void Controler::Kinetics::goForward(long double mm){
setDistance(mm);
setLeftForward();
setRightForward();
start();
}
int main(void) {
SYSTEMConfigPerformance(10000000);
enableInterrupts(); //This function is necessary to use interrupts.
initTimer2();
initTimer3();
switch1();
initPWM();
initADC();
initLCD();
state = IDLE_1;
volatile float printbuffer = 0; //maybe change to float
// double voltPOT = 0;
char str[16];
while(1){
// clearLCD();
// snprintf(str, sizeof(str), "%0.2f", (float)potVoltage/1023.0*5.0);
// printStringLCD(str);
// moveCursorLCD(0,0);
switch(state){
voltage = potVoltage*1.0;
case IDLE_1:
setLeftForward(1);
setRightForward(1);
setLeftWheelSpeed(0);
setRightWheelSpeed(0);
break;
case D_IDLE_1:
delayUs(100);
state = FORWARD;
break;
case FORWARD:
CalculatedSpeed();
AD1CON1bits.SAMP = 1;
break;
case D_FORWARD:
delayUs(100);
state = IDLE_2;
break;
case IDLE_2:
setLeftWheelSpeed(0);
setRightWheelSpeed(0);
break;
case D_IDLE_2:
delayUs(100);
state = BACKWARD;
break;
case BACKWARD:
setLeftForward(0);
setRightForward(0);
CalculatedSpeed();
AD1CON1bits.SAMP = 1;
break;
case D_BACKWARD:
delayUs(100);
state = IDLE_1;
break;
}
}
return 0;
}
void Controler::Kinetics::turnLeft(long double angle){
setDistance((angle * 8.74 * 3.14)/360.0);
setLeftBack();
setRightForward();
start();
}
