int main( void )
{
// Stop watchdog timer to prevent time out reset
WDTCTL = WDTPW + WDTHOLD;
// timerA_start(timing, OUTMOD_SET_RESET); // starte PWM
INIT_PORTS();
// INIT_ADC();
// init_XT2();
init_PWM_TimerA();
set_PWM_duty_cycle(0);
P1OUT |= LED_PWR_ON;
P1OUT |= LED2;
//_BIS_SR(LPM3_bits);
_BIS_SR(LPM0_bits + GIE); // Enter LPM0 w/ interrupt
// while(1) // warte bis sich was tut
// {
// }
// return 0;
}
void main()
{
unsigned int value,value1;
int a=0,b=0;
cli();
INIT_PORTS(); //Initialize ports
uart0_init(); //Initialize UART0 for xbee communication
timer5_init();
sei();
INIT_PORTS_ROTATE(); //Initialize ports
right_position_encoder_interrupt_init(); //Initialize control registers for wheel
left_position_encoder_interrupt_init(); // encoders.
init_devices();
lcd_set_4bit(); //LCD initialization functions.
lcd_init();
unsigned char angle = 0;
init_devices_servo(); //Initialize servo motors.
data='0';
sharp = ADC_Conversion(11); //Stores the Analog value of front sharp connected to ADC channel 11 into variable "sharp"
value = Sharp_GP2D12_estimation(sharp); //Stores Distance calsulated in a variable "value".
// lcd_print(1,1,value,3);
// sharp1 = ADC_Conversion(10); //Stores the Analog value of front sharp connected to ADC channel 11 into variable "sharp"
// value1 = Sharp_GP2D12_estimation(sharp1); //Stores Distance calsulated in a variable "value".
// lcd_print(1,5,value1,3);
// set servo for camera to ground zero
servo_1(0); // code to bring the camera to ground state
_delay_ms(1000);
// set servo for incline to ground zero
servo_2(90); // align camera
_delay_ms(500);
// the bot rotating slowly trying to find the bot
int terminate = 0;
while(data=='0' && terminate < 150)
{
velocity(150,150); //If no ball is detected the rotate and scan
angle_rotate_left(3); // for ball in the arena.
_delay_ms(500);
stop();
_delay_ms(500);
sharp = ADC_Conversion(11); //Stores the Analog value of front sharp connected to ADC channel 11 into variable "sharp"
value = Sharp_GP2D12_estimation(sharp); //Stores Distance calsulated in a variable "value".
terminate++;
// lcd_print(1,1,value,3);
}
if(terminate == 60)
{
buzzer_on();
return;
}
/*If a ball(red colour) is detected then matlab code sends a '5' signal through
zigbee.If a '5' is received then the robot stops rotating and moves towards the
ball*/
value2 = 100;
if(atoi(data) > 5)
{
lcd_print(1,5,value2,2);
}
velocity(160,184);
// change value
while(value>140)
{
sharp = ADC_Conversion(11); //Stores the Analog value of front sharp connected to ADC channel 11 into variable "sharp"
value = Sharp_GP2D12_estimation(sharp); //Stores Distance calsulated in a variable "value".
lcd_print(1,1,value,3);
forward();
}
stop();
_delay_ms(2000);
/* the servo_1 is for the camera and the servo_2 is for the inclined plane */
// rotate 90 at left
left90_at_place();
_delay_ms(1000);
// rotate the camera 90 degrees to the right
servo_1(90);
_delay_ms(1000);
//rotate in circle
rotate_in_circle();
int perceived_height;
perceived_height = atoi(data);
lcd_print(1,5,perceived_height,5);
// rotate 90 degrees to the right to face the ball again
right90_at_place();
stop();
_delay_ms(2000);
// rotate camera also to ground state to face the ball again
servo_1(0); // code to bring the camera to ground state
_delay_ms(1000);
// set servo for incline
int angle_of_inclination = get_angle(perceived_height);
lcd_print(1,2,angle_of_inclination,5);
servo_2(angle_of_inclination);
_delay_ms(1000);
while(1);
}
