void EXTI15_10_IRQHandler(void) {
/* Make sure that interrupt flag is set */
if (EXTI_GetITStatus(EXTI_Line11) != RESET) {
/* Do your stuff when PB12 is changed */
finiteStateMachine(11);
/* Clear interrupt flag */
EXTI_ClearITPendingBit(EXTI_Line11);
}
}
/* Handle PB12 interrupt */
void EXTI9_5_IRQHandler(void) {
/* Make sure that interrupt flag is set */
if (EXTI_GetITStatus(EXTI_Line8) != RESET) {
/* Do your stuff when PC9 is changed */
finiteStateMachine(8);
/* Clear interrupt flag */
EXTI_ClearITPendingBit(EXTI_Line8);
}
if (EXTI_GetITStatus(EXTI_Line9) != RESET) {
/* Do your stuff when PC9 is changed */
finiteStateMachine(9);
/* Clear interrupt flag */
EXTI_ClearITPendingBit(EXTI_Line9);
}
if (EXTI_GetITStatus(EXTI_Line5) != RESET) {
/* Do your stuff when PC9 is changed */
finiteStateMachine(5);
/* Clear interrupt flag */
EXTI_ClearITPendingBit(EXTI_Line5);
}
}
/**
* @brief main loop for AVR chip
*
*/
int main(void) {
// ==== do initializations!! ===
initRBELib(); // allows printf + more to work
debugUSARTInit(OUR_BAUD_RATE); // intialize USART communications
printf("Starting...\n\r"); // so we know if we freeze in setup
initSPI(); // initialize SPI communications
initArm(); // initialize the arm'
stopConveyor(); // initialize servo positions
openGripper();
// ==== end initializations ====
printf("I am alive... Looking for blocks to pickup.\n\r");
// ===== main loop ====
while (1) {
finiteStateMachine(); // run FSM to determine what arm needs to do
serviceArm(); // allow arm to react to changes and service PID if needed
}
return 0;
}
