/* Update Game State Based on Comm Protocol */
void update_game_state(void)
{
switch(game_state){
case 0xA0: // Comm Test
comm_test();
break;
case 0xA1: // Play
play();
break;
case 0xA2: // Goal R
SR = buffer[1]
SB = buffer[2]
pause();
break;
case 0xA3: // Goal B
SR = buffer[1]
SB = buffer[2]
pause();
break;
case 0xA4: // Pause
pause();
break;
case 0xA6: // Halftime
halftime();
break;
case 0xA7: // Game Over
game_over();
break;
case 0xA8: // Enemy Positions
break;
default: // Invalid Comm
break;
}
}
int main(void)
{
uint8_t id, rec, i, cs;
color_t c;
packet_t p;
setup();
stop_motor();
sei();
for(i = 0; i < 5; i++)
{
set_led_rgb(255, 0, 255);
_delay_ms(50);
set_led_rgb(255, 255, 0);
_delay_ms(50);
}
// get the current liquid level
update_liquid_level();
for(;;)
{
cli();
g_reset = 0;
g_current_sense_detected = 0;
g_current_sense_num_cycles = 0;
setup();
serial_init();
stop_motor();
set_led_rgb(0, 0, 255);
sei();
id = address_exchange();
for(; !check_reset();)
{
rec = receive_packet(&p);
if (rec == COMM_CRC_FAIL)
continue;
if (rec == COMM_RESET)
break;
if (rec == COMM_OK && (p.dest == DEST_BROADCAST || p.dest == id))
{
// If we've detected a over current sitatuion, ignore all comamnds until reset
cli();
cs = g_current_sense_detected;
sei();
switch(p.type)
{
case PACKET_PING:
break;
case PACKET_SET_MOTOR_SPEED:
if (!cs)
set_motor_speed(p.p.uint8[0], p.p.uint8[1]);
if (p.p.uint8[0] == 0)
flush_saved_tick_count(0);
break;
case PACKET_TICK_DISPENSE:
if (!cs)
{
dispense_ticks((uint16_t)p.p.uint32, 255);
flush_saved_tick_count(0);
}
break;
case PACKET_TIME_DISPENSE:
if (!cs)
{
run_motor_timed(p.p.uint32);
flush_saved_tick_count(0);
}
break;
case PACKET_IS_DISPENSING:
is_dispensing();
break;
case PACKET_LIQUID_LEVEL:
get_liquid_level();
break;
case PACKET_UPDATE_LIQUID_LEVEL:
update_liquid_level();
break;
case PACKET_LED_OFF:
set_led_pattern(LED_PATTERN_OFF);
break;
case PACKET_LED_IDLE:
if (!cs)
set_led_pattern(LED_PATTERN_IDLE);
break;
case PACKET_LED_DISPENSE:
if (!cs)
set_led_pattern(LED_PATTERN_DISPENSE);
break;
case PACKET_LED_DRINK_DONE:
if (!cs)
set_led_pattern(LED_PATTERN_DRINK_DONE);
break;
case PACKET_LED_CLEAN:
if (!cs)
set_led_pattern(LED_PATTERN_CLEAN);
break;
case PACKET_COMM_TEST:
comm_test();
break;
case PACKET_ID_CONFLICT:
id_conflict();
break;
case PACKET_SET_CS_THRESHOLD:
g_current_sense_threshold = p.p.uint16[0];
break;
case PACKET_SAVED_TICK_COUNT:
get_saved_tick_count();
break;
case PACKET_RESET_SAVED_TICK_COUNT:
reset_saved_tick_count();
break;
case PACKET_FLUSH_SAVED_TICK_COUNT:
flush_saved_tick_count(1);
break;
case PACKET_GET_LIQUID_THRESHOLDS:
get_liquid_thresholds();
break;
case PACKET_SET_LIQUID_THRESHOLDS:
set_liquid_thresholds(p.p.uint16[0], p.p.uint16[1]);
break;
case PACKET_TICK_SPEED_DISPENSE:
if (!cs)
{
dispense_ticks(p.p.uint16[0], (uint8_t)p.p.uint16[1]);
flush_saved_tick_count(0);
}
break;
case PACKET_PATTERN_DEFINE:
pattern_define(p.p.uint8[0]);
break;
case PACKET_PATTERN_ADD_SEGMENT:
c.red = p.p.uint8[0];
c.green = p.p.uint8[1];
c.blue = p.p.uint8[2];
pattern_add_segment(&c, p.p.uint8[3]);
break;
case PACKET_PATTERN_FINISH:
pattern_finish();
break;
}
}
}
}
return 0;
}
/*char isStuck() {
m_wait(100);
//localize(data);
distfrombound = data[1] + ((float)BOUNDARYTHRESHOLD)*sin((data[2]+90.0)*3.14/180.0*-1.0);
if (distfrombound > 60.0 || distfrombound < -60.0) {
return 1;
}
m_usb_tx_int((int)distfrombound);
m_usb_tx_char('\n');
}
long loccounter = 0;
float prevx = 0.0;
float prevy = 0.0;
*/
int main(void)
{
//goal side
clear(DDRB,1);
clear(PORTB,1);
if (check(PINB,1)) {
goal = 1;
}
set(DDRB,0);
set(PORTB,0);
set(DDRD,5);
set(DDRD,3);
//wireless stuffs
m_bus_init();
m_rf_open(CHANNEL, RXADDRESS, PACKET_LENGTH);
int counter = 0;
//
//m_num_init();
int flag;
m_clockdivide(0);
m_disableJTAG();
//TIMER 0: For Controlling the solenoid
//
// set(TCCR0B, WGM02);
// set(TCCR0A, WGM01);
// set(TCCR0A, WGM01);
//
// set(TCCR0A, COM0B1);
// clear(TCCR0A, COM0B0);
//
// set(TCCR0B, CS02);
// set(TCCR0B, CS01);
// set(TCCR0B, CS00);
//
set(DDRB,7);
// OCR0A = 0xFF;
// OCR0B = 0xff;
//
//TIMER 1: For Controlling the left wheel
set(TCCR1B, WGM13);
set(TCCR1B, WGM12);
set(TCCR1A, WGM11);
set(TCCR1A, WGM10);
set(TCCR1A, COM1B1);
clear(TCCR1A, COM1B0);
clear(TCCR1B, CS12);
clear(TCCR1B, CS11);
set(TCCR1B, CS10);
set(DDRB,6);
OCR1A = 0xFFFF;
OCR1B = 0;
//TIMER 3: For Controlling the right wheel
//up to ICR3, clear at OCR3A & set at rollover
set(TCCR3B, WGM33);
set(TCCR3B, WGM32);
set(TCCR3A, WGM31);
clear(TCCR3A, WGM30);
set(TCCR3A, COM3A1);
clear(TCCR3A, COM3A0);
clear(TCCR3B, CS32);
clear(TCCR3B, CS31);
set(TCCR3B, CS30);
ICR3 = 0xFFFF;
OCR3A = 0;
// //Set TCNT0 to go up to OCR0A
// clear(TCCR0B, WGM02);
// set (TCCR0A, WGM01);
// clear(TCCR0A, WGM00);
//
// // Don't change pin upon hitting OCR0B
// clear(TCCR0A, COM0A1);
// clear(TCCR0A, COM0A0);
//
// // Set clock scale to /1024
// set(TCCR0B, CS02);
// clear(TCCR0B, CS01);
// set(TCCR0B, CS00);
//
// // Set Frequency of readings to 1/SAMPLERATE; dt = 1/SAMPLERATE
// OCR0A = (unsigned int) ((float) F_CPU / 1024 / REPORTRATE);
// OCR0B = 1;
// Set up interrupt for reading values at sampling rate
//Pin for controlling solenoid pulse
set(DDRB,7);
//Pins for controlling speed of left and right wheel
set(DDRB,6);
set(DDRC,6);
//Pins for determining direction of wheels
set(DDRB,2);
set(DDRB,3);
//Blue LED for Comm Test
//set(DDRB,5);
//ADC's
sei(); //Set up interrupts
set(ADCSRA, ADIE);
clear(ADMUX, REFS1); //Voltage reference is AR pin (5V)
clear(ADMUX, REFS0); //^
set(ADCSRA, ADPS2); //Set scale to /128
set(ADCSRA, ADPS1); //^
set(ADCSRA, ADPS0); //^
set(DIDR0, ADC0D); //Disable digital input for F0
set(DIDR0, ADC1D),
set(DIDR0, ADC4D);
set(DIDR0, ADC5D);
set(DIDR0, ADC6D);
set(DIDR0, ADC7D);
set(DIDR2, ADC8D);
set(DIDR2, ADC9D);
set(ADCSRA, ADATE); //Set trigger to free-running mode
chooseInput(0);
set(ADCSRA, ADEN); //Enable/Start conversion
set(ADCSRA, ADSC); //^
set(ADCSRA, ADIF); //Enable reading results
//Limit Switch stuffs
// clear(DDRB,0); //set to input, RIGHT LIMIT SWITCH
// clear(DDRB,1); //set to input, LEFT LIMIT SWITCH
//
// clear(PORTB,0); //disable internal pull up resistor
// clear(PORTB,1); //disable internal pull up resistor
//int state; // state variable
state = 0; //set state
play = 0;
long count = 0;
if (state == 70) {
m_usb_init(); // connect usb
while(!m_usb_isconnected()); //wait for connection
}
//m_bus_init();
m_wii_open();
//m_usb_init();
m_red(ON);
local_init();
localize(data);
m_red(OFF);
//set(TIMSK0, OCIE0A);
while(1)
{
if (play) {m_red(ON);}
else {m_red(OFF);}
// m_wait(100);
// m_red(TOGGLE);
// localize(data);
/*if (loccounter == LOCCOUNT) {
if (sqrt((data[0]-prevx)*(data[0]-prevx)+(data[1]-prevy)-(data[1]-prevy)) < 1.0) {
m_red(ON);
reverse();
m_wait(100);
state = 6;
}
else {
m_red(OFF);
state = 2;
}
prevx = data[0];
prevy = data[1];
loccounter = 0;
}*/
//loccounter++;
// localize(data);
// locdata[1] = (char)data[0];
// locdata[2] = (char)data[1];
// toggle(PORTD,3);
changedState = 0;
angle_dif = 0;
//Detect weather we have the puck
getADC();
//if (!play) game_pause();
if (ADCarr[7] > 500) {
//set(PORTD,5);
//set(PORTD,5);
iHaveThePuck = 1;
m_green(ON);
if (play && goal == A) state = 3;
if (play && goal == B) state = 4;
} else {
//clear(PORTD,5);
iHaveThePuck = 0;
m_green(OFF);
if (play) state = 2;
}
if(iHaveThePuck && state == 2) {
//set(PORTB,5);
//drive_to_goalA();
}
else {
//clear(PORTB,5);
//if (state != 0) state = 2;
}
// if(isStuck()) {
// //set(PORTD,5);u
// }
// else {
// //clear(PORTD,5);
// }
//localize(data);
// if (check(PINB,0)) {
// set(PORTD,5);
// state = 0x1A;
// } else {
// clear(PORTD,5);
// state = 2;
// }
if (!play) state = buffer[0];
//switch states
switch (state) {
case -2:
getADC();
if (ADCarr[0] > 500) {
m_green(ON);
}
else {m_green(OFF)}
break;
case -1: //test Limit switches
//m_green(ON);
if (check(PINB,1)) {
m_green(ON);
}
else if (check(PINB,0)) {
m_red(ON);
}
else {
m_red(OFF);
m_green(OFF);
}
break;
case 0:
//drive_to_point2(-100,0);
game_pause();
break;
case 1:
findPuck();
break;
case 2:
//m_red(ON);
if (!iHaveThePuck) {
if (play)
drive_to_puck();
}
break;
case 3:
if (play)
drive_to_goalA();
break;
case 4:
if (play)
drive_to_goalB();
break;
case 5:
getADC();
if (ADCarr[7] > 500) {
//set(PORTD,5);
} else {
//clear(PORTD,5);
}
break;
case 6:
if (data[2] > 0) {
rotate(RIGHT,1);
} else {
rotate(LEFT,1);
}
break;
case 7:
drive_to_point2(-50,0);
break;
case 0xA0:
comm_test();
break;
case 0xA1:
play = 1;
drive_to_puck();
break;
case 0xA2:
play = 0;
game_pause();
break;
case 0xA3:
play = 0;
game_pause();
break;
case 0xA4:
play = 0;
game_pause();
break;
case 0xA6:
play = 0;
game_pause();
break;
case 0xA7:
game_pause();
break;
case 69:
set(PORTB,2);
set(PORTB,3);
OCR1B = OCR1A;
OCR3A = ICR3;
break;
case 70:
reportADC();
break;
default:
game_pause();
break;
}
}
}
