void initialize( void )
{
CPU_PRESCALE(0);
USART_Init(BAUD_RATE);
USART_Transmit('\f'); // Send form feed to clear the terminal.
USART_SendString("WunderBoard initializing...\r\n");
USART_SendString("\tSetting ADC prescaler and disabling free running mode...\r\n");
SetupADC(ADC_PRESCALER_32, FALSE);
USART_SendString("\tEnabling ADC...\r\n");
ADCEnable();
USART_SendString("\tSetting ADC reference to Vcc...\r\n");
ADCSetReference(ADC_REF_VCC);
// Configure IO //
USART_SendString("\tConfiguring IO...\r\n");
//DDRx corresponds to PORTx/PINx, dependng on direction of data flow -- PORT for output, PIN for input
DDRA = 0x00; // Buttons and switches
DDRB = 0xE7; // Red enable, green enable and audio out
DDRC = 0xff; // Discrete LEDs
DDRE = 0x47; // LED Column
DDRF = 0x00; // Accelerometer
// Disable pullups and set outputs low //
PORTA = 0x00;
PORTB = 0x01;
PORTC = 0x81;
PORTE = 0x00;
PORTF = 0x00;
//Set OC1A to toggle
TCCR1A = 0b01000000;
// Clk/64 and CTC mode
TCCR1B = 0b00001011;
OCR1A = 24;
USART_SendString("\tSetting SPI\r\n");
//Set the SPI bus appropriately to use the LED array
SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR0);
}
int ServoError(uint8_t destination)
{
uint8_t position;
ADCSetReference(ADC_REF_VCC);
position = ReadADC(POT_ADC);
if (destination > UPPER_BOUND)
{
destination = UPPER_BOUND; // Set it to the upper bound
}
else if (destination < LOWER_BOUND)
{
destination = LOWER_BOUND; // Set it to the lower bound
}
return position - destination;
}