int main(void) {
int light_level = 0;
Roach_Init();
printf("Welcome to the Roach Test\r\n");
printf("Bump states and light levels will be printed to the terminal every .1 seconds while also controlling the motor speed\r\n");
InitTimer(0, 2000);
while (!IsTimerExpired(0));
while (1) {
light_level = LightLevel() / 100;
if (ReadFrontLeftBumper()) {
LeftMtrSpeed(light_level);
}
if (ReadFrontRightBumper()) {
RightMtrSpeed(light_level);
}
if (ReadRearLeftBumper()) {
LeftMtrSpeed(light_level*-1);
}
if (ReadRearRightBumper()) {
RightMtrSpeed(light_level*-1);
}
if(IsTimerExpired(0)==TIMER_EXPIRED){
printf("%d\t%d\t%d\t%d\t%d", ReadFrontLeftBumper(), ReadFrontRightBumper(), ReadRearLeftBumper(), ReadRearRightBumper(), LightLevel());
InitTimer(0, 100);
}
}
return 0;
}
//Function: RotateCCW: rotates the bot CCW.
void RotateCCW(unsigned char newSpeed) {
Serial.println("I'm rotating counterclockwise!");
LeftMtrSpeed(0); // motors not meant for instantaneous reverse so including a brief stop
RightMtrSpeed(0);
delayMicroseconds(10);
LeftMtrSpeed(newSpeed);
RightMtrSpeed(-0.5*newSpeed);
}
//Function: TurnLeft: Turns left at given speed.
void TurnLeft(unsigned char newSpeed) {
Serial.println("I'm turning left!");
LeftMtrSpeed(0); // motors not meant for instantaneous reverse so including a brief stop
RightMtrSpeed(0);
delayMicroseconds(10);
LeftMtrSpeed(0-newSpeed);
RightMtrSpeed(newSpeed);
}
//Function: Backward: motors move the BitBot backward
void Backward(unsigned char newSpeed){
Serial.println("I'm going backward!");
LeftMtrSpeed(0); // motors not meant for instantaneous reverse so including a brief stop
RightMtrSpeed(0);
delayMicroseconds(10);
LeftMtrSpeed(0-newSpeed);
RightMtrSpeed(0-newSpeed);
}
void DriveForward(char newSpeed){
LeftMtrSpeed(newSpeed);
RightMtrSpeed(newSpeed);
}
void DriveBackward(char newSpeed){
LeftMtrSpeed(-1 * newSpeed);
RightMtrSpeed(-1 * newSpeed);
}
//Function: Stop: stops the motors
void Stop() {
Serial.println("I'm stopping!");
LeftMtrSpeed(0);
RightMtrSpeed(0);
}
void SpinLeft(char newSpeed){
LeftMtrSpeed(1 * newSpeed);
RightMtrSpeed(-1 * newSpeed);
}
