void TC6014_Config()
{
AXIS_InitTypeDef AXIS_InitStruct;
Drive_InitTypeDef Drive_InitStruct;
//
Set_Axis(AXIS_ALL);
//
AXIS_InitStruct.Dir_Level = LOW;
AXIS_InitStruct.Logic_Level = LOW;
AXIS_InitStruct.Pulse_Mode = DIR_PULSE;
AXIS_InitStruct.MLimit_Level = LOW;
AXIS_InitStruct.PLimit_Level = LOW;
AXIS_InitStruct.Stop_Mode = SUD_STOP;
AXIS_Init(AXIS_InitStruct);
//
Drive_InitStruct.Range = 8000000;
Drive_InitStruct.Acce = 5;
Drive_InitStruct.Dece = 5;
Drive_InitStruct.Acce_Rate = 10;
Drive_InitStruct.Dece_Rate = 10;
Drive_InitStruct.Init_Speed = 0;
Drive_InitStruct.Speed = 500;
Drive_InitStruct.Acce_Offset = 0;
Drive_InitStruct.Man_Dece_Pos = 0;
Drive_Init(Drive_InitStruct);
}
char main(){
int i;
SERIAL_Init();
INTEnableSystemMultiVectoredInt();
Drive_Init();
dbprintf("\nHello World");
AD_Init(BAT_VOLTAGE);
LED_Init(LED_BANK3);
LED_OffBank(LED_BANK3, 0xf);
wait();
int pwm;
while(1) {
//Drive_Stop();
wait();
//Drive_Forward(MIN_SPEED);
printf("\nFORWARD! speed=%u pwm=%u", motorSpeed[A], motorPWMValue[A]);
//for (i = 0; i < 100; i++)
// wait();
Drive_Stop();
Drive_Pivot(left, 1);
for (i = 0; i < 1; i++)
wait();
Drive_Stop();
Drive_Pivot(right, 1);
for (i = 0; i < 1; i++)
wait();
Drive_Stop();
for (i = 0; i < 1; i++)
wait();
}
}
void main(void)
{
Sys_Init();
putchar(' ');
XBR0_Init();
SMB_Init();
PCA_Init();
Drive_Init();
Port_Init();
ADC_Init();
ranger_pd_init();
//fan angle initialization code goes here
while(1)
{
voltage_update();
if(SS)
{
Range_Update(); //update the range
Drive_Motor(ranger_pd());
}
else
Drive_Motor(PW_NEUT); //if ss is not flipped, put it in neutral
}
}
int main()
{
WDTCTL = WDTPW + WDTHOLD; // Stop WDT
Clock_Init(0,0,0,1); // 1M DCO
Drive_Init(0, 100);
LCD5110_Init();
LCD5110_Write_String(0,0,LCD_BUFFER1);
_EINT();
while(1)
{
if(SPEED_DISPLAY_FLAG == 1)
{
SPEED_DISPLAY_FLAG = 0;
SPEED_L = Drive_Speed_L();
SPEED_R = Drive_Speed_R();
LCD5110_Long2char(SPEED_L / 5);
LCD5110_Write_String(0,1,LCD5110_BUFFER);
LCD5110_Long2char(SPEED_R / 5);
LCD5110_Write_String(0,2,LCD5110_BUFFER);
}
}
}
void api_init(void) {
CILCR_LVL = 0;
interrupts_init();
// button
PIER07_IE0 = 1;
PIER07_IE1 = 1;
PIER07 |= 0x0c;
PUCR07 |= 0x0c;
Sema = 0;
vSemaphoreCreateBinary(Sema);
//Seg_Init();
Drive_Init();
//FRAM_Init();
Us_Init();
//CarId_Init();
ADC_Init();
Battery_Init();
Linesensor_Init();
//wirelessInit();
Serial_Init();
__EI();
}
/**
* Initialize is run immediately when the robot is powered on
* regardless of the field mode.
*/
void Initialize(void) {
// This seems to make reading from the serial port work, even though it is
// supposed to be opened automatically.
OpenSerialPortOne(BAUD_115200);
// Initialize subsystems
Drive_Init();
Sweeper_Init();
Lifter_Init();
}
void main(void)
{
ES_Return_t ErrorType;
BOARD_Init();
// When doing testing, it is useful to annouce just which program
// is running.
printf("Starting the Exit HSM Test Harness \r\n");
printf("using the 2nd Generation Events & Services Framework\n\r");
// Your hardware initialization function calls go here
Bot_Init();
Drive_Init();
// now initialize the Events and Services Framework and start it running
ErrorType = ES_Initialize();
if (ErrorType == Success) {
ErrorType = ES_Run();
}
//
//if we got to here, there was an error
//
switch (ErrorType) {
case FailedPointer:
printf("Failed on NULL pointer");
break;
case FailedInit:
printf("Failed Initialization");
break;
default:
printf("Other Failure");
break;
}
while (1) {
;
}
}
