = 0; // configure timer0 to run at 78 kHz
TCCR0B = 0x04; // and overflow when TCNT0 = 256 (~3 ms)
play_from_program_space(rhapsody);
while(1)
{
// allow the sequence to keep playing automatically through the following delays
#ifndef ALWAYS_CHECK
play_mode(PLAY_AUTOMATIC);
#else
play_mode(PLAY_CHECK);
#endif
lcd_goto_xy(0, 0);
print("blink!");
int i;
for (i = 0; i < 8; i++)
{
#ifdef ALWAYS_CHECK
play_check();
#endif
red_led(1);
delay_ms(500);
red_led(0);
delay_ms(500);
}
lcd_goto_xy(0, 0);
print("timing");
lcd_goto_xy(0, 1);
print(" "); // clear bottom LCD line
// turn off automatic playing so that our time-critical code won't be interrupted by
// the buzzer's long timer1 interrupt. Otherwise, this interrupt could throw off our
// timing measurements. Instead, we will now use playCheck() to keep the sequence
// playing in a way that won't throw off our measurements.
#ifndef ALWAYS_AUTOMATIC
play_mode(PLAY_CHECK);
#endif
unsigned char maxTime = 0;
for (i = 0; i < 8000; i++)
{
TCNT0 = 0;
while (TCNT0 < 20) // time for ~250 us
;
if (TCNT0 > maxTime)
maxTime = TCNT0; // if the elapsed time is greater than the previous max, save it
#ifndef ALWAYS_AUTOMATIC
play_check(); // check if it's time to play the next note and play it if so
#endif
}
lcd_goto_xy(0, 1);
print("max=");
print_long((unsigned int)maxTime);
print(" "); // overwrite any left over characters
}
}
/*==========la fonction main()=======*/
int main(void) {
lcd_init_printf();
pololu_3pi_init(2000);
play_mode(PLAY_CHECK);
clear();
print("Hello!");
play("L16 ceg>c");
// start receiving data at 9600 baud
serial_set_baud_rate(9600);
serial_receive_ring(buffer, 100);
int i=0;
char dirct,chaine[4], comp='C',*recuper = NULL, *ok;
long val, veri=0;
char command;
/* la boucle qui permet de recuperer la trame caractere par caractere */
while(1){
for(i=0;i<4;i++){
command = read_next_byte();
if (command)
{
chaine[i] = command;
}
}
/*recuperation de la lettre recu dans la trame */
dirct = chaine[0];
/*recuperation du reste de la trame en chaine de caractere */
recuper = strchr(chaine,chaine[1]);
/*conversion de cette chaine recuperer en entier (type long)*/
val = strtol(recuper, &ok,10);
/* cette condition permet d'eviter l'execution de la meme trame plusieurs fois*/
if(dirct != comp || veri != val)
{
clear();
printf("%s",chaine);
switch(dirct)
{
case 'A':
avancer(val);
break;
case 'R':
reculer(val);
break;
case 'D':
droit(val);
break;
case 'G':
gauche(val);
break;
case 'M':
melodie();
break;
default:
set_motors(0,0);
break;
}
comp = dirct;
veri = val;
}
}
return 0;
}
int main()
{
pololu_3pi_init(2000);
play_mode(PLAY_CHECK);
clear();
// start receiving data at 115.2 kbaud
serial_set_baud_rate(115200);
serial_receive_ring(buffer, 100);
while(1)
{
// wait for a command
char command = read_next_byte();
// The list of commands is below: add your own simply by
// choosing a command byte and introducing another case
// statement.
switch(command)
{
case (char)0x00:
// silent error - probable master resetting
break;
case (char)0x81:
send_signature();
break;
case (char)0x86:
send_raw_sensor_values();
break;
case (char)0x87:
send_calibrated_sensor_values(1);
break;
case (char)0xB0:
send_trimpot();
break;
case (char)0xB1:
send_battery_millivolts();
break;
case (char)0xB3:
do_play();
break;
case (char)0xB4:
calibrate_line_sensors(IR_EMITTERS_ON);
send_calibrated_sensor_values(1);
break;
case (char)0xB5:
line_sensors_reset_calibration();
break;
case (char)0xB6:
send_line_position();
break;
case (char)0xB7:
do_clear();
break;
case (char)0xB8:
do_print();
break;
case (char)0xB9:
do_lcd_goto_xy();
break;
case (char)0xBA:
auto_calibrate();
break;
case (char)0xBB:
set_pid();
break;
case (char)0xBC:
stop_pid();
break;
case (char)0xC1:
m1_forward();
break;
case (char)0xC2:
m1_backward();
break;
case (char)0xC5:
m2_forward();
break;
case (char)0xC6:
m2_backward();
break;
default:
clear();
print("Bad cmd");
lcd_goto_xy(0,1);
print_hex_byte(command);
play("o7l16crc");
continue; // bad command
}
}
}
