void _open_log_wait_cmd_ack() {
char ack;
while(1) {
ack = uart1GetByte();
if( ack == '>' ) { break; }
}
}
void uartTest(void)
{
int c;
// print a little intro message so we know things are working
rprintfStr("\r\n\n\nWelcome to the uart library test program!\r\n");
rprintfStr("Press any key...\r\n");
// read in serial port traffic from UART1
// and echo it back in hex and/or ascii format as appropriate
while(1)
{
if((c = uart1GetByte()) != -1)
{
// we got a byte
rprintf("Ascii code: 0x%x ", c);
// see if it's printable
if((c >= 0x20) && (c < 0x7F))
{
uart1SendByte(c);
}
rprintfStr("\r\n");
}
}
}
void open_log_reset() {
OPEN_LOG_RESET_PORT &= ~(1<<OPEN_LOG_RESET_PIN);
_delay_ms(100);
OPEN_LOG_RESET_PORT |= (1<<OPEN_LOG_RESET_PIN);
// wait for the device to acknowledge before returning
while(1) {
char ack;
ack = uart1GetByte();
if( ack == '<' ) { break; }
}
}
void open_log_write_test(void) {
open_log_reset();
_delay_ms(1000);
open_log_command_mode(); // put in command mode and wait until ack
_delay_ms(1000);
uartSendString_P(1,"new temps.txt\r");
while(1) {
u16 ack = uart1GetByte();
if( ack == '>' ) { break; }
}
uartSendString_P(1,"append temps.txt\r");
uartSendString_P(1,"Hello World!\r");
}
void control()
{
unsigned right_rotHi = 0;
unsigned right_rotLo = 0;
int rightCount = 0;
unsigned left_rotHi = 0;
unsigned left_rotLo = 0;
int leftCount = 0;
int right_rotState =a2dConvert8bit(0);//right rotations
//int se1 =a2dConvert8bit(1);
int right_direction =a2dConvert8bit(3);//right direction, forward = low, reverse = hi
int left_direction =a2dConvert8bit(7);//left direction, forward = hi, reverse = low
int left_rotState =a2dConvert8bit(8);//left rotations
//int se5 =a2dConvert8bit(9);
while( uart1GetByte() != 'x')
{
if( 0 <= right_rotState && 10 > right_rotState ) //if rotState is low
{
right_rotLo++;
}
if( 250 < right_rotState && 255 >= right_rotState ) //if rotState is high
{
right_rotHi++;
}
if( 0 <= left_rotState && 10 > left_rotState) //if rotState is low
{
left_rotLo++;
}
if( 250 < left_rotState && 255 >=left_rotState) //if rotState is high
{
left_rotHi++;
}
//---------------------------
if( right_rotLo > 0 && right_rotHi > 0)//if the encoder has seen both white and black
{
if( 0 <= right_direction && right_direction < 10)
{
rightCount++;
}
if( 250 < right_direction && right_direction <= 255)
{
rightCount--;
}
right_rotLo = 0;
right_rotHi = 0;
}
if( left_rotLo > 0 && left_rotHi > 0)//if the encoder has seen both white and black
{
if( 0 <= left_direction && left_direction < 10)
{
leftCount--;
}
if( 250 < left_direction && left_direction <= 255)
{
leftCount++;
}
left_rotLo = 0;
left_rotHi = 0;
}
rprintf(" %d, %d, %d, %d \n %d %d %d %d \n",left_rotLo,left_rotHi, left_direction,leftCount,right_rotLo,right_rotHi,right_direction,rightCount);
rprintf("LEFT DIR:%d, LEFT DST:%d, RIGHT DIR:%d, RIGHT DST:%d\n,",left_direction,leftCount,right_direction, rightCount);
right_rotState =a2dConvert8bit(0);//right rotations
right_direction =a2dConvert8bit(3);//right direction, forward = low, reverse = hi
left_direction =a2dConvert8bit(7);//left direction, forward = hi, reverse = low
left_rotState =a2dConvert8bit(8);//left rotations
}
/*
unsigned right_rotHi = 0;
if( 250 < left_direction && left_direction <= 255) {leftCount++;}
left_rotLo = 0;
left_rotHi = 0;
}
//rprintf(" %d, %d, %d, %d \n %d %d %d %d \n",left_rotLo,left_rotHi, left_direction,leftCount,right_roLo,right_rotHi,right_direction,rightCount);
//rprintf("LEFT DIR:%d, LEFT DST:%d, RIGHT DIR:%d, RIGHT DST:%d\n,",left_direction,leftCount,right_direction, rightCount);
right_rotState =a2dConvert8bit(0);//right rotations
right_direction =a2dConvert8bit(3);//right direction, forward = low, reverse = hi
left_direction =a2dConvert8bit(7);//left direction, forward = hi, reverse = low
left_rotState =a2dConvert8bit(8);//left rotations
}
int control_PID( )
{
}
void update_motors()
{
//Right 607-640 braking range
//left 613-633 braking range
if(motorLeftSpeed<613||motorLeftSpeed>633)
{
wheel_Left(motorLeftSpeed);
}
if(motorRightSpeed<607||motorRightSpeed>640)
{
wheel_Right(motorRightSpeed);
}
}*/
}
void control(void)
{
reset_timer5();
uartFlushReceiveBuffer(1);
a2dSetReference(ADC_REFERENCE_256V);
delay_us(100);
PORT_OFF(PORTB,7);
while(1) {
char read = uart1GetByte();
if(read == 'U') { //Rangefinder only for the Hand! We only have 3 uart ports!
uart0SendByte(0x22); //sends 4 bytes with the command to read distance (0x22)
uart0SendByte(0x00); uart0SendByte(0x00);uart0SendByte(0x22);delay_us(50);
uart0GetByte(); //we don't care about this byte
rprintf("%d\r\n", 255*uart0GetByte() + uart0GetByte());
uart0GetByte(); //we don't care about this byte
} else if(read == 'L') {
rprintf("%d\r\n", 255 - a2dConvert8bit(0));
} else if(read == 'R') {
rprintf("%d\r\n", 255 - a2dConvert8bit(1));
} else if(read == 'D') {
int buff='#';
uart2SendByte('#'); uart2SendByte('o'); uart2SendByte('s');
uart2SendByte('#'); uart2SendByte('f');
delay_ms(60); // Do not change this delay or you'll get in trouble!
while(1) {
buff = uart2GetByte();
if(buff==10 || buff==13 || buff==-1) {
uart1SendByte('\r');
uart1SendByte('\n');
break;
}
uart1SendByte(buff);
}
while((buff=uart2GetByte()) != -1);
} else if(read == 'E') {
int buff='#';
uart3SendByte('#'); uart3SendByte('o'); uart3SendByte('s');
uart3SendByte('#'); uart3SendByte('f');
delay_ms(60); // Do not change this delay or you'll get in trouble!
while(1) {
buff = uart3GetByte();
if(buff==10 || buff==13 || buff==-1) {
uart1SendByte('\r');
uart1SendByte('\n');
break;
}
uart1SendByte(buff);
}
while((buff=uart3GetByte()) != -1);
} else if(read == 'M') {
int buff='#';
uart2SendByte('#'); uart2SendByte('o'); uart2SendByte('t');
uart2SendByte('#'); uart2SendByte('f');
delay_ms(60); // Do not change this delay or you'll get in trouble!
while(1) {
buff = uart2GetByte();
if(buff==10 || buff==13 || buff==-1) {
uart1SendByte('\r');
uart1SendByte('\n');
break;
}
uart1SendByte(buff);
}
while((buff=uart2GetByte()) != -1);
} else if(read == 'N') {
int buff='#';
uart3SendByte('#'); uart3SendByte('o'); uart3SendByte('t');
uart3SendByte('#'); uart3SendByte('f');
delay_ms(60); // Do not change this delay or you'll get in trouble!
while(1) {
buff = uart3GetByte();
if(buff==10 || buff==13 || buff==-1) {
uart1SendByte('\r');
uart1SendByte('\n');
break;
}
uart1SendByte(buff);
}
while((buff=uart3GetByte()) != -1);
} else if(read == 'P') {
PORT_ON(PORTB,6);
} else if(read == 'p') {
PORT_OFF(PORTB,6);
} else if(read == 'Q') {
PORT_ON(PORTB,7);
} else if(read == 'q') {
PORT_OFF(PORTB,7);
} else if(read == 'X') {
PORT_ON(PORTB,4);
} else if(read == 'x') {
PORT_OFF(PORTB,4);
} else if(read == 'Y') {
PORT_ON(PORTB,5);
} else if(read == 'y') {
PORT_OFF(PORTB,5);
}
delay_us(50);
}
}
