void main(void)
{
WD_STOP();
ClockConfig(16);
HardwareInit();
// Init the timer
ScheduleTimerInit();
// register functions and define their period
CallbackRegister(BlinkLed1, 100ul * _MILLISECOND);
CallbackRegister(BlinkLed2, 101ul * _MILLISECOND);
// callbacks are disabled by default, so enable them
CallbackMode(BlinkLed1, ENABLED);
CallbackMode(BlinkLed2, ENABLED);
_EINT();
LPM0;
}
int main(void)
{
uint32_t current_time = 0;
SystemInit();
GpioInit();
//AdcInit();
TimerInit(0, 1ul * _millisecond);
CallbackRegister(MotorHandler, 10ul * _millisecond);
CallbackEnable(MotorHandler);
TimerEnable(0);
EncoderInit();
MotorInit();
MotorStart();
I2cInit(SENSOR_BUS);
current_time = now;
while(now < current_time + 1000);
// center the wheels if they aren't already
set_motor_position(MOTOR_FRONT_FRONT, FF_CENTER, 70);
set_motor_position(MOTOR_BACK_FRONT, BF_CENTER, 72);
while (motor[MOTOR_FRONT_FRONT].state == MOTOR_MOVING && motor[MOTOR_BACK_FRONT].state == MOTOR_MOVING);
current_time = now;
while(now < current_time + 5000);
// offset one motor
set_motor_position(MOTOR_FRONT_FRONT, FF_CENTER, 70);
set_motor_position(MOTOR_BACK_FRONT, BF_CENTER + 50, 72);
while (motor[MOTOR_FRONT_FRONT].state == MOTOR_MOVING && motor[MOTOR_BACK_FRONT].state == MOTOR_MOVING);
current_time = now;
while(now < current_time + 1000);
while (1)
{
if (get_ir_sen())
{
set_motor_position(MOTOR_FRONT_FRONT, FF_CENTER + 50, -70);
set_motor_position(MOTOR_BACK_FRONT, BF_CENTER, -72);
while (motor[MOTOR_FRONT_FRONT].state == MOTOR_MOVING && motor[MOTOR_BACK_FRONT].state == MOTOR_MOVING);
}
else
{
set_motor_position(MOTOR_FRONT_FRONT, FF_CENTER, 70);
set_motor_position(MOTOR_BACK_FRONT, BF_CENTER + 50, 72);
while (motor[MOTOR_FRONT_FRONT].state == MOTOR_MOVING && motor[MOTOR_BACK_FRONT].state == MOTOR_MOVING);
}
}
return 0;
}
void main(void)
{
WD_STOP();
ClockConfig(16);
HardwareInit();
// Init the timer
ScheduleTimerInit();
// register a function and define its period
CallbackRegister(BlinkLed1, 100ul * _MILLISECOND);
// attach function to SW1 falling edge interrupt
InterruptAttach(GPIO(SW1),ToggleEnable,FALLING);
_EINT();
LPM0;
}
