void doSensHome(){
switch(position){
case POS_START:
printf("I'm about to start for the first time, I can start !!\n\r");
position = POS_HOME;
sleep(2);
pwmOn();
turnSX();
printf("I look for the line on the central line sensor\n\r");
break;
case POS_LINE:
printf("I arrive on the starting point\n\r");
position = POS_HOME;
pwmOff();
sleep(2);
pwmOn();
turnSX();
break;
case POS_HOME:
break; // I still turn to look for the line
default:
printf("unforeseen\n\r");
position=POS_BAD;
break; // unforeseen
}
}
void ruotaDX() {
printf("DX\n\r");
pwmOff();
pwmOn();
system("echo 1450000 > /sys/class/pwm/pwmchip0/pwm0/duty_cycle");
system("echo 1450000 > /sys/class/pwm/pwmchip0/pwm1/duty_cycle");
}
void indietro() {
printf("INDIETRO\n\r");
pwmOff();
pwmOn();
system("echo 15500000 > /sys/class/pwm/pwmchip0/pwm0/duty_cycle");
system("echo 1450000 > /sys/class/pwm/pwmchip0/pwm1/duty_cycle");
}
void forward() {
printf("AVANTI\n\r");
pwmOff();
//rampa
pwmOn();
system("echo 1450000 > /sys/class/pwm/pwmchip0/pwm0/duty_cycle");
system("echo 1550000 > /sys/class/pwm/pwmchip0/pwm1/duty_cycle");
usleep(D_MARCIA);
system("echo 1300000 > /sys/class/pwm/pwmchip0/pwm0/duty_cycle");
system("echo 1700000 > /sys/class/pwm/pwmchip0/pwm1/duty_cycle");
usleep(D_MARCIA);
system("echo 1100000 > /sys/class/pwm/pwmchip0/pwm0/duty_cycle");
system("echo 1900000 > /sys/class/pwm/pwmchip0/pwm1/duty_cycle");
usleep(D_MARCIA);
}
// -------------------------------------------------------------------------------------
int main(void)
{
setup();
//WDTCR &= 0b11011000; // set for 16ms timeout
//WDTCR |= (1<<WDE); // enable watchdog timer
pwmOn();
while(1)
{
//wdt_reset();
processComparator();
}
return 0;
}
// -------------------------------------------------------------------------------------
// Process the data from the ADC
static void processComparator(void)
{
// check comparator - we'll do simple skip-mode type PWM.
// If the voltage is higher, skip a cycle. If the voltage is lower,
// don't skip a cycle. We'll skip by turning the PWM output
// on and off (by setting OC1B to either 0 or the PWM value)
if ((ACSR & (1<<ACO)) == 0)
{
// comparater output is 0 - positive input is greater than negative input
// AIN < REF
// Enable PWM output because voltage is too low
pwmOff();
}
else
{
// comparator output is 1 - positive input is less than negative input
// AIN > REF
// Disable PWM output because voltage is too high
pwmOn();
}
}
//
// main
//
int main( void )
{
// Endless loop
//
while ( 1 )
{
// Switch states
//
switch ( newState )
{
case StateInit:
// Init system
//
init();
newState = StateIdle;
break;
case StateIdle:
if ( programmingActive )
{
if ( (ticks - levelRampTime) >= LEVEL_RAMP_TIME )
{
levelRampTime = ticks;
percent += levelSteps;
if ( 100 < percent )
{
levelSteps = -1;
percent = 99;
}
if ( 1 > percent )
{
levelSteps = 1;
percent = 2;
}
pwm( percent );
}
}
else if ( (strobeTimerActive) && (ticks >= strobeTimer) )
{
strobeTimer = ticks + STROBE_TIME;
if ( strobeFlag )
{
strobeFlag = 0;
pwm( percent );
}
else
{
strobeFlag = 1;
pwm( 0 );
}
}
go2sleep( SLEEP_MODE_IDLE );
break;
case StatePowerDownDetected:
if ( powerUpDebouncing )
{
// Discard state change.
//
newState = StatePowerUpDebouncing;
}
else
{
if ( 1 == programmingActive )
{
eeprom_write_byte( (uint8_t *) (EEPROM_PWM_VALUES + currentPWMMode), percent );
pwmValues[currentPWMMode] = percent;
programmingActive = 0;
}
powerDownDebouncing = 1;
debounceTimer = ticks + DEBOUNCE_TIME;
newState = StatePowerDownDebouncing;
pwmOff();
}
break;
case StatePowerDownDebouncing:
if ( ticks >= debounceTimer )
{
powerDownDebouncing = 0;
if ( !(PINB & (1 << PB0)) )
{
newState = StatePowerDown;
}
else
{
newState = StateIdle;
}
}
else
{
go2sleep( SLEEP_MODE_PWR_DOWN );
}
break;
case StatePowerDown:
if ( 0 == powerDownTimerRunning )
{
powerDownTimerRunning = 1;
powerDownTimer = ticks;
}
go2sleep( SLEEP_MODE_PWR_DOWN );
break;
case StatePowerUpDetected:
if ( powerDownDebouncing )
{
// Discard state change.
//
newState = StatePowerDownDebouncing;
}
else
{
powerUpDebouncing = 1;
debounceTimer = ticks + DEBOUNCE_TIME;
newState = StatePowerUpDebouncing;
}
break;
case StatePowerUpDebouncing:
if ( ticks >= debounceTimer )
{
powerUpDebouncing = 0;
if ( (PINB & (1 << PB0)) )
{
newState = StatePowerUp;
}
else
{
newState = StateIdle;
}
}
else
{
go2sleep( SLEEP_MODE_IDLE );
}
break;
case StatePowerUp:
pwmOn();
if ( programmingActive )
{
// Do nothing!
}
else
{
if ( (ticks - powerDownTimer) <= MAX_PROG_SWITCH_TIME )
{
fastClicks++;
if ( CLICKS_TO_PROG_MODE <= fastClicks )
{
fastClicks = 0;
powerDownTimerRunning = 0;
powerDownTimer = 0;
percent = 1;
levelSteps = 1;
levelRampTime = ticks;
programmingActive = 1;
pwm( percent );
}
newState = StateIdle;
}
else if ( (ticks - powerDownTimer) <= MAX_MODE_SWITCH_TIME )
{
clicks++;
if ( CLICKS_TO_SWITCH_MODE <= clicks )
{
clicks = 0;
powerDownTimerRunning = 0;
powerDownTimer = 0;
currentPWMMode++;
if ( NUM_PWM_VALUES <= currentPWMMode )
{
currentPWMMode = 0;
}
percent = pwmValues[ currentPWMMode ];
strobeTimerActive = percent & 0x80;
if ( strobeTimerActive )
{
strobeTimer = ticks + STROBE_TIME;
}
percent &= 0x7F;
pwm( percent );
}
newState = StateIdle;
}
else
{
clicks = 0;
fastClicks = 0;
powerDownTimerRunning = 0;
powerDownTimer = 0;
newState = StateIdle;
}
}
break;
default:
break;
}
}
}
