void pot_test()
{
long start = get_ms();
char elapsed_ms;
int value;
set_analog_mode(MODE_10_BIT);
print_long(read_trimpot());
print(" "); // to clear the display
while((elapsed_ms = get_ms() - start) < 100)
{
value = read_trimpot();
play_frequency(value, 200, 15);
if(value < elapsed_ms*10)
{
red_led(0);
green_led(1);
}
else
{
red_led(1);
green_led(0);
}
}
}
int main() // run over and over again
{
while(1)
{
// note that the following line could also be accomplished with:
// int pot = analogRead(7);
int pot = read_trimpot(); // determine the trimpot position
// avoid clearing the LCD to reduce flicker
lcd_goto_xy(0, 0);
print("pot=");
print_long(pot); // print the trim pot position (0 - 1023)
print(" "); // overwrite any left over digits
int motorSpeed = (512 - pot) / 2;
lcd_goto_xy(0, 1);
print("spd=");
print_long(motorSpeed); // print the resulting motor speed (-255 - 255)
print(" ");
set_motors(motorSpeed, motorSpeed); // set speeds of motors 1 and 2
// all LEDs off
red_led(0);
green_led(0);
// turn green LED on when motors are spinning forward
if (motorSpeed > 0)
green_led(1);
// turn red LED on when motors are spinning in reverse
if (motorSpeed < 0)
red_led(1);
delay_ms(100);
}
}
int main()
{
lcd_init_printf(); // required if we want to use printf()
clear(); // clear the LCD
delay_ms(200); // wait for 200 ms
printf("hello"); // print "hello" on the first line of the LCD
delay_ms(200); // wait for 200 ms
printf("\nworld"); // print "world" on the second line (because of '\n')
delay_ms(2000); // wait for 2 seconds
clear(); // clear the LCD
unsigned char ch;
for (ch = 'A'; ch <= 'z'; ch++) // demonstrate LCD wrapping
{
printf("%c", ch); // print a string of characters that wraps when
delay_ms(50); // it reaches the end of the LCD
}
delay_ms(2000); // wait for 2 seconds
clear(); // clear the LCD
int i;
printf("Hex Dec");
for(i = 0; i <= 500; i += 50) // demonstrate LCD scrolling
{
delay_ms(800 - i); // the delay gets shorter as i gets bigger
printf("\n%03X %3d", i, i); // print i as 3-digit, zero-padded hex
// and a space-padded 3-digit decimal
}
delay_ms(2000); // wait for 2 seconds
clear(); // clear the LCD
printf("Trimpot:");
while (1) // continuously display the trimpot voltage in mV
{
lcd_goto_xy(0, 1); // go to start of second LCD row
printf("%4u mV", to_millivolts(read_trimpot())); // print trimpot voltage
delay_ms(50); // wait for 50 ms to reduce LCD flicker
}
}
int main()
{
set_analog_mode(MODE_10_BIT); // 10-bit analog-to-digital conversions
while(1) // run over and over again
{
lcd_goto_xy(0,0); // LCD cursor to home position (upper-left)
print_long(to_millivolts(read_trimpot())); // trimpot output in mV
print(" mV "); // added spaces are to overwrite left over chars
lcd_goto_xy(0, 1); // LCD cursor to start of the second line
unsigned int temp = read_temperature_f(); // get temp in tenths of a degree F
print_long(temp/10); // get the whole number of degrees
print_character('.'); // print the decimal point
print_long(temp - (temp/10)*10); // print the tenths digit
print_character(223); // print a degree symbol
print("F "); // added spaces are to overwrite left over chars
delay_ms(100); // wait for 100 ms (otherwise LCD flickers too much)
}
}
// *** triggered by middle button ***
// This function tests the eight user I/O pins and the trimmer potentiometer.
// At any given time, one pin is being driven low while the rest are weakly
// pulled high (to 5 V). At the same time, the LCD is displaying the input
// values on the eight user I/O pins. If you short a pin to *GROUND* (note:
// do not short the pin to power, only short it to one of the ground pads
// along the top edge of the board), you will see the corresponding bit on
// the LCD go to zero. The PD1 bit will always read zero as it is being
// pulled down through the red user LED.
unsigned char IOTest()
{
// the bits of the "outputs" byte will correspond to the pin states of
// the user I/O lines as follows:
// outputs: b7 b6 b5 b4 b3 b2 b1 b0
// user I/O: PC5 PC4 PC3 PC2 PC1 PC0 PD1 PD0
// Only one bit of "outputs" will ever be set (1) at a time; the rest will
// be cleared (0). The user I/O pin that corresponds to the set bit will
// be an output that is driven low while all of the other user I/O pins
// will be inputs with internal pull-ups enabled (i.e. they will be weakly
// pulled to 5V and will read as high).
unsigned char outputs = 0x80; // binary: 10000000
unsigned char direction = 0;
unsigned char button;
red_led(0); // turn red and green LEDs off
green_led(0);
clear(); // clear the LCD
print("User I/O");
set_analog_mode(MODE_8_BIT); // configure ADC for 8-bit readings
while (1) // loop here until we detect a button press and return
{
time_reset(); // reset millisecond timer count to zero
DDRC = 0; // make PC0 - PC5 inputs
PORTC = 0; // PC0 - PC5 -> high impedance inputs
DDRD &= ~0x03; // clear PD0 & PD1 bits (make them inputs)
PORTD &= ~0x03; // PD0 & PD1 -> high impedance inputs
PORTC |= ~outputs >> 2; // set the outputs states of PC0 - PC5
DDRC |= outputs >> 2; // make low pin an output (inputs for rest)
PORTD |= ~outputs & 0x03; // set the output states of PD0 and PD1
DDRD |= outputs & 0x03; // make low pin an output (inputs for rest)
// The following loop will execute for an amount of time determined
// by the position of the user trimmer potentiometer (trimpot).
// When the trimpot is at one extreme, the loop will take 256*2 = 512
// milliseconds. When the trimpot is at the other extreme, the
// loop will only execute once, which takes slightly more than 20 ms.
// In this way, the trimpot controls the speed at which the output
// byte changes.
do
{
// The bits of the "inputs" byte reflect the input values of pins
// PD0, PD1, and PC0 - PC5. Bit 0 corresponds to PD0, bit 1 to
// PD1, and bits 2 - 7 to PC0 - PC5, respectively.
unsigned char inputs = PIND & 0x03; // store PD0 and PD1 input vals
inputs |= PINC << 2; // store PC0 - PC5 input values
lcd_goto_xy(0, 1); // go to the start of the second LCD line
print_binary(inputs); // print the "input" byte in binary
delay_ms(20); // delay here for 20 milliseconds
// check if top or bottom buttons have been pressed
button = button_is_pressed(TOP_BUTTON | BOTTOM_BUTTON);
if (button != 0) // if so, reset I/O states, return button ID
{
DDRC = 0; // make PC0 - PC5 inputs
PORTC = 0; // disable pull-ups on PC0 - PC5
DDRD &= ~0x03; // make PD0 and PD1 inputs
PORTD &= ~0x03; // disable pull-ups on PD0 and PD1
return button;
}
}
while (get_ms() < read_trimpot() * 2);
if (direction)
outputs <<= 1; // bit-shift our output byte left by one bit
else
outputs >>= 1; // bit-shift our output byte right by one bit
if (outputs == 1) // if we have reached the right edge
direction = 1; // switch direction to "left"
if (outputs == 0x80) // if we have reached the left edge
direction = 0; // switch direction to "right"
}
}
// Sends the trimpot value, 0-1023.
void send_trimpot()
{
int message[1];
message[0] = read_trimpot();
serial_send_blocking((char *)message, 2);
}
// *** triggered by middle button ***
// This function tests the eight user I/O pins and the trimmer potentiometer.
// At any given time, one pin is being driven low while the rest are weakly
// pulled high (to 5 V). At the same time, the LCD is displaying the input
// values on the eight user I/O pins. If you short a pin to *GROUND* (note:
// do not short the pin to power, only short it to one of the ground pads
// along the top edge of the board), you will see the corresponding bit on
// the LCD go to zero. The PD1 bit will always read zero as it is being
// pulled down through the red user LED.
unsigned char IOTest()
{
// the bits of the "outputs" byte will correspond to the pin states of
// the user I/O lines as follows:
// outputs: b7 b6 b5 b4 b3 b2 b1 b0
// user I/O: PC5 PC4 PC3 PC2 PC1 PC0 PD1 PD0
// Only one bit of "outputs" will ever be set (1) at a time; the rest will
// be cleared (0). The user I/O pin that corresponds to the set bit will
// be an output that is driven low while all of the other user I/O pins
// will be inputs with internal pull-ups enabled (i.e. they will be weakly
// pulled to 5V and will read as high).
unsigned int outputs = 0x8000; // binary: 10000000 00000000
unsigned char *outputsA = (unsigned char *)&outputs; // pointer to low byte of outputs
unsigned char *outputsD = outputsA + 1; // pointer to high byte of outputs
unsigned char direction = 0;
unsigned char button;
red_led(1);
green_led(1);
clear(); // clear the LCD
print("User I/O");
lcd_goto_xy(0, 1);
print("DDDDDDDD AAAAAAAA");
lcd_goto_xy(0, 2);
print("76543210 76543210");
set_analog_mode(MODE_8_BIT); // configure ADC for 8-bit readings
while (1) // loop here until we detect a button press and return
{
time_reset(); // reset millisecond timer count to zero
DDRA = 0; // make PA0 - PA7 inputs
PORTA = 0; // PA0 - PA7 -> high impedance inputs
DDRD = 0; // make PD0 - PD7 inputs
PORTD = 0; // PD0 - PD7 -> high impedance inputs
PORTD |= ~(*outputsD);
DDRD |= *outputsD;
PORTA |= (~(*outputsA)) & 0x3F;
DDRA |= *outputsA & 0x3F; // never make PA6 and PA7 outputs
// The following loop will execute for an amount of time determined
// by the position of the user trimmer potentiometer (trimpot).
// When the trimpot is at one extreme, the loop will take 256*2 = 512
// milliseconds. When the trimpot is at the other extreme, the
// loop will only execute once, which takes slightly more than 20 ms.
// In this way, the trimpot controls the speed at which the output
// byte changes.
do
{
// The bits of the "inputs" byte reflect the input values of pins
// PD0, PD1, and PC0 - PC5. Bit 0 corresponds to PD0, bit 1 to
// PD1, and bits 2 - 7 to PC0 - PC5, respectively.
unsigned char inputsA = PINA;
unsigned char inputsD = PIND;
lcd_goto_xy(0, 3); // go to the start of the fourth LCD line
print_binary(inputsD); // print the "input" byte in binary
print(" ");
print_binary(inputsA);
delay_ms(20); // delay here for 20 milliseconds
// check if top or bottom buttons have been pressed
button = button_is_pressed(TOP_BUTTON | BOTTOM_BUTTON);
if (button != 0) // if so, reset I/O states, return button ID
{
DDRA = 0; // make PA0 - PA7 inputs
PORTA = 0; // PA0 - PA7 -> high impedance inputs
DDRD = 0; // make PD0 - PD7 inputs
PORTD = 0; // PD0 - PD7 -> high impedance inputs
return button;
}
}
while (get_ms() < read_trimpot() * 2);
if (direction)
outputs <<= 1; // bit-shift our output byte left by one bit
else
outputs >>= 1; // bit-shift our output byte right by one bit
if (outputs == 1) // if we have reached the right edge
direction = 1; // switch direction to "left"
if (outputs == 0x8000) // if we have reached the left edge
direction = 0; // switch direction to "right"
}
}