int main() {
initLEDs();
initSW1();
enableInterrupts();
while(1){
switch(state){
case waitPush:
break;
case waitRelease:
break;
}
}
return 0;
}
int main(void){
//SYSTEMConfigPerformance(10000000);
int i = 0;
int j = 0;
int onLine = 0;
float Volts = 0.0;
init_timer_1();
enableInterrupts();
init_lcd();
clear_lcd();
initPWM();
char voltage[8];
initSW1();
initADC();
initMotor();
move_cursor_lcd(0,1);
print_string_lcd("lLLLLL");
PrintValue();
lineL = valL + 50;//780;
lineR = valR + 50;//805;
lineM = valM - 60;//840;
while(1){
switch(state) {
case Forward:
OC1RS = 0;
OC2RS = 0;
OC3RS = 200;
OC4RS = 200;
onLine = 0;
PrintValue();
if(valR > lineR && valL > lineL && valM > lineM) {
state = Double;
}
else if (valL > lineL) {
onLine = 0;
state = TurnLeft;
if (valM > lineM + 50/*&& counter == 0*/) state = Forward;
}
else if (valR > lineR) {
onLine = 0;
state = TurnRight;
if (valM > lineM /*&& counter == 0*/) state = Forward;
//else state = TurnRight;
}
else onLine = 0;
sprintf(stateDisp, "For");
break;
//All sensors are over a line
case Double:
OC1RS = 0;
OC2RS = 0;
OC3RS = 200;
OC4RS = 200;
if (onLine == 0) {
counter += 1;
onLine = 1;
}
sprintf(stateDisp,"Doub");
PrintValue();
// delay_ms(100);
//if(!(valR > (lineR + Thresh) && valL > (lineL + Thresh) && valM > (lineM + Thresh))) state = Forward;
if (counter >= 1) state = TurnAround;
//if (counter > 5) state = TurnLeft;
if (counter == 12) state = Idle;
break;
case TurnAround:
sprintf(stateDisp,"Tur");
OC1RS = 100;
OC2RS = 0;
OC3RS = 100;
OC4RS = 0;
onLine = 0;
PrintValue();
stateNext = TurnAround;
delay_ms(1);
if (valR > lineR /*&& valR < lineR*/ && i == 1) {
j = 1;
}
if(valR < lineR) i = 1;
if (j == 1 && valM > lineM + Thresh) {
stateNext = Forward;
i = 0;
j = 0;
}
//else if(valR < lineR) state = Forward;
state = stateNext;
break;
case TurnLeft:
OC1RS = 0;
OC2RS = 0;
OC3RS = 0;
OC4RS = 300;
onLine = 0;
sprintf(stateDisp, "Lef");
PrintValue();
if(valL < lineL) state = Forward;
//else if (valR > lineR && valM > lineM) state = Double;
break;
case TurnRight:
OC1RS = 0;
OC2RS = 0;
OC3RS = 300;
OC4RS = 0;
onLine = 0;
sprintf(stateDisp, "Rig");
PrintValue();
if(valR < lineR) state = Forward;
//if(valL > lineL) state = TurnLeft
if(valL > lineL) state = TurnLeft;
if (valR > (lineR + Thresh) && valL > (lineL + Thresh) && valM > (lineM + Thresh)) state = Double;
//else if(counter < 1) state = Forward;
//else state = TurnRight;
break;
case Idle:
idle1 = 1;
OC1RS = 0;
OC2RS = 0;
OC3RS = 0;
OC4RS = 0;
sprintf(stateDisp, "Idl");
PrintValue();
break;
}
}
return 0;
}
int main(void){
SYSTEMConfigPerformance(10000000);
enableInterrupts();
initTimer1();
initTimer2();
initTimer45();
initSW1();
initLCD();
initPWM();
initADC();
setMotorDirection(M1, 1);
setMotorDirection(M2, 1);
while(1){ //Lab3 Part1
switch(state){
case forward:
prevstate = forward;
ADCbuffer = getADCbuffer();
if((dispVolt < ADCbuffer) && ((dispVolt + 1) <= ADCbuffer)){//to reduce excessive LCD updates
printVoltage(ADCbuffer);
dispVolt = ADCbuffer;
}
else if((dispVolt > ADCbuffer) && ((dispVolt - 1) >= ADCbuffer)){
printVoltage(ADCbuffer);
dispVolt = ADCbuffer;
}
moveCursorLCD(1,0);
printStringLCD("forward ");
if(remap == 1){
setMotorDirection(M1,1);
setMotorDirection(M2,1);
delayUs(1000);
remap = 0;
}
setMotorSpeed(ADCbuffer, direction);
break;
case backward:
prevstate = backward;
ADCbuffer = getADCbuffer();
if((dispVolt < ADCbuffer) && ((dispVolt + 1) <= ADCbuffer)){//to reduce excessive LCD updates
printVoltage(ADCbuffer);
dispVolt = ADCbuffer;
}
else if((dispVolt > ADCbuffer) && ((dispVolt - 1) >= ADCbuffer)){
printVoltage(ADCbuffer);
dispVolt = ADCbuffer;
}
moveCursorLCD(1,0);
printStringLCD("backward");
if(remap == 1){
setMotorDirection(M1,0);
setMotorDirection(M2,0);
delayUs(1000);
remap = 0;
}
setMotorSpeed(ADCbuffer, direction);
break;
case idle:
unmapPins();
ADCbuffer = getADCbuffer();
if((dispVolt < ADCbuffer) && ((dispVolt + 1) <= ADCbuffer)){//to reduce excessive LCD updates
printVoltage(ADCbuffer);
dispVolt = ADCbuffer;
}
else if((dispVolt > ADCbuffer) && ((dispVolt - 1) >= ADCbuffer)){
printVoltage(ADCbuffer);
dispVolt = ADCbuffer;
}
moveCursorLCD(1,0);
printStringLCD("Idle ");
delayUs(1000);
break;
}
}
return 0;
}
int main() {
SYSTEMConfigPerformance(10000000); //Configures low-level system parameters for 10 MHz clock
enableInterrupts(); //This function is necessary to use interrupts.
//TODO: Write each initialization function
initLEDs();
initTimer1();
initTimer2();
initSW1();
while (1) {
//TODO: Implement a state machine to create the desired functionality
switch (state) {
case(stateLED1):
LED1 = LATON;
LED2 = LATOFF;
LED3 = LATOFF;
break;
case(statePressPauseLED1):
if (T2CONbits.ON == 0) {
TMR2 = 0;
T2CONbits.ON = TIMERON;
}
break;
case(statePressTimerLED1):
if (T1CONbits.ON == 0) {
TMR1 = 0;
T1CONbits.ON = TIMERON;
}
break;
case(statePressedLED1):
if (BUTTON == 1) {
state = stateUnPressPauseSecLED1;
}
break;
case(stateUnPressPauseLED1):
T1CONbits.ON = TIMEROFF;
if (T2CONbits.ON == 0) {
TMR2 = 0;
T2CONbits.ON = TIMERON;
}
break;
case(stateUnPressPauseSecLED1):
if (T2CONbits.ON == 0) {
TMR2 = 0;
T2CONbits.ON = TIMERON;
}
break;
case(stateLED2):
LED1 = LATOFF;
LED2 = LATON;
LED3 = LATOFF;
break;
case(statePressPauseLED2):
if (T2CONbits.ON == 0) {
TMR2 = 0;
T2CONbits.ON = TIMERON;
}
break;
case(statePressTimerLED2):
if (T1CONbits.ON == 0) {
TMR1 = 0;
T1CONbits.ON = TIMERON;
}
break;
case(statePressedLED2):
if (BUTTON == 1) {
state = stateUnPressPauseSecLED2;
}
break;
case(stateUnPressPauseLED2):
T1CONbits.ON = TIMEROFF;
if (T2CONbits.ON == 0) {
TMR2 = 0;
T2CONbits.ON = TIMERON;
}
break;
case(stateUnPressPauseSecLED2):
if (T2CONbits.ON == 0) {
TMR2 = 0;
T2CONbits.ON = TIMERON;
}
break;
case(stateLED3):
LED1 = LATOFF;
LED2 = LATOFF;
LED3 = LATON;
break;
case(statePressPauseLED3):
if (T2CONbits.ON == 0) {
TMR2 = 0;
T2CONbits.ON = TIMERON;
}
break;
case(statePressTimerLED3):
if (T1CONbits.ON == 0) {
TMR1 = 0;
T1CONbits.ON = TIMERON;
}
break;
case(statePressedLED3):
if (BUTTON == 1) {
state = stateUnPressPauseSecLED3;
}
break;
case(stateUnPressPauseLED3):
T1CONbits.ON = TIMEROFF;
if (T2CONbits.ON == 0) {
TMR2 = 0;
T2CONbits.ON = TIMERON;
}
break;
case(stateUnPressPauseSecLED3):
if (T2CONbits.ON == 0) {
TMR2 = 0;
T2CONbits.ON = TIMERON;
}
break;
}
}
return 0;
}
