int kkkk(void)
{
velocity(255,255);
forward();
while(1)
{
servo_1(0);
servo_2(0);
servo_3(0);
forward();
red_read(); //display the pulse count when red filter is selected
_delay_ms(500);
green_read(); //display the pulse count when green filter is selected
_delay_ms(500);
blue_read(); //display the pulse count when blue filter is selected
_delay_ms(500);
lcd_wr_command(0x01);
print_sensor(1,1,3); //Prints value of White Line Sensor1
print_sensor(1,5,2); //Prints Value of White Line Sensor2
print_sensor(1,9,1); //Prints Value of White Line Sensor3
print_sensor(2,1,11);
servo_1(100);
servo_2(100);
servo_3(100);
_delay_ms(7000);
}
}
void close(unsigned char side)
{
if (side == 0)
servo_2(0);
else if (side == 1)
servo_3(0);
}
void open(unsigned char side)
{
if (side == 0)
servo_2(180);
else if (side == 1)
servo_3(180);
}
void reset_servo() {
servo_3(150);
servo_2(120);
servo_1(30);
_delay_ms(1000);
servo_1_free();
servo_2_free();
servo_3_free();
}
void close(unsigned char side)
{
if (side == 0)
for(i=0;i<=40;i++)
{
servo_3(i);
_delay_ms(10);
}
else if (side == 1)
for(i=0;i<=60;i++)
{
servo_1(i);
_delay_ms(10);
}
}
void open(unsigned char side)
{
if (side == 0)
for(i=55;i>0;i--)
{
servo_3(i);
_delay_ms(10);
}
else if (side == 1)
for(i=55;i>0;i--)
{
servo_1(i);
_delay_ms(10);
}
}
//Main function
int main(void)
{
//servo 1 & 3 0 open 40 close
//servo 1 60 close
unsigned char i = 0;
init_devices();
servo_3(0);
servo_2(90);
servo_1(0);
_delay_ms(2000);
// servo_1(45);
// _delay_ms(2000);
//servo_1(60);
//while(1);
//while(1);
// lower(1);
//_delay_ms(3000);
// elevate();
// while(1);
pick(0);
_delay_ms(4000);
drop(0);
while(1);
_delay_ms(2000);
pick(1);
_delay_ms(2000);
drop(1);
//servo_3(0);
//pick(1);
_delay_ms(2000);
pick(0);
while(1);
drop(0);
return 0;
}
//Main Function
int main(void)
{
//all initializations
init_devices_motion();
init_devices();
init_devices_lf();
lcd_set_4bit();
lcd_init();
//setting gripper arm
initial_angle = 120;
servo1_init();
servo_2(initial_angle);
servo_3(180);
//UDR0 = 0x31;
//line_follower();
//pluck_fruit();
while(1);
}
void open(unsigned char side)
{
if (side == 0)
for(i=40;i>0;i--)
{
servo_3(i);
_delay_ms(10);
}
else if (side == 1)
for(i=60;i>0;i--)
{
servo_1(i);
_delay_ms(10);
}
if(side==0)
servo_3_free();
else
servo_1_free();
}
void Lift() {
//Open and come to pick
for (i = 0; i <120; i++)
{
servo_1(i);
_delay_ms(30);
servo_2(i);
_delay_ms(30);
servo_3(i);
_delay_ms(30);
}
/*for (i = 120; i >90; i--)
{
servo_2(i);
_delay_ms(30);
}*/
for (i = 120; i <150; i++)
{
servo_1(i);
_delay_ms(30);
//servo_2(i);
//_delay_ms(30);
servo_3(i);
_delay_ms(30);
}
//Grab
for (i = 150; i >30; i--)
{
servo_1(i);
_delay_ms(30);
// servo_2(i);
// _delay_ms(30);
// servo_3(i);
// _delay_ms(30);
}
//pick
for (i = 150; i >120; i--)
{
// servo_1(i);
// _delay_ms(30);
servo_3(i);
_delay_ms(30);
}
for (i = 120; i >0; i--)
{
// servo_1(i);
// _delay_ms(30);
servo_2(i);
_delay_ms(30);
servo_3(i);
_delay_ms(30);
}
// _delay_ms(2000);
//
}
int main()
{
int i=0;
init_devices();
lcd_set_4bit();
lcd_init();
color_sensor_scaling();
/*
//variable 'i' scales at 13,14 for sharp sensor for velocitty 240 240
//u turn 1600ms at 200,200 velocity
velocity(200,200);
left();
_delay_ms(1600);
stop();
while(1);
threshold=6000;
right();
while(ADC_Conversion(11)<65)
{
i++;
lcd_print(1,11,i,3);
}
stop();
lcd_print(2,11,scan(),1);
stop();
while(1);
*/
setIndicatorAndColor();
threshold=6000;
ct = 0; adj = 2;
//lcd("Begin");
forwardJaa();
stop();
servo_1(0);
servo_2(90);
servo_3(0);
while (sorted<total)
{
canDrop();
//buzzer_on();
//_delay_ms(500);
//buzzer_off();
if (visitedCount == 3)
predict();
if (sorted == total)
break;
pickup();
traverseToSort(ct, ct % 2 + 4);
sortCheck();
}
for (i = 0; i<4; i++);
while(1);
//..printf("%d %d\n", term[i][0], term[i][1]);
//..printf("Sort 0=%dSort 1=%d\nArm 0=%dArm 1=%d\n", sort[0], sort[1], arm[0], arm[1]);
//..printf("Cost=%d\nSORTED!!!!!\n", cost + 7);
//getch();
return 0;
}
