int main(void)
{
//Initialize new interrupt fix
SYSTEMConfigPerformance(40000000);
#ifdef part1
initSW();
initLED(RUN_LED);
initLED(STOP_LED);
initTimer2();
enableInterrupts();
// initialize the lights
state = runToggle;
turnOffLED(STOP_LED);
turnOnLED(RUN_LED);
while(1){
switch(state){
// the state that toggles the LEDs
case runToggle:
// switch the led's
toggleAllLEDs();
prevState = runToggle;
state = waitForPress; //Go to debounce press state
break;
// wait for user input i.e. button press
case waitForPress:
while (state == waitForPress);
break;
// once the button has been pressed
case dbPress:
delayUs(DBdelayTime); // Delay for 5ms
while(state == dbPress );
break;
// once the button has been released
case dbRelease:
delayUs(DBdelayTime); //Delay for 5ms
state = runToggle;
break;
}
}
#endif
return 0;
}
void main (void)
{
int i;
EAL = 1; //enable all interrupts
/* Testscenario Abschalten des SW und Modul-Rueckmeldung beim SW*/
initNOTAUS();
initSW();
stopSW();
//helloModul(0, 255); // Fehler: 255 ist erste Stausmeldung
//helloModul(7, 0); // Fehler: ungueltige Modul-ID
//helloModul(255, 0); // Fehler: ungueltige Modul-ID
//helloModul(0, 0);
//helloModul(0, 0); // Fehler: 2 mal die selbe Statusmeldung eines Moduls hintereinander
//helloModul(0, 0);
//helloModul(1, 1);
//helloModul(0, 0); // Fehler: 2 mal die selbe Statusmeldung eines Moduls hintereinander
helloModul(0, 1);
helloModul(0, 2);
helloModul(1, 1);
helloModul(1, 2);
helloModul(2, 1);
helloModul(2, 2);
helloModul(3, 1);
helloModul(3, 2);
helloModul(4, 1);
helloModul(4, 2);
helloModul(5, 1);
helloModul(5, 2);
helloModul(6, 1);
helloModul(6, 2);
helloModul(0, 2); // Fehler: 2 mal die selbe Statusmeldung eines Moduls hintereinander
// SW sollte jetzt zuschlagen!
/* ENDE Testscenario Abschalten des SW und Modul-Rueckmeldung beim SW*/
for(;;) //Endlosschleife
{
}
}
int main(void)
{
SYSTEMConfigPerformance(SYS_CLOCK);
enableInterrupts();
initADC();
initTimer2(); //for PWM
initPWM();
initLCD();
initTimer4(); //for pwm
initSW();
int track = 1;
int SpeedR = 0;
int SpeedL = 0;
int ones = 0;
int dec = 0;
float voltage = 0;
//Actual main state machine loop
while(1)
{
Speed = ADC1BUF0;
moveCursorLCD(0,0);
voltage = Speed * ((double)3.3/1023);
ones = floor(voltage);
dec = (voltage - ones) * 10;
printCharLCD('0'+ones);
printCharLCD('.');
printCharLCD('0'+dec);
printCharLCD('V');
delayUs(10000); //10ms - Just to help the LCD not strobe too much
switch(state)
{
case wait_Press: //handled by ISR
break;
case debouncePress:
state = wait_Release;
break;
case wait_Release: //handled by ISR
break;
case debounceRelease:
if (track == 1){
state = forward;
}
if (track == 2){
state = idle2;
}
if (track == 3){
state = reverse;
}
if (track == 4){
state = idle1;
}
break;
case idle1:
track = 1;
motorsOff();
state = wait_Press;
break;
case forward:
track = 2;
if(Speed == 511){
SpeedR = 1023;
SpeedL = 1023;
}
else if(Speed < 511){
SpeedR = 1023;
SpeedL = (2*Speed);
}
else if(Speed > 511){
SpeedR = 2*(1023 - Speed);
SpeedL = 1023;
}
else if (Speed == 1023){
SpeedR = 0;
SpeedL = 1023;
}
else if (Speed == 0){
SpeedR = 1023;
SpeedL = 0;
}
RightMotor_Write(SpeedR);
LeftMotor_Write(SpeedL);
break;
case idle2:
track = 3;
motorsOff();
state = wait_Press;
break;
case reverse:
track = 4;
if(Speed == 511){
SpeedR = 1023;
SpeedL = 1023;
}
else if(Speed < 511){
SpeedR = 1023;
SpeedL = 2*Speed;
}
else if(Speed > 511){
SpeedR = 2*(1023 - Speed);
SpeedL = 1023;
}
else if (Speed == 1023){
SpeedR = 1023;
SpeedL = 0;
}
else if (Speed == 0){
SpeedR = 0;
SpeedL = 1023;
}
RightMotor_Write(0-SpeedR); //maybe it needs the zero to be interpreted as negative?
LeftMotor_Write(0-SpeedL);
break;
}
}
return 0;
}
ShootingWeapon::ShootingWeapon(ShootingUnit *agent, int power, int range, int frequency) : Actuator(static_cast<Agent*>(agent))
{
initSW(power, range, frequency);
}
ShootingWeapon::ShootingWeapon(ShootingUnit *agent) : Actuator(agent)
{
initSW(20, 100, 1);
}
int main(void) {
SYSTEMConfigPerformance(40000000); //System clock is 40MHz
//Because interrupts are good to have
enableInterrupts();
//Because ADC is good to have
initADC();
//Because a timer is good to have for PWM
initTimer2();
//Because PWM is good to have
initPWM();
// initMotorDirPins();
//Because the delayUs function is typically pretty good to have
initTimer4();
//Because UART is good to have for interfacing with our speech chip
initUART(40000000);
//Because a talking robot is the absolute best thing to have
//initSpeakJet();
initSevenSegment();
initSW();
int HelloBytes[] = {0, 0, 0, 0b01110110, 0b01111001, 0b00111000, 0b00111000, 0b00111111, 0, 0, 0};
int helloCounter = 2;
int myCounter = 0;
int timesInFwd = 0;
//sendSpeakjet(initByteArray);
while(1) {
if(millis >= 5000) //if it's been some seconds
{
millis = 0; //reset the timer
//tell speakjet to speak state here
sendSpeakjet(AllYour);
}
if(ScrollMillis >= 600)
{
ScrollMillis = 0;
helloCounter = ((helloCounter + 1) % 8);
sevenSeg_write(0, HelloBytes[WRAPPOS((helloCounter-3), 8)]);
sevenSeg_write(1, HelloBytes[WRAPPOS(helloCounter-2,8)]);
sevenSeg_write(2, HelloBytes[(helloCounter-1) % 8]);
sevenSeg_write(2, HelloBytes[WRAPPOS((helloCounter-1), 8)]);
sevenSeg_write(3, HelloBytes[(helloCounter)]);
}
switch(myState) {
case idle:
motorsOff();
break;
case init:
//Wait for a button press to start us up
motorsOff();
sendSpeakjet(BiteMy);
delayUs(3000000);
myState = backwards;
break;
case backwards:
timesInFwd = 0;
LeftMotor_Write(-800);
RightMotor_Write(-800);
if(leftPairReading < THRESHOLD && rightPairReading < THRESHOLD)
myState = pivot_right;
else if (rightPairReading < THRESHOLD)
myState = turnL_back;
else if (leftPairReading < THRESHOLD)
myState = turnR_back;
else
myState = backwards;
break;
case turnR_back:
turnRight_back(73); //makes the LEFT motor turn at near full power. Yes, it IS the left motor and not the right one.
turnLeft_back(300);
sampleIRPairs(&leftPairReading, &rightPairReading, 10);
// myState = (rightPairReading >= THRESHOLD) ? forward : turnR;
if (leftPairReading < THRESHOLD && rightPairReading < THRESHOLD) //both dark
myState = pivot_right;
else if (rightPairReading < THRESHOLD)
myState = turnR_back;
else if (leftPairReading < THRESHOLD)
myState = turnL_back;
else
myState = backwards;
break;
case turnL_back:
turnRight_back(300); //makes the LEFT motor turn at near full power. Yes, it IS the left motor and not the right one.
turnLeft_back(73);
sampleIRPairs(&leftPairReading, &rightPairReading, 10);
// myState = (rightPairReading >= THRESHOLD) ? forward : turnR;
if (leftPairReading < THRESHOLD && rightPairReading < THRESHOLD) //both dark
myState = pivot_right;
else if (rightPairReading < THRESHOLD)
myState = turnR_back;
else if (leftPairReading < THRESHOLD)
myState = turnL_back;
else
myState = backwards;
break;
case pivot_right:
// if(leftPairReading >= THRESHOLD) //left is light
// myState = forward;
// break;
RightMotor_Write(-650);
LeftMotor_Write(700);
if(rightPairReading > THRESHOLD)
myState = forward;
break;
case turnR:
// turnRight(512);
turnRight(73); //makes the LEFT motor turn at near full power. Yes, it IS the left motor and not the right one.
turnLeft(800);
sampleIRPairs(&leftPairReading, &rightPairReading, 10);
// myState = (rightPairReading >= THRESHOLD) ? forward : turnR;
if (leftPairReading < THRESHOLD && rightPairReading < THRESHOLD) //both dark
myState = turnR;
else if (rightPairReading < THRESHOLD)
myState = turnR;
else if (leftPairReading < THRESHOLD)
myState = turnL;
else
myState = forward;
break;
case turnL:
// turnLeft(512);
turnLeft(73); //makes RIGHT motor run at near full power. Yes, it IS the right motor, not the left one.
turnRight(800);
sampleIRPairs(&leftPairReading, &rightPairReading, 10);
// myState = (leftPairReading >= THRESHOLD) ? forward : turnL;
if (leftPairReading < THRESHOLD && rightPairReading < THRESHOLD)
myState = turnR;
else if (rightPairReading < THRESHOLD)
myState = turnR;
else if (leftPairReading < THRESHOLD)
myState = turnL;
else
myState = forward;
break;
case forward:
if(timesInFwd >= 25000)
{
sendSpeakjet(finishedPhrase);
myState = backwards;
// myState = idle;
break;
}
timesInFwd++;
goForward();
sampleIRPairs(&leftPairReading, &rightPairReading, 100);
if (rightPairReading < THRESHOLD) {
myState = turnR;
timesInFwd = 0;
}
else if (leftPairReading < THRESHOLD) {
myState = turnL;
timesInFwd = 0;
}
break;
}
}
return (EXIT_SUCCESS);
}
