static int i2c_write(unsigned long addr, unsigned char c)
{
mdelay(10);
i2c_send_cmd(CMD_WRITE | CMD_TXVAL | addr);
i2c_wait_irq(IRQ_M_TX_DATA);
i2c_send_cmd(CMD_NOP | CMD_TXVAL | c);
i2c_wait_irq(IRQ_M_TX_DATA);
i2c_send_cmd(CMD_STOP);
i2c_wait_irq(IRQ_M_CMD_ACK);
return 0;
}
static int i2c_read(unsigned long addr)
{
int value;
mdelay(10);
i2c_send_cmd(CMD_WRITE | CMD_TXVAL | addr);
i2c_wait_irq(IRQ_M_TX_DATA);
i2c_send_cmd(CMD_READ);
value = i2c_wait_irq(IRQ_M_RX_DATA);
i2c_send_cmd(CMD_STOP);
i2c_wait_irq(IRQ_M_CMD_ACK);
return value;
}
int16_t main(void)
{
LED1_TRIS = 0; // LEDs may be 0 = on.
LED2_TRIS = 0; // TRIS is 0 = 'output'.
LED3_TRIS = 0;
LED4_TRIS = 0;
#ifdef LED_TEST
while(1)
{
LED1 = 0;
LED2 = 0;
LED3 = 0;
LED4 = 0;
__delay_ms(100);
LED1 = 1;
LED2 = 0;
LED3 = 0;
LED4 = 0;
__delay_ms(100);
LED1 = 1;
LED2 = 1;
LED3 = 0;
LED4 = 0;
__delay_ms(100);
LED1 = 1;
LED2 = 1;
LED3 = 1;
LED4 = 0;
__delay_ms(100);
LED1 = 1;
LED2 = 1;
LED3 = 1;
LED4 = 1;
__delay_ms(100);
} // preventative, so only this test code is activated
#endif //LED_TEST
int state = START;
//int32_t elapsed_time = 0; // best way to keep track of time?
long elapsed_time = 0; // best way to keep track of time?
// go with the timers?
/* Initialize all registers and peripherals */
InitApp();
LED1 = 1;
LED2 = 1;
LED3 = 1;
LED4 = 1;
/* TODO <INSERT USER APPLICATION CODE HERE> */
bool gained_power = false;
// true if have visited that source
bool solar = false;
bool wind = false;
// set_servo_absolute(90); // aim the motors due n/s
// don't need the node, can conclude from the other two
#ifdef I2C_TEST
// make a call to all motor controllers:
//void i2c_send_cmd(unsigned short int addr, unsigned short int cmd, int dat);
// send to all -> addr = 0x00
// command -> ??? something to get a response
// data -> ??? something to get a response
LED1 = 0;
i2c_send_cmd(I2C_MOTOR_123, I2C_VELOCITY, 0x7FFF);
int i2c_check = i2c_recv_vel(I2C_MOTOR_1);
LED2 = 0;
if (i2c_check = 5)
{
LED4 = 0;
}
#endif // I2C_TEST
// TODO: get exact measurements from field - particularly bucket
// and starting position
while(1)
{
#ifdef SWITCHCASE
// one method to do this:
switch(state)
{
case START: // at the bucket, on North side - GO
// wait .1 sec
// check for the light to be on.
// if the light is on, go to it - should be simple?
if (read(LIGHT_PIN))
{
state = START_TO_SOLAR;
// That's move North 2'ish,
// rotate 90 deg clockwise (actually, rotate so the proper
// side with the solar panel is facing the light source)
// and rotate the wheels so they can drive East/towards
// the solar panels
// proceed forward 3.5'/until you run into the wall.
}
else // if the light isn't on, go to the electric node
{
state = START_TO_NODE;
// orient wheels to drive West, 90 deg counter-clockwise
// move forward 3.5'ish,
// rotate so the claw side is facing the cap
// orient wheels to drive toward the North
// move forward 2'ish
}
break;
case ATWIND:
// if receiving power
if (0 /* check the power pin*/)
{
gained_power = true;
// wait...
}
// else //if done receiving power
else
{
if (!gained_power)
{
state = WIND_TO_NODE;
// move 1.5' East
// orient wheels North - 90 deg turn
// drive North 1.5'-6.5'
// orient wheels West
// drive West for 1.5'
// rotate body so claw is North
// orient wheels North
// drive North until stopped.
}
else
{
state = WIND_TO_FLAG;
// drive East 1.5-6.5'
// orient wheels N/S.
// drive North 1'
// orient wheels E/W
// drive East until near the wall - 1.5'ish
// orient claw South
// orient wheels N/S
// drive South until you hit the wall
}
}
break;
case ATSOLAR:
// if receiving power
if (0 /* check the power pin*/)
{
gained_power = true;
// wait...
}
// else //if done receiving power
else
{
if (!gained_power)
{
state = SOLAR_TO_NODE;
// drive East 1.5-6.5'
// orient wheels N/S
// drive South 1'
// orient wheels E/W
// drive East to the wall 1.5'ish
// orient claw North
// orient wheels N/S
// drive North until you hit the wall
}
else
{
state = SOLAR_TO_FLAG;
// drive East 1.5'
// orient wheels N/S
// drive South 1.5-6.5'
// orient wheels E/W
// drive East until you hit the wall
// orient claw South
// orient wheels N/S
// drive South until you hit the node/wall
}
}
break;
case ATELECTRIC:
// if receiving power
if (0 /* check the power pin*/)
{
gained_power = true;
// wait...
}
// else //if done receiving power
else
{
if (!gained_power)
{
state = NODE_TO_SOLAR; // TODO: electric -> wind or solar?
// drive South 1.5'
// orient wheels E/W
// drive East 1.5-6.5'
// orient wheels N/S
// drive North 1.5', to the wall
// orient solar panels East
// orient wheels E/W
// drive East until you hit the wall
}
else
{
state = NODE_TO_FLAG;
// drive South 1.5-6.5'
// orient wheels East
// drive East to the wall
// orient claw South
// orient wheels N/S
// drive until you hit the wall
}
}
break;
case ATFLAG:
// if dumping power
// wait
// else //if done dumping power
// state = NEXT_STATE;
// update elapsed time:
if (elapsed_time < 2)
{ // sounds like we've been at this just over a minute,
// under two, so go to the 'second' source
if (solar)
{ // have visited the solar source, try wind next
state = FLAG_TO_WIND;
// drive North 1.5'
// orient wheels East
// drive 1.5-6.5' East
// orient wheels N/S
// drive South to the wall
// orient turbine West
// orient wheels West
// drive West to the wall
}
else if (wind)
{ // have visited the wind source, try solar next
state = FLAG_TO_SOLAR;
// drive North 1.5-6.5'
// orient wheels E/W
// drive West 1.5'
// orient wheels N/S
// drive North to the wall
// orient wheels E/W
// drive East until you hit the wall
}
else
{ // have visited the electric source, try solar next
state = FLAG_TO_SOLAR;
// drive North 1.5-6.5'
// orient wheels E/W
// drive West 1.5'
// orient wheels N/S
// drive North to the wall
// orient wheels E/W
// drive East until you hit the wall
}
}
else if (elapsed_time < 3)
{ // sounds like we've been at this just over two minutes,
// under three, so go to the 'third' source
if (!solar)
{ // have not visited the solar source, go there.
state = FLAG_TO_SOLAR;
// drive North 1.5-6.5'
// orient wheels E/W
// drive West 1.5'
// orient wheels N/S
// drive North to the wall
// orient wheels E/W
// drive East until you hit the wall
}
else if (!wind)
{ // have not visited the wind source, go there.
state = FLAG_TO_WIND;
// drive North 1.5'
// orient wheels East
// drive 1.5-6.5' East
// orient wheels N/S
// drive South to the wall
// orient turbine West
// orient wheels West
// drive West to the wall
}
else
{ // have not visited the electric source, go there.
state = FLAG_TO_NODE;
// go via the node, possibly grab some solar on the way...
// go North 6.5'
// orient wheels E/W
// drive West 7.5'ish
// orient claw North
// orient wheels N/S
// drive North until you hit the wall
}
}
break;
case DONE:
// rejoice
break;
default:
// scream & shout
// not supposed to be here
// OR
// use this as the wait-state: when in doubt, if the voltage
// is changing, wait. Otherwise, proceed to the next location
break;
}
//----------------------------------
#elif CALCULATING
// another method:
#endif
}
}
