uint8_t usart_sendmotor(void){
usart_sendbyte(motor1_state);
_delay_ms(1);
usart_sendbyte(motor2_state);
_delay_ms(1);
return(1);
}
void print(char *str)
{
char c;
while ((c=*(str++))!=0) { // C drunken kung-fu
usart_sendbyte(c);
}
}
void console_putc(char ch)
{
if(console_dev){
usart_sendbyte(console_dev,ch);
}else{
if(console_fifo==NULL)
console_alloc_kfifo();
if(console_fifo){
kfifo_putc(console_fifo,ch);
}
}
}
int main(void){
ddr_setup(); //set up pins
usart_setup(BAUD); //set up USART with defined Baudrate
uint8_t adc_data_xaxis = 0; //hold x tilt data
uint8_t adc_data_yaxis = 0; //hold y tilt data
uint8_t motor1_prev = 0; //hold previous m1 state
uint8_t motor2_prev = 0; //hold previous m2 state
uint8_t mtr_prev = 0;
while(1){
_delay_ms(1); //just wait
adc_data_xaxis = adc_read(X_AXIS); //read x tilt
adc_data_yaxis = adc_read(Y_AXIS); //read y tilt
set_mtr_state(adc_data_xaxis, adc_data_yaxis);
//if ( mtr_state != mtr_prev){
usart_sendbyte(mtr_state);
//}
mtr_prev = mtr_state;
if (PINA & (1<<0)){
usart_sendbyte(FORWARD);
}
else if (PINA & (1<<1)){
usart_sendbyte(BACKWARD);
}
else if (PINA & (1<<2)){
usart_sendbyte(RIGHT);
}
else if (PINA & (1<<3)){
usart_sendbyte(LEFT);
}
}
}
