void get_sensors ( void )
{
char i;
mLeftLine = 0;
mRightLine = 0;
mCenterRange = 0;
for ( i = 0; i < 8; i++ )
{
//mLeftLine += read_a2d(FL_SENSOR);
//mRightLine += read_a2d(FR_SENSOR);
mCenterRange += read_a2d(OL_SENSOR);
}
//mLeftLine >>= 3;
//mRightLine >>= 3;
mCenterRange >>= 3;
//Sumo.atLeftEdge = (mLeftLine < mLeftEdgeThreshold);
//Sumo.atRightEdge = (mRightLine < mRightEdgeThreshold);
Sumo.atLeftEdge = 0;
Sumo.atRightEdge = 0;
rangeDifference = mCenterRange; // - mRightRange;
rangeAverage = mCenterRange; // + mRightRange) >> 1;
return;
}
void main(void) {
//OPTION = (GPWU | GPPU | PS0 | PS1 | PS2);//1:256 TMR prescale rate
OPTION = (nGPWU | nGPPU); //1:1 TMR prescale rate //TODO: check these
init_a2d(); // initialise the A2D module
TRIS = 0b1010; //gp0 out, gp1 in, gp2 out, gp3 in
BACKLIGHT = 1;
delay_s(1);
read_a2d();
if (ADRES < VIDLE) {
mode = FIXED;
} else if (ADRES > VDISABLED) {
mode = DISABLED;
} else {
mode = CP;
}
active = 0;
last_roller = ROLLER;
for (; mode == DISABLED;) {
//DEAD
}
for (;;) {
if (mode == FIXED) {
if (ADRES < VIDLE) {
if (active) {
toggle_active = 1;
}
} else {
if (!active) {
toggle_active = 1;
}
}
} else { //COLLECTIVE PITCH MODE
if (ADRES > (VMDL_LOW) && ADRES < (VMDL_HIGH)) {//TODO: overflow check
if (active) {
toggle_active = 1;
}
} else {
if (!active) {
toggle_active = 1;
}
}
}
if (toggle_active) {
active = !active;
pulse_trainer();
toggle_active = 0;
idle_time = 0;
} else if (last_roller != ROLLER) {
last_roller = ROLLER;
idle_time = 0;
BACKLIGHT = 1;
} else if (!active){
//crude way of ensuring a cycle takes 100ms since that is a lot longer than all other operations
__delay_ms(OPERATIONAL_DELAY);
idle_time++;
}
if (idle_time >= BACKLIGHT_TIME) {
BACKLIGHT = 0;
}
if (idle_time >= IDLE_TIME_WARNING) {
idle_time = 0;
pulse_trainer();pulse_trainer();
}
read_a2d(); //takes 13Tad so time is 13/(4Mhz/4) = 13us
}
}
