void main(void){ PWM_motor_setup(); Inputs_motor_setup(); ADC_setup(); for(;;){ // while(INTCONbits.TMR0IF==0){} // busy loop // ADCON0bits.GO=1; // while(PIR1bits.ADIF==0){} // busy loop wait for conversion to finish // vel = ADRESH; turn(); // does the 8 bit to unsigned int work? } }
int main(void) { m_disableJTAG(); m_red(ON); m_clockdivide(0); // clock speed 16 MHz sei(); // enable global interrups // initialize m_bus communications // start wireless communications // and open wii camera m_bus_init(); m_wii_open(); m_usb_init(); m_rf_open(CHANNEL, RXADDRESS, PACKET_LENGTH); setup(); // motor setup ADC_setup(); int position[3]; // array for robot position int x_curr; int y_curr; int theta_curr; int i; int a; int x_pos[11]; int y_pos[11]; int theta[11]; // main LOOP while(1) { // for (i=0; i < 11; i++) // { // current_location(position); // x_pos[i] = position[0]; // y_pos[i] = position[1]; // theta[i] = position[2]; // } // // calculate positions // filter(x_pos,y_pos,theta); // x_curr = x_pos[11]; // y_curr = y_pos[11]; // theta_curr = theta[11]; // Read in values // ADC0(); // int D6 = ADC; // // ADC1(); // int F1 = ADC; // // ADC4(); // int F4 = ADC; // // ADC5(); // int F5 = ADC; // // ADC6(); // int F6 = ADC; // // ADC7(); // int F7 = ADC; // // ADC8(); // int D7 = ADC; // follow_puck(); m_green(TOGGLE); // // usb prinitng // m_usb_tx_string("D6: "); // m_usb_tx_int(D6); // m_usb_tx_string(" "); // m_usb_tx_string("F1: "); // m_usb_tx_int(F1); // m_usb_tx_string(" "); // m_usb_tx_string("F4: "); // m_usb_tx_int(F4); // m_usb_tx_string(" "); // m_usb_tx_string("F5: "); // m_usb_tx_int(F5); // m_usb_tx_string(" "); // m_usb_tx_string("F6: "); // m_usb_tx_int(F6); // m_usb_tx_string(" "); // m_usb_tx_string("F7: "); // m_usb_tx_int(F7); // m_usb_tx_string(" "); // m_usb_tx_string("D7: "); // m_usb_tx_int(D7); // m_usb_tx_string(" "); // m_usb_tx_string("\n"); a = state(buffer1); a = 2; // COMM TEST if (a == 1) { // ADD CODE } // PLAY if (a == 2) { } // PAUSE, HALF TIME, GAME OVER if (a == 5 || a == 6 || a == 7) { // STOP ROBOT turn_robot(0,0,0,0); m_red(OFF); } else {} } }
//#pragma code highPriorityInterruptAddress=0x0008 //void high_interrupt(void) //{ // _asm GOTO highPriorityIsr _endasm //} // //#pragma code void main(void){ //Default TRISD = 0x00; //set port D signals to output menu_ref_1=1; menu_ref_2=0; /*zone of disgust*/ values[MAXSPEED]=100; //Max speed values[PIDGAINS]=100; //PID Gains values[MAXYAW]=100; //Max Yaw values[IRSAMPE]=10; //ir_samp_e; values[IRSAMPR]=20; //ir_samp_r; values[IRRAW]=60; //ir_raw values[IRAVG]=10; //ir_avg; /*****************/ setupSerial(); Lcd_Init(); ADC_setup(); Button_Setup(); welcome(); LCD_disp(menu_ref_1, menu_ref_2); RUN=0; while(1){ //NORMAL OPERATION while(RUN==0){ if(PORTDbits.RD0 == 0) { mode_button = 1; } if(PORTDbits.RD1 == 0) { motor_button = 1; } if (mode_button==1){ //Mode change sequence checkMode(menu); menu_ref_2=0; //Default menu ref, should only be SPEED delayms(200); mode_button=0; LCD_disp(menu_ref_1, menu_ref_2); } delayms(200); //Used to prevent double tapping //possibly new function switchChannels(0); joy_x = doADC(); switchChannels(1); joy_y = doADC(); if(menu_ref_1==MANUAL) //IF IN MANUAL { if(joy_x<=LEFT){ //User pushes right joystick left if(values[menu_ref_2]>0){ values[menu_ref_2]=values[menu_ref_2]-5; //decrement value by 5% GLOBAL_MAX_SPEED = values[menu_ref_2]; sendMaxSpeed(); } LCD_disp(menu_ref_1, menu_ref_2); delayms(200); //Delay to prevent flickering, and also to prevent 100-0 increments } else if (joy_x>=RIGHT){ //User pushes right joystick right if(values[menu_ref_2]<100){ values[menu_ref_2]=values[menu_ref_2]+5; //increment value by 5% GLOBAL_MAX_SPEED = values[menu_ref_2]; sendMaxSpeed(); } LCD_disp(menu_ref_1, menu_ref_2); delayms(200); } } else if(menu_ref_1==FACTORY){ //IF IN FACTORY MODE if (joy_y>=UP){ //User pushes left joystick UP //Circular selection if(menu_ref_2==0){ menu_ref_2=4; } else{ menu_ref_2--; //switched the order of this to prevent overflow } LCD_disp(menu_ref_1, menu_ref_2); delayms(250); //Arbitrary delay of 250 milliseconds } else if (joy_y<=DOWN){ //User pushes left joystick DOWN menu_ref_2++; //Circular selection if(menu_ref_2>=7){ menu_ref_2=1; } LCD_disp(menu_ref_1, menu_ref_2); delayms(250); } else if (joy_x<=LEFT){ //User pushes right joystick left if(values[menu_ref_2]>0){ values[menu_ref_2]=values[menu_ref_2]-5; //decrement value by 5% } LCD_disp(menu_ref_1, menu_ref_2); delayms(255); delayms(200); } else if (joy_x>=RIGHT){ //User pushes right joystick right if(values[menu_ref_2]<100){ values[menu_ref_2]=values[menu_ref_2]+5; //decrement value by 5% } LCD_disp(menu_ref_1, menu_ref_2); delayms(255); delayms(200); } } //All other menu_ref_1's do not have values displayed if (motor_button==1){ motor_button=0; RUN=1; } //send here } /*Menu on setup*/ if (RUN==1){ on_setup(); GLOBAL_RUN = RUN; sendRun(); //MOTOR ON GOES AFTER motor_button=0; } /*MOTOR ON BEHAVIOUR*/ while(RUN==1){ if(PORTDbits.RD1 == 0) { motor_button = 1; } if (motor_button==1){ //At interrupt, stop motor and return to menu motor_button=0; RUN=0; GLOBAL_RUN = RUN; sendRun(); } switchChannels(0); //GLOBAL_VELOCITY = doADC(); GLOBAL_VELOCITY = doADC() //Get joystick values joy_y = doADC(); GLOBAL_VELOCITY = joy_y; switchChannels(1); joy_x = doADC(); GLOBAL_OMEGA = joy_x; sendVelocity(); sendOmega(); //send command here } /*MOTOR OFF MESSAGE*/ RUN=0; //MOTOR OFF FUNCTION GOES BEFORE MESSAGE LCD_title(t5); //"Whoa!" delays(2); //safety delay LCD_disp(menu_ref_1, menu_ref_2); //Return to normal display } }
void main(void) { PWM_motor_setup(); ADC_setup(); setupSerial(); IR_Setup(); TMR2_INT_setup(); while(1) { while(GLOBAL_MODE == MANUAL) { //turn(GLOBAL_VELOCITY,GLOBAL_OMEGA); noob_turn(GLOBAL_VELOCITY,GLOBAL_OMEGA); } while(GLOBAL_MODE == ASSIST) { IR_Calculate(); if(dist_count == 2) { new_turn(5, Get_dist_diff()); newdistance = 0; } } while(GLOBAL_MODE == AUTO) { IR_Calculate(); if(newstate == 1) { if(Get_S_IR_state() == IR_TOO_CLOSE) { // turn(AUTO_VEL, AUTO_OMEGA); CCPR1L = 40; CCPR2L = 50; } else if(Get_S_IR_state() == IR_TOO_FAR) { // turn(AUTO_VEL,255 -AUTO_OMEGA); CCPR1L = 50; CCPR2L = 40; } else if(Get_S_IR_state() == IR_ERROR) { turn(128,128); } newstate = 0; } } } }
//c7 red /// e6 blue int main(void) { m_disableJTAG(); // Turn off JTAG //m_red(ON); // check code runs m_clockdivide(0); // clock speed 16 MHz m_bus_init(); // initialize m_bus communications m_usb_init(); // USB COM setup(); // motor setup ADC_setup(); // setup anlog conversions // start wireless communications m_rf_open(CHANNEL, RXADDRESS, PACKET_LENGTH); m_wii_open(); // and open wii camera sei(); // enable global interrups set(DDRC,7); set(DDRB,7); int position[3]; // array for robot position int x_curr; // current x position int y_curr; // current y position int theta_curr; // current angle int i; int a; // x, y and theta values int x_pos[11]; int y_pos[11]; int theta[11]; char send[10]; int side; int x1; // calculate initial positions int status; // int x; // int y; // int theta1; int hasPuck = 0; // main LOOP while(1) { if (flag) { m_rf_read(buffer1, PACKET_LENGTH); testing = (unsigned char)buffer1[0]; a = state(testing); // m_rf_read(buffer, PACKET_LENGTH); // x = (unsigned char)buffer[0]; // y = (unsigned char)buffer[1]; // theta1 = (unsigned char)buffer[2]; if (flag1){ for(i = 0; i<10; i++) { current_location(position); x1 = position[0]; } // figure out what side robot starts on if (x1 > 0) { side = -1; } else { side = 1; } } flag = 0; } // m_rf_open(CHANNEL, RXADDRESS, PACKET_LENGTH); // store 10 most recent position readings for (i=0; i < 11; i++) { current_location(position); x_pos[i] = position[0]; y_pos[i] = position[1]; theta[i] = position[2]; } // filter position filter(x_pos,y_pos,theta); // current position x_curr = x_pos[11]; y_curr = y_pos[11]; theta_curr = theta[11]; if (x_curr > 0) { m_red(ON); } else if (x_curr<0) { m_red(OFF); } if (y_curr > 0) { m_green(ON); } else if (y_curr<0) { m_green(OFF); } // send[0] = x_curr;//(char) x_curr; // send[1] = y_curr;//(char) y_curr; // send[2] = theta_curr;//(char) theta_curr; // status = m_rf_send(TXaddress, send, PACKET_LENGTH); // if (status){m_red(TOGGLE)}; // m_usb_tx_string("X Pos: "); // m_usb_tx_int(x); // m_usb_tx_string(" "); // m_usb_tx_string("Y POSITION: "); // m_usb_tx_int(y); // m_usb_tx_string(" "); // m_usb_tx_string("ANGLE: "); // m_usb_tx_int(theta1); // m_usb_tx_string(" "); // m_usb_tx_string("\n"); a = 2; // COMM TEST if (a == 1) { // ADD CODE // m_red(ON); if (side == 1) { set(PORTC,7); } else { set(PORTB,7); } } // PLAY GAME else if (a == 2) { // m_red(OFF); //int hasPuck = follow_puck(); //hasPuck = 1; // goalie(x_curr, y_curr, theta_curr, side); if(hasPuck) { //score_goal(x_curr, y_curr, theta_curr, side); //turn_robot(0,0,0,0); } } // GOAL R else if (a == 3) { //side = 1; //m_green(TOGGLE); } // GOAL B else if ( a == 4) { //side = -1; //m_green(TOGGLE); } else if(a == 5) { turn_robot(0,0,0,0); // m_red(ON); } // PAUSE, HALF TIME, GAME OVER if (a == 6 || a == 7) { // STOP ROBOT turn_robot(0,0,0,0); m_red(ON); } else {} // // COMM PROTOCOL INSTRUCTIONS // m_usb_tx_string("STATE: "); // m_usb_tx_int(a); // m_usb_tx_string(" "); // m_usb_tx_string("FLAG: "); // m_usb_tx_int(flag); // m_usb_tx_string(" "); // m_usb_tx_string("TESTING: "); // m_usb_tx_int(testing); // m_usb_tx_string(" "); // m_usb_tx_string("\n"); } }