void main() {
int signal2;
int signal4;
void initMSP430();
IFG1=0; // clear interrupt flag1
WDTCTL = WDTPW + WDTHOLD; // disable WDT
P1DIR |= BIT0 | BIT6; // set leds to output
while(1) {
signal2 = readADC(2); // read analog pin 2
signal4 = readADC(4); // read analog pin 4
if (signal2 > 0x200) {
P1OUT |= BIT0; // turn on red led
P1OUT &= ~BIT6;
} else if (signal4 > 0x200) {
P1OUT &= ~BIT0;
P1OUT |= BIT6; // turn on green led
} else {
P1OUT &= ~BIT0; // turn off both leds
P1OUT &= ~BIT6;
}
}
}
int main(void) {
clock_prescale_set(clock_div_16);
uint16_t lightThreshold;
uint16_t sensorValue;
// Set up ADC
ADMUX |= (1 << REFS0); /* reference voltage on AVCC */
ADCSRA |= (1 << ADPS1) | (1 << ADPS0); /* ADC clock prescaler /8 */
ADCSRA |= (1 << ADEN); /* enable ADC */
LED_DDR = 0xff;
while (1) {
lightThreshold = readADC(POT);
sensorValue = readADC(LIGHT_SENSOR);
if (sensorValue < lightThreshold) {
LED_PORT = 0xff;
}
else {
LED_PORT = 0x00;
}
}
return (0);
}
//Clutch actuation method
void actuate_clutch(void)
{
clutch_posn = readADC(15);
if (clutch_state == 1) {
while (clutch_posn < clutch_half) {
P3OUT &= ~PIN2; //DIR
P3OUT |= PIN1; //PWMH
clutch_posn = readADC(15);
}
P3OUT &= ~PIN1;
}
else if (clutch_state == 0) {
while (clutch_posn > clutch_extend) {
P3OUT |= PIN2; //DIR
P3OUT |= PIN1; //PWMH
clutch_posn = readADC(15);
}
P3OUT |= PIN2; //DIR
P3OUT |= PIN1; //PWMH
}
}
int main(void) {
// -------- Inits --------- //
uint16_t lightThreshold;
uint16_t sensorValue;
// Set up ADC
ADMUX |= (1 << REFS0); /* reference voltage on AVCC */
ADCSRA |= (1 << ADPS1) | (1 << ADPS0); /* ADC clock prescaler /8 */
ADCSRA |= (1 << ADEN); /* enable ADC */
LED_DDR = 0xff;
// ------ Event loop ------ //
while (1) {
lightThreshold = readADC(POT);
sensorValue = readADC(LIGHT_SENSOR);
if (sensorValue < lightThreshold) {
LED_PORT = 0xff;
}
else {
LED_PORT = 0x00;
}
} /* End event loop */
return 0; /* This line is never reached */
}
int main()
{
uint16_t t1RawADC = 0;
uint16_t t2RawADC = 0;
float temp1 = 0;
float temp2 = 0;
initADC();
lcd_init();
while(1)
{
t1RawADC = readADC(TEMP1_ADC_CHANNEL);
t2RawADC = readADC(TEMP2_ADC_CHANNEL);
temp1 = convertRawADCToTemp(t1RawADC);
temp2 = convertRawADCToTemp(t2RawADC);
printTemperatures(temp1, temp2);
// LCD_clear();
// LCD_int(temp1);
_delay_ms(100);
}
}
void ADC_go_to_puck(){
float kp_puck_offset = 1;
float kd_puck_offset = 0;//100;
float kp_puck_slow = 0;
float kd_puck_slow = 0;
if (abs(theta_angleOG)<120){
kp_puck_slow = 0;//.2;
kd_puck_slow = 25;
}
//perform a J-Stroke if facing own goal, go straight at puck if facing other goal
photo_ar = readADC(0);
photo_al = readADC(1);
int diff = (photo_al-photo_ar);
//int d_diff = diff - lastPhotoDiff;
//slow down as you approach the puck
int d_photo = abs(photo_ar -last_photo_ar)+abs(photo_al-last_photo_al); //difference in photo val
int d_offset_photo = abs(photo_al - last_photo_al) + abs(last_photo_ar - photo_ar);
int kd_photo = d_photo*kd_puck_slow;
int kp_photo = kp_puck_slow*(photo_ar+photo_al);
int slow = kd_photo + kp_photo;
//differential turn to puck
int kp_diff = diff*kp_puck_offset;
int kd_diff = d_offset_photo*kd_puck_offset;
int offset = kp_diff;
last_photo_ar = photo_ar;
last_photo_al = photo_al;
lastPhotoDiff = diff;
int adcPWM = 700;
// adcPWM -= (int)(float)(photo_ar + photo_al) /* (velocity)*/ ;
//int offset = (int)((float) diff * kp_puck);
int photo_left; int photo_right;
if (offset< 0 ) {
photo_left = adcPWM - slow;
photo_right = adcPWM - abs(kp_diff) + kd_diff - slow;
}else { photo_left = adcPWM - abs(kp_diff ) + kd_diff - slow;
photo_right = adcPWM - slow ;
}if (photo_left < pwmMin) photo_left = pwmMin;
if (photo_right < pwmMin) photo_right = pwmMin;
set_motors(photo_left,photo_right);
if (debug_goto) {
m_usb_tx_string("\n\tphoto_ar: ");
m_usb_tx_int(photo_ar);
m_usb_tx_string("\tphoto_al: ");
m_usb_tx_int(photo_al);
m_usb_tx_string("\tkd_photo: ");
m_usb_tx_int(kd_photo);
m_usb_tx_string("\tkp_photo: ");
m_usb_tx_int(kp_photo);
m_usb_tx_string("\n\r");
}
}
int main( void )
{
uint16_t leftLightSensor = 0;
uint16_t rightLightSensor = 0;
char buffer0[5];
char buffer1[5];
initUSART();
initADC();
initPWM();
while ( 1 )
{
/* Start ADC7 conversion */
leftLightSensor = readADC( 7 );
/* Convert 10-bit uint16_t adcValue to ASCII and store in buffer */
itoa( leftLightSensor, buffer0, 10 );
/* Print out leftLightSensor ADC Value */
printString( "ADC Channel 6 (Left CD Sensor): " );
printString( buffer0 );
printString( "\n\n" );
/* Start ADC6 conversion */
rightLightSensor = readADC( 6 );
/* Convert 10-bit uint16_t adcValue to ASCII and store in buffer */
itoa( rightLightSensor, buffer1, 10 );
/* Print out rightLightSensor ADC Value */
printString( "ADC Channel 7 (Right CD Sensor): " );
printString( buffer1 );
printString( "\n\n" );
/* Arch right if rightLightSensor reading is greater than leftLightSensor */
if ( ( rightLightSensor - 100 ) > leftLightSensor )
{
leftwheel( 55, 1 );
rightwheel( 35 , 1 );
}
/* Arch left if leftLightSensor reading is greater than rightLightSensor */
else if ( ( leftLightSensor - 100 ) > rightLightSensor )
{
leftwheel( 35 , 1 );
rightwheel( 45, 1 );
}
/* Go forward if both light sensors have the same reading */
else
{
leftwheel( 35 , 1 );
rightwheel( 35 , 1 );
}
_delay_ms( 500 );
}
}
/*le o AD de um dos eixos analogicos do joystick*/
uint16_t readJoystick(char eixo){
if(eixo == 'x'){
return readADC(ADC_Channel_14); //joystick X esta ligado no canal 14 do ADC1
}else if(eixo == 'y'){
return readADC(ADC_Channel_15); //joystick Y esta ligado no canal 15 do ADC1
}else{
return 9999; //eixo invalido
}
}
// timer interrupt handler, read the ADC values and set the parameters
// for the sensor values, and prints them to console.
void hw_timer_handler(void)
{
front_sensor_val = readADC(0);
left_sensor_val = readADC(1);
right_sensor_val = readADC(2);
back_sensor_val = readADC(3);
printf ("Front value: %d \nBack value: %d \nRight value: %d \nLeft value: %d \n",
front_sensor_val, back_sensor_val, right_sensor_val, left_sensor_val);
}
int main()
{
//------------------------------------------------------------------------
// Initialization
sei();
// The Arduino bootloader connects pins 0 and 1 to the USART, disconnect
// them here so they can be used as normal digital I/O.
#if defined(__AVR_ATmega168__)
UCSR0B = 0;
#else
UCSRB = 0;
#endif
//------------------------------------------------------------------------
// Setup
// Set up directions
DDRB |= ( 1 << LED_PIN );
DDRB |= ( 1 << LO_OUT );
DDRD |= ( 1 << ADC_CS2 );
DDRD |= ( 1 << ADC_CS1 );
DDRD |= ( 1 << ADC_CLK );
DDRD |= ( 1 << SFT_CLK );
DDRD &= ~( 1 << SFT_D3 );
DDRD &= ~( 1 << SFT_D2 );
DDRD &= ~( 1 << SFT_D1 );
DDRD &= ~( 1 << SFT_D0 );
// Set initial output signals
PORTB |= ( 1 << LED_PIN );
PORTD |= ( 1 << ADC_CS2 );
PORTD |= ( 1 << ADC_CS1 );
// TODO: Period needs to take into account multiplication by 1024 * 1024
FrequencyTimer2::setPeriod( 1000000 / 982 + 2 ); // P = 1 / f + adjust
FrequencyTimer2::enable();
//------------------------------------------------------------------------
// Main loop
while( true )
{
PORTD &= ~( 1 << ADC_CS1 ); // Enable/start ADC1 conversion (Lower)
readADC();
PORTD |= ( 1 << ADC_CS1 ); // Disable/end ADC1 conversion (Raise)
PORTD &= ~( 1 << ADC_CS2 ); // Enable/start ADC2 conversion (Lower)
readADC();
PORTD |= ( 1 << ADC_CS2 ); // Disable/end ADC2 conversion (Raise)
}
return 0;
}
int main(void) {
char lcdString[80];
// Initialize serial port for output
uart_init();
stdout = &uart_output;
stdin = &uart_input;
setupADC(0x02);
// Setup the LCD
DDRB = 0xFF; // Set port B as output!
PORTB = 0x00; // And zero it
hd44780_connection *conn_struct = hd44780_createConnection(&PORTB, 0, &PORTB, 5, &PORTB, 4, &PORTB, 6);
hd44780_driver *connDriver = hd44780_hl_createDriver(TMBC20464BSP_20x4, conn_struct, (uint8_t (*)(void*))hd44780_initLCD4Bit, (void (*)(void*, uint16_t))hd44780_sendCommand);
hd44780_hl_init(connDriver, 0, 0);
I2C_Config *masterConfig = I2C_buildDefaultConfig();
I2C_masterBegin(masterConfig);
DS1307_ToD time;
DS1307_setSQW(1, 0, DS1307_SQW_1Hz);
DS1307_readToD(&time);
DDRC &= 0xF7;
PORTC |= 0x8;
// See here for interrupts http://www.protostack.com/blog/2010/09/external-interrupts-on-an-atmega168/
PCICR |= 1 << PCIE1;
PCMSK1 |= 1 << PCINT11;
sei();
_delay_ms(500);
fprintf(stdout, "Start loop...\n");
uint16_t adc_val = readADC();
while (1) {
if (interruptReceived) {
interruptReceived = 0;
DS1307_readToD(&time);
sprintf(lcdString, "%.2u-%.2u-%.4u\n%.2u:%.2u:%.2u\n\n%.1fC", time.dayOfMonth, time.month, time.year, time.hours, time.minutes, time.seconds, adcReadToTemp(adc_val, REF_VOLTAGE, SERIES_RESISTOR, THERMISTOR_NOMINAL, TEMPERATURE_NOMINAL, B_COEFFICIENT));
hd44780_hl_printText(connDriver, 0, 0, lcdString);
}
adc_val = (adc_val + readADC()) / 2;
}
return 0;
}
int main()
{
int value1,value2;
initADC(MGRNUM);
while(1)
{
value1 = readADC(MGRNUM, AIN0);
pauseNanoSec(100000);
value2 = readADC(MGRNUM, AIN1);
printf("value1: %d value2: %d\n",value1,value2);
pauseNanoSec(100000);
}
return 0;
}
void Widget::initialiseHWLibraries()
{
QPluginLoader loader4("libQmaxPTInterface.so",this);
ILineEdit = qobject_cast<IQmaxLineEdit*>(loader4.instance());
INumberPanel=qobject_cast<IQmaxNumberPanel*>(loader4.instance());
QPluginLoader loaderApp("libPTApplicationcardInterface.so", this);
IAppCard = qobject_cast<IApplicationCardInterface*> (loaderApp.instance());
qDebug() << "Appcard" << IAppCard;
IAppCard->setDeviceName(SLOT0);
IAppCard->enumerateAPPCard();
IAppCard->setSPIAppendBit(0xC000);
QPluginLoader loader2("libSPIMemoryInterface.so", this);
ISPIMemory = qobject_cast<ISPIMemoryInterface*> (loader2.instance());
ISPIMemory->setHardwarwObject(IAppCard);
m_objAD7190Component = new AD7190Component(IAppCard);
m_objAD5318Component = new AD5318Components(IAppCard);
resetDAC();
m_objAD7190Component->resetADC(1);
m_objAD7190Component->resetADC(2);
m_nFrequency=1000.0;
m_nAVGSamples=1.0;
ADCtimer = new QTimer(this);
connect(ADCtimer, SIGNAL(timeout()), this, SLOT(readADC()));
}
void main()
{
auto int rc;
brdInit();
// initially start up A/D oscillator and charge up cap
anaIn(0, SINGLE, GAINSET);
printf("\t\t<<< Analog input channels 0 - 6: >>>\n");
printf("\t LN0IN\t LN1IN\t LN2IN\t LN3IN\t LN4IN\t LN5IN\t LN6IN\n");
printf("\t------\t------\t------\t------\t------\t------\t------\n");
logAddr = MINFLASHADDR;
while(1)
{
costate{ // Task 1
waitfor(ADSPIBUSY != (rc=readADC()));
if(rc<0){
exit(rc); // 0 = successful finish
}
waitfor(DelaySec(60)); // Delay, yield to other costate 1 minute
}
costate{ // Task 2
waitfor(sampleComplete); // wait for flag to log & display data
logADC();
}
}
}
// returns the peak frequency
uint16_t fftSingleCycle() {
// 10 bits to 6 bits unsigned, range [0, 63]
// then shift so have range [-32, 31]
uint16_t start_t = TMR0;
for (int i = 0; i < FFT_LEN; i++)
fftReal[i] = readADC();
uint16_t stop_t = TMR0;
// pre-process for the fft
for (int i = 0; i < FFT_LEN; i++)
fftReal[i] = (int16_t)((uint16_t)fftReal[i] >> 4) - 31;
// Timer clock is Fosc/4, so do >>2
sample_freq = (_XTAL_FREQ << (FFT_LEN_BITS))/((stop_t > start_t)
? (stop_t - start_t)
: (65536 - start_t + stop_t));
// Reset the imaginary array
for (int i = 0; i < FFT_LEN; i++)
fftImag[i] = 0;
max_index = optfft(fftReal, fftImag);
peak_freq = (max_index * sample_freq) >> (FFT_LEN_BITS+2);
return (uint16_t)peak_freq;
}
int analogRead(adcPin pin)
{
uint32_t value = readADC(pin);
if(readResolution <= defaultResolution)
value = value >> (defaultResolution - readResolution);
else
void action()
{
//cmd byte will be in 1st and 2nd postions
//check for analog read
if((buffer[2]&(0xE0))==0x60)
{
//analog read
analogResponse(readADC(buffer[1]&0x0F));
}
else if( (buffer[2]&(0xFC))==0x04 )//check for digital action
{
//check for read or write
if((buffer[2]&(0x03))==0x00)
{
//digital read
digitalRead(buffer[1]&(0x1F));
}
else if((buffer[2]&(0x03))==0x02)
{
//digital read output register
digitalReadOut(buffer[1]&(0x1F));
}
else
{
//digital write
digitalWrite(buffer[1]&(0x1F),buffer[2]&(0x02));
}
}
else
{
sendResponse("OK");
}
}
// Return the voltage at capacitor in Volt
float readCapVoltage(volatile uint8_t number){
uint16_t volt = readADC(number);
float zdiode_corr = 0;
if (volt > 430){
zdiode_corr = pow((volt-430),2.2)/200000000;
}
return ((float) volt) * (ADC_FACTOR + zdiode_corr);
}
int main(void){
// ----- Initialize ----- //
uint16_t xaxis; //PC0 ADC VALUE
uint16_t yaxis; //PC1 ADC VALUE
DDRB |= (1 <<PB0)|(1<<PB5)|(1<<PB6)|(1<<PB7);
PORTC |= (1<<PC2); //THUMBSTICK PIN PULLUP RESISTOR SET
initUSART();
initADC();
initPWM();
OCR1B = VERT_MAX_POS;
while(1){
xaxis = readADC(PC0);
yaxis = readADC(PC1);
//X-AXIS 360 DEGREE ROTATION
if(xaxis == 514 || xaxis == 515)
OCR1A = 1023;
else if(xaxis < 514)
OCR1A = 180;
else
OCR1A = rotateRight(xaxis);
if(yaxis < 500 && OCR1B > VERT_MIN_POS){
if(yaxis >=300)
OCR1B -=LOWSPEED;
else if(yaxis >=100)
OCR1B -=MEDIUMSPEED;
else
OCR1B -=HIGHSPEED;
}else if(yaxis > 530 && OCR1B < VERT_MAX_POS){
if(yaxis <=700)
OCR1B +=LOWSPEED;
else if(yaxis <=900)
OCR1B +=MEDIUMSPEED;
else
OCR1B +=HIGHSPEED;
}
_delay_ms(20);
checkJButtonState();
}
return(0);
}
// Timer1 ISR function Frequency: 10kHz Priority: Level 7
void __ISR(_TIMER_1_VECTOR, IPL7SOFT) LEDBrightness()
{
// This logic could be run in the ewhile(1) loop, but will not guarantee
// that OC1RS is reset every time, resulting in a less smooth dimmer i.e.
unsigned int ADCval;
ADCval = readADC(); // read ADC (0-1024)
OC1RS = (40000*ADCval)/1024; //convert ADV calue to duty cycle
IFS0bits.T1IF = 0; // clear interrupt flag
}
// Reading PIR status using ADC on channel AN1
void readPIR(void)
{
initADC(1);
readADC();
resPIR = resADC;
if(resPIR > 500)
resPIR = 1;
else
resPIR = 0;
}
int mcp3208_IR_cm(int channel) {
const int MCP3208_dinoutPIN = 27;
const int MCP3208_clkPIN = 25;
const int MCP3208_csPIN = 26;
const float referenceVoltage = 5.0; // MCP3208 reference voltage setting. I use 5.0v for the 5.0v IR sensors from Parallax
int mcp3208reading = readADC(channel, MCP3208_dinoutPIN, MCP3208_clkPIN, MCP3208_csPIN);
float mcp3208volts = (float)mcp3208reading * referenceVoltage / 4096.0;
int mcp3208cm = 27.86 * pow(mcp3208volts, -1.15); // https://www.tindie.com/products/upgradeindustries/sharp-10-80cm-infrared-distance-sensor-gp2y0a21yk0f/
return(mcp3208cm);
}
void find_puck(void){
//TODO make this usable
/* IR pt L C P R */
photo_d1 = ~(PINB & 0x0F) &0x0F ;
if ((photo_d1 & 0b00000100) != 0b00000000){
// if (Super_state == PT_super);// if (direction == 1){rotate(-1);} else rotate(1);
Super_state = ADC_super;
}
if ((photo_d1 & 0b00000010) != 0b00000000){ Super_state = To_Goal_super; }
if ( (photo_d1 & 0b00000110) == 0 ) { Super_state = PT_super; }
switch (photo_d1){
case 0b00000000: rotate(0); break;
case 0b00000001: rotate(1); break;
case 0b00001000: rotate(-1); break;
case 0b00001001: if (position[1]>0.0 ) // robot is to the top of the board
if( (int)(10*position[2]) > -15 && (int)(10*position[2]) < 15 ) { rotate(1);}
else { rotate(-1);}
else {
if ((int)(10*position[2]) > -15 && (int)(10*position[2]) < 15 ){ rotate(-1);}
else { rotate(1); }
}break;
}
if (debug_find_puck){
photo_ar = readADC(0);
photo_al = readADC(1);
m_usb_tx_string("\t digital left: \t "); m_usb_tx_int(((photo_d1 >> 3) & 0x01));
m_usb_tx_string("\t digital cent: \t "); m_usb_tx_int(((photo_d1 >> 2) & 0x01));
m_usb_tx_string("\t digital right: \t "); m_usb_tx_int(((photo_d1 >> 0) & 0x01));
m_usb_tx_string("\t digital near: \t "); m_usb_tx_int(((photo_d1 >> 1) & 0x01));
m_usb_tx_string("\t analog L: \t "); m_usb_tx_int( photo_al );
m_usb_tx_string("\t analog R: \t "); m_usb_tx_int( photo_ar);
m_usb_tx_string("\t");
m_usb_tx_int(Super_state);
m_usb_tx_string("\n\r");
}
}
void getSelfBias(void)
{
i = readADC(ADC_BIAS); // ADC_15
asm(" ldx _i ;
lda #0CAh ; 3280
ldy #0Ch ;
div ;
sta _selfBias ;
"); //
}
void getPulsedLightSensors()
{
switch(getPulsedLight_check)
{
case 0:
setBottomLEDleft(1);
setBottomLEDright(1);
timer_puls_bottomled = TIMER_PULS_BOTTOMLED;
getPulsedLight_check = 1;
break;
case 1:
if(timer_puls_bottomled == 0)
{
lichtsensor_up_pulsed_1 = readADC(7);
lichtsensor_down_pulsed_1 = readADC(6);
setBottomLEDleft(0);
setBottomLEDright(0);
getPulsedLight_check = 2;
timer_puls_bottomled = TIMER_PULS_BOTTOMLED;
}
break;
case 2:
if(timer_puls_bottomled == 0)
{
lichtsensor_up_pulsed_2 = readADC(7);
lichtsensor_pulsed_up = (lichtsensor_up_pulsed_2 - lichtsensor_up_pulsed_1);
lichtsensor_down_pulsed_2 = readADC(6);
lichtsensor_pulsed_down = (lichtsensor_down_pulsed_2 - lichtsensor_down_pulsed_1);
getPulsedLight_check = 0;
}
break;
}
}
void storeNewADC(uint16_t * arr, uint8_t size, uint8_t channel){
uint8_t i;
arr = arr + (size-1);
//starting with last element of array, store value from the previous element
for (i=0;i<(size-1);i++){
*arr = *(arr-1);
arr--;
}
//read ADC for newest value into array
*arr = readADC(channel);
}
short averageADC(char times){
char i;
short acum = 0;
for ( i = 0; i < times; i++) {
acum+=readADC();
_delay_ms(5);
}
acum = acum/times;
if (!inScore && acum < GOAL_THRESH){
++score;
inScore = 1;
} else if (inScore && acum >= GOAL_THRESH) {inScore = 0;}
return acum;
}
unsigned char getKeys()
{
static unsigned char integrator = 0;
static unsigned char prevKeys = 0;
#define KEYS_ADC_OFFSET 10
unsigned char keys = 0;
unsigned char keysADC = readADC(ADC_3);
if (keysADC > 255 - KEYS_ADC_OFFSET)
keys |= 0; //no key presses
else if (keysADC > 207 - KEYS_ADC_OFFSET)
keys |= LR_KEY;
else if (keysADC > 155 - KEYS_ADC_OFFSET)
keys |= FA_KEY;
else if (keysADC > 100 - KEYS_ADC_OFFSET)
keys |= UV_KEY;
else if (keysADC > 50 - KEYS_ADC_OFFSET)
keys |= MENU_KEY;
else
keys |= VOL_KEY;
if (!R13) //PPT button NC
keys |= PTT_KEY;
#define INTMAX 50
//Debounce using integrator
if (prevKeys == keys)
{
if (integrator > 0)
integrator--;
}
else if (integrator < INTMAX)
integrator++;
if (integrator == 0)
return 0;
else if (integrator >= INTMAX)
{
prevKeys = keys;
integrator = INTMAX;
return prevKeys;
}
return 0;
}
void printTempWithCh(uint8_t ch) {
uint32_t adcVal = 0;
enableADCWithCh(ch);
for(uint16_t count = 0; count < ADC_COUNT; count++){
adcVal += readADC();
}
adcVal /= ADC_COUNT;
putStr("T = ");
printTemp(adcVal);
putStr(" C\n");
}
void initActuators(void)
{
shift_posn = readADC(14);
in_neutral = 0; // did this fix anything?
if (shift_posn < rest_posn) {
while (shift_posn < rest_posn) {
P3OUT |= PIN3; //DIR
P4OUT |= PIN2; //PWMH
shift_posn = readADC(14);
}
P4OUT &= ~PIN2;
}
else if (shift_posn > rest_posn) {
while (shift_posn > rest_posn) {
P3OUT &= ~PIN3; //DIR
P4OUT |= PIN2; //PWMH
shift_posn = readADC(14);
}
P4OUT &= ~PIN2;
}
}