/*******************************************************************************
* FUNCTION NAME: Process_Data_From_Master_uP
* PURPOSE: Executes every 26.2ms when it gets new data from the master
* microprocessor.
* CALLED FROM: main.c
* ARGUMENTS: none
* RETURNS: void
*******************************************************************************/
void Process_Data_From_Master_uP(void)
{
static unsigned char i;
Getdata(&rxdata); /* Get fresh data from the master microprocessor. */
if(disabled_mode)
{
Process_Disabled_Code();
}
else
{
Default_Routine(); /* Optional. See below. */
}
/* Add your own code here. (a printf will not be displayed when connected to the breaker panel unless a Y cable is used) */
//printf("shoulder_tar %3d, shoulder_pot %3d, shoulder_state %d\r",shoulder_tar,shoulder_pot,shoulder_state); /* printf EXAMPLE */
Generate_Pwms(pwm13,pwm14,pwm15,pwm16);
/* Example code to check if a breaker was ever tripped. */
Putdata(&txdata); /* DO NOT CHANGE! */
}
/*******************************************************************************
* FUNCTION NAME: Process_Data_From_Master_uP
* PURPOSE: Executes every 26.2ms when it gets new data from the master
* microprocessor.
* CALLED FROM: main.c
* ARGUMENTS: none
* RETURNS: void
*******************************************************************************/
void Process_Data_From_Master_uP(void)
{
static unsigned int j = 0;
Getdata(&rxdata);
Camera_Handler();
Servo_Track();
//PAN_SERVO = 127;
//TILT_SERVO = 127;
Default_Routine();
j++;
j++;
if(j == 1) {
printf("\rCalculating Gyro Bias...");
}
if(j == 6) {
Start_Gyro_Bias_Calc();
}
if(j == 200) {
Stop_Gyro_Bias_Calc();
Reset_Gyro_Angle();
printf("Done\r");
}
Putdata(&txdata);
}
