void initGPIOLineSensor(void) {
// don't initialize this if we've already done so
if (initialized) {
return;
}
initialized = true;
// use 8 I/O pins to initialize a GPIO line sensor
gls = InitializeGPIOLineSensor(
PIN_B5,
PIN_D0,
PIN_D1,
PIN_D2,
PIN_D3,
PIN_E0,
PIN_C6,
PIN_C7
);
}
//Initializes motors and IR Sebsors
void initMotorsSensors(void) {
if (!initialized) {
initialized = true;
Motors[0] = InitializeServoMotor(PIN_B6, false);
Motors[1] = InitializeServoMotor(PIN_B7, false);
Motors[2] = InitializeServoMotor(PIN_C4, false);
Motors[3] = InitializeServoMotor(PIN_C5, false);
marservo = InitializeServo(PIN_B2);
pingservo = InitializeServo(PIN_F3);
SetServo(marservo,0.1f);
SetServo(pingservo,0.1f);
GPIOPadConfigSet(PORT_VAL(PIN_B6), PIN_VAL(PIN_B6), GPIO_STRENGTH_8MA, GPIO_PIN_TYPE_STD);
GPIOPadConfigSet(PORT_VAL(PIN_B7), PIN_VAL(PIN_B7), GPIO_STRENGTH_8MA, GPIO_PIN_TYPE_STD);
GPIOPadConfigSet(PORT_VAL(PIN_C4), PIN_VAL(PIN_C4), GPIO_STRENGTH_8MA, GPIO_PIN_TYPE_STD);
GPIOPadConfigSet(PORT_VAL(PIN_C5), PIN_VAL(PIN_C5), GPIO_STRENGTH_8MA, GPIO_PIN_TYPE_STD);
adc[0] = InitializeADC(PIN_D0);
adc[1] = InitializeADC(PIN_D1);
adc[2] = InitializeADC(PIN_D2);
adc[3] = InitializeADC(PIN_D3);
turn=0;
gls = InitializeGPIOLineSensor(
PIN_B5,
PIN_B0,
PIN_B1,
PIN_E4,
PIN_E5,
PIN_B4,
PIN_A5,
PIN_A6
);
}
}
void initGPIOLineSensor(void) {
gls = InitializeGPIOLineSensor(PIN_B5, PIN_D0, PIN_D1, PIN_D2, PIN_D3, PIN_E0, PIN_C6, PIN_C7);
}
void initGPIOLineSensor(void) {
// use 8 I/O pins to initialize a GPIO line sensor
gls = InitializeGPIOLineSensor(PIN_C7, PIN_C6, PIN_E0, PIN_D3, PIN_D2, PIN_D1, PIN_D0, PIN_B5);
}
