void init_devices (void) //use this function to initialize all devices
{
cli(); //disable all interrupts
init_ports();
timer5_init();
sei(); //re-enable interrupts
}
//Function to initialize all the peripherals
void init_devices(void)
{
cli(); //disable all interrupts
port_init();
timer1_init();
timer5_init();
sei(); //re-enable interrupts
}
void init_devices (void)
{
cli(); //Clears the global interrupts
port_init();
adc_init();
timer5_init();
sei(); //Enables the global interrupts
}
void init_devices(void)
{
cli(); //Clears the global interrupts
port_init(); //Initializes all the ports
uart1_init(); //Initialize UART1 for serial communication
timer5_init();
sei(); //Enables the global interrupts
}
void init_devices_motion(void)
{
cli(); //disable all interrupts
port_init_motion(); // motion pin config&& lcd pig config
port_init_lcd(); // lcd initialisation
timer5_init();
sei(); //re-enable interrupts
}
void init_devices_adc (void)
{
cli(); //Clears the global interrupts
port_init_adc(); // adc pin configuration
adc_init();
timer5_init();
sei(); //Enables the global interrupts
}
void init()
{
cli(); //Clears the global interrupts
port_init(); //Initializes all the ports
uart0_init(); //Initialize UART0 for serial communication
left_encoder_interrupt_init(); //Initialize interrupts for left encoder
right_encoder_interrupt_init(); //Initialize interrupts for right encoder
timer5_init(); //Initialize TIMER5 for PWM
sei(); //Enables the global interrupts
}
void init_devices (void)
{
cli(); //Clears the global interrupts
port_init();
uart0_init(); //Initailize UART1 for serial communiaction
adc_init();
timer5_init();
timer1_init();
sei(); //Enables the global interrupts
}
/*
* Function For Devices Initialisation
*/
void init_devices (void)
{
cli(); ///< Clears the global interrupts
port_init(); ///< initialise the ports
adc_init();
uart0_init();
timer5_init();
timer1_init();
sei(); //Enables the global interrupts
}
void init_devices (void)
{
cli(); //Clears the global interrupts
port_init();
adc_init();
lcd_init();
timer5_init();
TIMSK5 = 0x01; //timer5 overflow interrupt enable.
sei(); //Enables the global interrupts
}
void init_devices (void)
{
cli(); //Clears the global interrupts
timer1_init();
port_init();
adc_init();
timer5_init();
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
sei(); //Enables the global interrupts
}
void init_devices1 (void)
{
cli(); //Clears the global interrupts
lcd_port_config(); // configure the LCD port
lcd_set_4bit();
lcd_init();
port_init();
timer5_init();
sei(); //Enables the global interrupts
}
//Function to initialize all the devices
void init_devices()
{
cli(); //Clears the global interrupt
port_init(); //Initializes all the ports
timer5_init();
timer3_init();
timer1_init();
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
ext_position_encoder_interrupt_init ();
sei(); // Enables the global interrupt
}
//Function to initialize all the devices
void init_devices()
{
cli(); //Clears the global interrupt
port_init(); //Initializes all the ports
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
timer5_init();
uart0_init(); //Initailize UART1 for serial communiaction
sei(); // Enables the global interrupt
}
void init_devices (void)
{
cli(); //Clears the global interrupts
port_init();
adc_init();
timer5_init();
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
sei(); //Enables the global interrupts
// To initialize the direction of the bot to north
init_location();
}
/*!
initialize all devices. call all other initialization function
*/
void init_devices (void)
{
cli(); //Clears the global interrupts
port_init();
adc_init();
uart3_init();
timer5_init();
timer4_init();
TCCR4B = 0x00;
TIMSK4 = 0x01; //timer4 overflow interrupt enable
TIMSK3 = 0x01;
sei(); //Enables the global interrupts
}
void init_devices (void)
{
cli(); //Clears the global interrupts
port_init();
adc_init();
timer5_init();
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
uart0_init(); //Initailize UART1 for serial communiaction
c2_position_encoder_interrupt_init();
//Slider_position_encoder_interrupt_init();
timer1_init();
sei(); //Enables the global interrupts
}
//Function to initialize all the devices
void init_devices()
{
cli(); //Clears the global interrupt
port_init(); //Initializes all the ports
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
timer4_init();
adc_init();
timer5_init();
store_init();
uart2_init();
TIMSK4 = 0x01;
sei(); // Enables the global interrupt
}
void init_devices(void)
{
cli(); //Clears the global interrupt
port_init_poz(); //Initializes all the ports
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
port_init(); //Initializes all the ports
color_sensor_pin_interrupt_init();
adc_init();
motion_pin_config();
timer5_init();
timer1_init();
sei(); // Enables the global interrupt
}
void PD2_INT_Handler(void)
{
if(trig_num3==0)
{
timer5_init();
trig_num3 ++;
*(RP)(GPIO_PORTD_INTLEL) |= (0x1<<2);//change PA1 to trailing edge下降沿触发
}
else
{
// serial_puts("end\n");
time3 = *(RP)(TIMER_T5CCR);
}
*(RP)(GPIO_PORTD_INTCLR) |= (0x1<<2);//clear PA1 interrupt
}
//-------------------------------------------------------------------------------
//call this routine to initialize all peripherals
void init_devices(void)
{
//stop errant interrupts until set up
cli(); //disable all interrupts
port_init();
uart2_init();
adc_init();
timer1_init();
timer5_init();
lcd_set_4bit();
lcd_init();
spi_init();
// below for lines are important for Encoder init
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
EICRB = 0x0A; //pin change int edge 4:7
EIMSK = 0x30;
sei(); //re-enable interrupts
//all peripherals are now initialized
}
int main(int argc, char *argv[])
{
int i=0;
int h=0;
int bupi=0;
cli();
memset(command,'$',58);
init();
timer0_init();
timer1_init();
timer3_init();
timer4_init();
timer5_init();
//lcd_init();
//lcd_string("Welcome");
//lcd_move(0,1);
//lcdconfig();
//lcd_string("Give me a code:");
//lcd_move(0,2);
UART_init();
//adc_init();
//lcdsenddata('F');
//lcd_num(123456);
_delay_ms(1500);
sei();
while(1)
{
//-------------------------------------------------scan for input
while(mode==0)
{
while(1)//scan line
{
if(command[comm]=USART_Receive())
{
if((command[comm]==13||command[comm]=='\n'||command[comm]==59)&&(comm<59))
{
break;
}
if(echo==1)
{
//USART_Transmit('[');
// USART_Transmit(comm+48);
// USART_Transmit(']');
USART_Transmit(command[comm]);
}
comm++;
}
else
{
}
}
mode=1;
if(echo==1)
{
USART_String_Transmit("\nTransition to parsing.");
}
}
//-------------------------------------------------parse commands
while(mode==1)//parse commands
{
for(i=0;i<comm;i++)//cycling i till \n-1
{
if(command[i]=='N'&&command[i+1]>47&&command[i+1]<58)//GET LINE NUMBER
{
if(echo)
{
USART_String_Transmit("\n Getting line number.");
}
temp_line_number=fetchlong(command,i,'N');
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='0'&&command[i+3]=='5')//GET EXTRUDER TEMP
{
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='0'&&command[i+3]=='4')//SET EXTRUDER TEMP FAST SXXX
{
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='0'&&command[i+3]=='9')//SET EXTRUDER TEMP AND WAIT RXXX
{
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='4'&&command[i+3]=='0')//SET BED TEMP FAST SXXX
{
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='9'&&command[i+3]=='0')//WAIT FOR BED TEMP TO HIT RXXX
{
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='0'&&command[i+3]=='7')//FAN OFF
{
}
if(command[i]=='M'&&command[i+1]=='1'&&command[i+2]=='0'&&command[i+3]=='6')//FAN ON WITH FAN SPEED S255MAX
{
}
if(command[i]=='M'&&command[i+1]=='8'&&command[i+2]=='2'&&command[i+3]==' ')//EXTRUDER TO ABSOLUTE MODE
{
}
if(command[i]=='G'&&command[i+1]=='2'&&command[i+2]=='1'&&command[i+3]==' ')//METRIC VALUES
{
}
if(command[i]=='G'&&command[i+1]=='9'&&command[i+2]=='0'&&command[i+3]==' ')//ABSOLUTE POSITIONING
{
}
if(command[i]=='G'&&command[i+1]=='9'&&command[i+2]=='2'&&command[i+3]==' ')//ZERO EXTRUDED LENGTH WITH E0 otherwise set origin?
{
}
if(command[i]=='G'&&command[i+1]=='0'&&command[i+2]==' ')//MOVE WITHOUT EXTUSION
{
if(echo)
{
USART_String_Transmit("\nG0 command.");
}
line_engine(double_scan_x,double_scan_y,double_scan_z,double_scan_e,i);
if((echo==1)&&(xroll==1)&&(yroll=1))
{
USART_String_Transmit("\n Xroll=1");
USART_String_Transmit("\n Yroll=1");
}
mode==2;
}
if(command[i]=='G'&&command[i+1]=='1'&&command[i+2]==' ')//MOVE WITH EXTRUSION
{
}
if(command[i]=='Q'&&command[i+1]=='1')//MOTOR TEST {
{
if(echo)
{
USART_String_Transmit("\n Motor test on.");
//xroll=1;
yroll=1;
//testval=(threefetchdouble(command,i,'E')/0.01)*16;
}
}
if(command[i]=='Q'&&command[i+1]=='0')//MOTOR TEST
{
if(echo)
{
USART_String_Transmit("\n Motor test off.");
}
//xroll=0;
yroll=0;
}
}
mode=2;
if(echo)
{
USART_String_Transmit("\nTransition to set outputs.");
}
}
//-------------------------------------------------setting outputs
while(mode==2)
{
while(zroll==1||eroll==1||xroll==1||yroll==1)
{
if(USART_Receive()=='.')
{
zroll=0;
eroll=0;
xroll=0;
yroll=0;
USART_String_Transmit("\nSW Emergency stopped, please reset!");
// PINK|=0b00000001;
// PINA|=0b00000100;
// PINF|=0b00000100;
// PIND|=0b10000000;
}
}
if(zroll==0&&eroll==0&&xroll==0&&yroll==0)
{
if(echo)
{
USART_String_Transmit("\nTransition to mode 3, reseting parameters.");
}
mode=3;
}
}
//-------------------------------------------------clear things
while(mode==3)
{
cli();
memset(command,'$',58);
comm=0;
i=0;
double_scan_x=-1.0;
double_scan_y=-1.0;
double_scan_z=-1.0;
double_scan_e=-1.0;
if(echo)
{
USART_String_Transmit("\nParameters reseted returning to scanning mode");
}
USART_String_Transmit("\n\rok");
sei();
mode=0;
}
//-------------------------------------------------
while(mode==4)
{
}
}
return 0;
}
void main()
{
unsigned int value,value1;
int a=0,b=0;
cli();
INIT_PORTS(); //Initialize ports
uart0_init(); //Initialize UART0 for xbee communication
timer5_init();
sei();
INIT_PORTS_ROTATE(); //Initialize ports
right_position_encoder_interrupt_init(); //Initialize control registers for wheel
left_position_encoder_interrupt_init(); // encoders.
init_devices();
lcd_set_4bit(); //LCD initialization functions.
lcd_init();
unsigned char angle = 0;
init_devices_servo(); //Initialize servo motors.
data='0';
sharp = ADC_Conversion(11); //Stores the Analog value of front sharp connected to ADC channel 11 into variable "sharp"
value = Sharp_GP2D12_estimation(sharp); //Stores Distance calsulated in a variable "value".
// lcd_print(1,1,value,3);
// sharp1 = ADC_Conversion(10); //Stores the Analog value of front sharp connected to ADC channel 11 into variable "sharp"
// value1 = Sharp_GP2D12_estimation(sharp1); //Stores Distance calsulated in a variable "value".
// lcd_print(1,5,value1,3);
// set servo for camera to ground zero
servo_1(0); // code to bring the camera to ground state
_delay_ms(1000);
// set servo for incline to ground zero
servo_2(90); // align camera
_delay_ms(500);
// the bot rotating slowly trying to find the bot
int terminate = 0;
while(data=='0' && terminate < 150)
{
velocity(150,150); //If no ball is detected the rotate and scan
angle_rotate_left(3); // for ball in the arena.
_delay_ms(500);
stop();
_delay_ms(500);
sharp = ADC_Conversion(11); //Stores the Analog value of front sharp connected to ADC channel 11 into variable "sharp"
value = Sharp_GP2D12_estimation(sharp); //Stores Distance calsulated in a variable "value".
terminate++;
// lcd_print(1,1,value,3);
}
if(terminate == 60)
{
buzzer_on();
return;
}
/*If a ball(red colour) is detected then matlab code sends a '5' signal through
zigbee.If a '5' is received then the robot stops rotating and moves towards the
ball*/
value2 = 100;
if(atoi(data) > 5)
{
lcd_print(1,5,value2,2);
}
velocity(160,184);
// change value
while(value>140)
{
sharp = ADC_Conversion(11); //Stores the Analog value of front sharp connected to ADC channel 11 into variable "sharp"
value = Sharp_GP2D12_estimation(sharp); //Stores Distance calsulated in a variable "value".
lcd_print(1,1,value,3);
forward();
}
stop();
_delay_ms(2000);
/* the servo_1 is for the camera and the servo_2 is for the inclined plane */
// rotate 90 at left
left90_at_place();
_delay_ms(1000);
// rotate the camera 90 degrees to the right
servo_1(90);
_delay_ms(1000);
//rotate in circle
rotate_in_circle();
int perceived_height;
perceived_height = atoi(data);
lcd_print(1,5,perceived_height,5);
// rotate 90 degrees to the right to face the ball again
right90_at_place();
stop();
_delay_ms(2000);
// rotate camera also to ground state to face the ball again
servo_1(0); // code to bring the camera to ground state
_delay_ms(1000);
// set servo for incline
int angle_of_inclination = get_angle(perceived_height);
lcd_print(1,2,angle_of_inclination,5);
servo_2(angle_of_inclination);
_delay_ms(1000);
while(1);
}
