/**********MAIN ROUTINE*************/
int main(int argc, char** argv)
{
config_init();
MOTOR_init();
lcdInit();
configSense();
//MOTOR_testMotors();
//lcdClean();
while (1) {
//encoder_move_degree(90,255,1);
//encoder_move_degree(90,255,2);
//encoder_move_degree(90,255,3);
//encoder_move_degree(90,255,4);
for( int j = 0; j < 180; j+=10)
{
setServo(j);
showTempLight();
for(int i = 0; i < 20; i++) __delay_ms(10);
}
for( int j = 180; j > 0; j-=10)
{
setServo(j);
showAccelerometerVal();
for(int i = 0; i < 20; i++) __delay_ms(10);
}
}
return (EXIT_SUCCESS);
}
static void app_rover_setup(app_common *com, app_remote *rem, configuration_t *cnf) {
common = com;
remote = rem;
app_cfg = cnf;
#ifdef CONFIG_SPYBOT_HCSR
RANGE_SENS_init(app_rover_radar_cb);
#endif
#ifdef CONFIG_I2C
I2C_config(_I2C_BUS(0), 100000);
STMPE_init();
#ifdef CONFIG_SPYBOT_LSM
task *config_lsm_t = TASK_create(app_rover_setup_lsm, 0);
ASSERT(config_lsm_t);
TASK_run(config_lsm_t, 0, NULL);
#endif
CFG_EE_init(&eeprom_dev, app_rover_cfg_cb);
CFG_EE_load_config();
#endif // CONFIG_I2C
#ifdef CONFIG_SPYBOT_MOTOR
MOTOR_init();
#endif
#ifdef CONFIG_SPYBOT_SERVO
SERVO_init();
#endif
mech_task = TASK_create(app_rover_mech_task, TASK_STATIC);
TASK_start_timer(mech_task, &mech_timer, 0, 0, 0, 20, "mech");
#ifdef CONFIG_SPYBOT_HCSR
radar_task = TASK_create(app_rover_radar_task, TASK_STATIC);
TASK_start_timer(radar_task, &radar_timer, 0, 0, 100, 65, "radar");
#endif // CONFIG_SPYBOT_HCSR
#ifdef CONFIG_SPYBOT_LSM
int i;
for (i = 0; i < 3; i++) {
acc_extremes[i][0] = S16_MAX;
acc_extremes[i][1] = S16_MIN;
mag_extremes[i][0] = S16_MAX;
mag_extremes[i][1] = S16_MIN;
}
#endif
COMRAD_init();
}
void mainInit()
{
USART_Init(MYUBRR);
fdevopen(USART_Transmit, USART_Receive);
SPI_Init();
CAN_init();
SERVO_init();
TWI_Master_Initialise();
SOLENOID_init();
MOTOR_init();
IR_init();
sei();
}
