int main(void)
{
struct sched_t sched[NUM_LEDS];
init_microcontroller();
scheduler_fill(sched, 1, 1, 1);
for (;;)
{
scheduler_run(sched);
}
}
int main(void)
{
int i, j;
uint16_t value;
uint8_t adc_value; //variable store value from conversion
struct sched_t sched[NUM_LEDS];
init_microcontroller();
for (;;)
{
adc_value = read_ADC();
//if (adc_value > 155)
if (adc_value > ADC_ZERO + (EPSILON / 2))
{
// light blue radially from center
scheduler_fill(sched, 0, 1, 0);
scheduler_schedule_color(&sched[0], 0, 0, 1);
value = ADC_ZERO + EPSILON;
for (i=1; i<NUM_LEDS && value < 256; i++)
{
if (adc_value > value)
scheduler_schedule_color(&sched[i], 0, 0, 1);
else
break;
value += 10;
}
}
else if (adc_value < ADC_ZERO - (EPSILON / 2))
{
// light red radially from center
scheduler_fill(sched, 0, 1, 0);
scheduler_schedule_color(&sched[0], 1, 0, 0);
value = ADC_ZERO - EPSILON;
for (i=1; i<NUM_LEDS && value >= 0; i++)
{
if (adc_value < value)
scheduler_schedule_color(&sched[i], 1, 0, 0);
else
break;
value -= 10;
}
}
else
{
// at rest. light all green
scheduler_fill(sched, 0, 1, 0);
}
for (i=0; i<10; i++)
scheduler_run(sched);
}
return 0;
}
int main()
{
char buffer[20];
int i;
float tmp, roll_angle;
float acc_gyro = 0, dt;
struct Gyro1DKalman filter_roll;
struct Gyro1DKalman filter_pitch;
init_microcontroller();
adc_init();
adc_start();
timer_init_ms();
uart1_open();
uart1_puts("Device initialized\n\r");
uart1_puts("Entering main loop\n\r");
init_Gyro1DKalman(&filter_roll, 0.0001, 0.0003, 0.69);
while(1)
{
dt = timer_dt(); // time passed in s since last call
// execute kalman filter
tmp = PredictAccG_roll(accelero_z(), accelero_y(), accelero_x());
ars_predict(&filter_roll, gyro_roll_rad(), dt); // Kalman predict
roll_angle = ars_update(&filter_roll, tmp); // Kalman update + result (angle)
//PrintAll(accelero_x(), accelero_y(), accelero_z(), gyro_roll_rad(), gyro_pitch_rad(), r);
PrintForVbApp(roll_angle / 3.14*180.0, tmp);
//PrintForStabilizer(r);
}
uart1_close();
return 0;
}
