int main(void)
{
const unsigned short MainCycle = 60;
Init(MainCycle);
for( ; ; ){
Run();
unsigned short left;
unsigned short right;
left=ADRead(0);
right=ADRead(1);
if(left>500 && right<500)
{
TurnR();
}
else if(left<500 && right>500)
{
TurnL();
}
else if(left>500 && right>500){
break;
}
}
Stop();
return 0;
}
int main () {
enable_uart(25);
initENC();
initservos(625,ON,ON);
initPWM10();
initADC();
initcommsunit();
SetDir('B',0,'O');
SetDir('B',1,'O');
SetDir('B',2,'O');
SetDir('B',3,'O');
SetDir('B',4,'I');
SetDir('B',5,'I');
uprintf("Type INIT <enter> to begin\r");
while(strncmp(dumb,"INIT",4) == 1) {
uscanf(dumb,10,ON);
}
//uprintf("AVR Initalized\r");
op = 1;
while (op == 1) {
uscanf(ReceiveStr,50,ON);
if(strncmp(ReceiveStr,"Forward",7) == 0) {Forward();}
if(strncmp(ReceiveStr,"Backward",8) == 0) {Backward();}
if(strncmp(ReceiveStr,"SpinL",5) == 0) {SpinL();}
if(strncmp(ReceiveStr,"SpinR",5) == 0) {SpinR();}
if(strncmp(ReceiveStr,"TurnL",5) == 0) {TurnL();}
if(strncmp(ReceiveStr,"TurnR",5) == 0) {TurnR();}
if(strncmp(ReceiveStr,"Stop",4) == 0) {Stop();}
if(strncmp(ReceiveStr,"Tservop",7) == 0) {tservop();}
if(strncmp(ReceiveStr,"Pservop",7) == 0) {pservop();}
if(strncmp(ReceiveStr,"LGH",3) == 0) {lgh();}
if(strncmp(ReceiveStr,"SNR",3) == 0) {snr();}
if(strncmp(ReceiveStr,"BMP",3) == 0) {bmp();}
if(strncmp(ReceiveStr,"ENC",3) == 0) {enc();}
if(strncmp(ReceiveStr,"DISABLE",7) == 0) {op = 0;}
}
uprintf("Disaled\r");
while (1) {}
}
void TurnR(){TurnR(1);}
