//-------------------------------------------------------------------------------------
//LCD_Print function
//-------------------------------------------------------------------------------------
void LCD_Print(void) {
if (new_print){ // Call display function every 400 ms
new_print =0;
lcd_clear();
lcd_print("\rHeading: %u", heading/10);
lcd_print("\rRange:%u", range);
if(Counts==1){ //only call the battery voltage once every second
battery=(read_AD_input(5)); //switch channels
battery*=95;
keypad = read_AD_input(4); //Allow it stabilize. using this variable as just a throw away
Counts=0;
}//end if counts
lcd_print("\rVoltage:%d", (1*battery)); //prints battery voltage to nearest volt
lcd_print("\rtrip: %d", near_obstical);
}//end if new print
}//end LCD print
void Drive_Motor(void){
MOTOR_PW_AND_STEER_PW = 2028+read_AD_input(4)*5.8;//Normal speed
//if 65 the first time
///turn south
// if 25 the first time
//stop and start again
//if 25 the second time
//stop and do not go again
if(range<65){
desired_heading=1800;
}
if(range<25){
MOTOR_PW_AND_STEER_PW=MOTOR_NEUT;
}
if(MOTOR_PW_AND_STEER_PW<MOTOR_NEUT){
MOTOR_PW_AND_STEER_PW=MOTOR_NEUT+10; //NEED TO GET IT SO IT ALWAYS RUNS FORWARDS
} //end min val
if (MOTOR_PW_AND_STEER_PW>3502){
MOTOR_PW_AND_STEER_PW=3502;
}//end max val
PCA0CPL2 = 0xFFFF - MOTOR_PW_AND_STEER_PW;
PCA0CPH2 = (0xFFFF - MOTOR_PW_AND_STEER_PW) >> 8;//set motor values
}//end drive motor
int findVoltage(void){
float advolt;
adinput = read_AD_input(5); //read the voltage on pin 1.7 and convert it to an unsigned char
advolt = adinput;
advolt = advolt/.236; //do some math, get a float out between 0-15(V)
return advolt;
}
//-------------------------------------------------------------------------------------
//LCD_Print function
//-------------------------------------------------------------------------------------
void LCD_Print(void) {
if (new_print){ // Call display function every 400 ms
new_print =0;
lcd_clear();
// pause();
lcd_print("\rHeading: %u", heading/10);
lcd_print("\rRange:%u", range);
if(Counts==1){ //only call the battery voltage once every second
battery=(read_AD_input(4)); //switch channels
battery =(battery/256) * 15; //Reads once it has stabilized do calc
keypad = read_AD_input(5); //Allow it stabilize. using this variable as just a throw away
Counts=0;
}//end if counts
lcd_print("\rVoltage:%d", battery*1000); //prints battery voltage to nearest volt
}//end if new print
}//end LCD print
//-------------------------------------------------------------------------------------
//LCD_Print function
//-------------------------------------------------------------------------------------
void LCD_Print(void) {
if (new_print) // Call display function every 400 ms
{
new_print =0;
lcd_clear();
pause();
lcd_print("\rHeading: %u", heading/10);
lcd_print("\rRange:%u", range);
if(Counts=1) //only call the battery voltage once every second
{
battery=(read_AD_input(5)); //switch channels
battery =((read_AD_input(5)/256.) * 15.); //Reads once it has stabilized do calc
result = read_AD_input(6); //Allow it stabilize
Counts=0;
}
lcd_print("\rVoltage:%d", battery); //prints battery voltage to nearest volt
}
}
//-------------------------------------------------------------------------------------
//LCD_Print function
//-------------------------------------------------------------------------------------
void LCD_Print(void) {
if (new_print){ // Call display function every 400 ms
new_print =0;
lcd_clear();
lcd_print("\rHd: %u, dh: %u", heading/10, desired_heading/10);
lcd_print("\rRange:%u", range);
if(Counts==1){ //only call the battery voltage once every second
battery=(read_AD_input(5)); //switch channels
battery*=95;
keypad = read_AD_input(4); //Allow it stabilize. using this variable as just a throw away
Counts=0;
}//end if counts
if(heading>desired_heading){
lcd_print("\rVoltage:%d, left", (1*battery)); //hn//prints battery voltage to nearest volt
} else if(heading<=desired_heading){
lcd_print("\rVoltage:%d, right", (1*battery)); //prints battery voltage to nearest volt
}
lcd_print("\rOtp: %d, Htp: %d", near_obstical, trip_heading_change);
}//end if new print
}//end LCD print
//*******************modified no AD!!!!!!!!!!!!!
void Drive_Motor(void){
if (range<=10) {
//The motor is neutral when the object is 10 cm above the car.
MOTOR_PW_AND_STEER_PW=MOTOR_NEUT;
}//end if range = very close
else if(range > 10){
MOTOR_PW_AND_STEER_PW = 2028+read_AD_input(4)*5.8;//adjust speed based on potentiometer
//***********************************************CONSIDER NOT USING RESULT?!?!?!?!
}//end else normal ad
PCA0CPL2 = 0xFFFF - MOTOR_PW_AND_STEER_PW;
PCA0CPH2 = (0xFFFF - MOTOR_PW_AND_STEER_PW) >> 8;//set motor values
}//end drive motor
void Drive_Motor_two(void){
if (range<=25) {
if(near_obstical<2){
MOTOR_PW_AND_STEER_PW = 2028+read_AD_input(4)*5.8;//Normal speed
desired_heading=1800;
near_obstical++;
} else{//The motor is neutral the second time the object is 25 cm above the car.
MOTOR_PW_AND_STEER_PW=MOTOR_NEUT;
}//end if else near obistacl
}//end if range = very close
else {
MOTOR_PW_AND_STEER_PW = 2028+read_AD_input(4)*5.8;//adjust speed based on potentiometer
if(MOTOR_PW_AND_STEER_PW<2028){
MOTOR_PW_AND_STEER_PW=2028; //NEED TO GET IT SO IT ALWAYS RUNS FORWARDS
} //end min val
if (MOTOR_PW_AND_STEER_PW>3502){
MOTOR_PW_AND_STEER_PW=3502;
}//end max val
//***********************************************CONSIDER NOT USING RESULT?!?!?!?!
}//end else normal ad
PCA0CPL2 = 0xFFFF - MOTOR_PW_AND_STEER_PW;
PCA0CPH2 = (0xFFFF - MOTOR_PW_AND_STEER_PW) >> 8;//set motor values
}//end drive motor
void Drive_Motor(void){
MOTOR_PW_AND_STEER_PW = 2028+read_AD_input(4)*5.8;//Normal speed
//if 65 the first time
///turn south
// if 25 the first time
//stop and start again
//if 25 the second time
//stop and do not go again
if (range<25 && trip_heading_change==1){
if (range>0){
near_obstical=1;
}
}
else if (range<65&&range>0){
if (trip_heading_change==0){
trip_heading_change=1;
desired_heading+=900;
}
//desired_heading=1800;
}
if(range<25&&range>0){
MOTOR_PW_AND_STEER_PW=MOTOR_NEUT;
//near_obstical=1;
}
if(near_obstical==1){
MOTOR_PW_AND_STEER_PW=MOTOR_NEUT;
}
if(MOTOR_PW_AND_STEER_PW<MOTOR_NEUT){
MOTOR_PW_AND_STEER_PW=MOTOR_NEUT+10; //NEED TO GET IT SO IT ALWAYS RUNS FORWARDS
} //end min val
if (MOTOR_PW_AND_STEER_PW>3502){
MOTOR_PW_AND_STEER_PW=3502;
}//end max val
PCA0CPL2 = 0xFFFF - MOTOR_PW_AND_STEER_PW;
PCA0CPH2 = (0xFFFF - MOTOR_PW_AND_STEER_PW) >> 8;//set motor values
}//end drive motor
