int main()
{
// Set the clocking to run directly from the crystal.
SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ);
//Initialize peripherals
InitializeDisplay();
InitializeTimers();
InitializeADC();
InitializeInterrupts();
//Main program loop
unsigned long avgADCValue = 0;
while(1)
{
if(BufOneReadyToRead)
{
avgADCValue = GetAvgOfBuf(1);
usnprintf(str, 25, "Buf1: %5u", avgADCValue);
RIT128x96x4StringDraw(str, 0, 0, 15);
BufOneReadyToRead = 0;
}
else if(BufTwoReadyToRead)
{
avgADCValue = GetAvgOfBuf(2);
usnprintf(str, 25, "Buf2: %5u", avgADCValue);
RIT128x96x4StringDraw(str, 0, 10, 15);
BufTwoReadyToRead = 0;
}
}
}
U8 InitializeMicroAPI(void)
{
InitializePorts();
InitializeClock();
InitializeSPI();
InitializeUART1(k115200);
InitializeInterrupts();
GpioSet(NSSpin);
InitializeTimers();
RealTimeClockOn();
StartIntervalTimer();
return 0;
}
void main( void )
{
InitializeCelebratory();
InitializeTimers();
InitializePositioningSystem();
InitializeObstacleAvoidanceSystem();
InitializeNavigationSystem( &targetNodes );
InitializeMotorControlSystem();
InitializeCompass();
//CalibrateCompass();
//Delay( 10000 );
nextState = PursueTarget;
SetRoversBearing( 0 );
SetRoversPosition( 36, 36 );
for ( ; ; )
{
switch ( nextState )
{
case FindClosestTarget:
nextState = FindNextTarget( &nextTargetIndex );
break;
case PursueTarget:
nextState = NavigateToTarget( nextTargetIndex );
break;
case SenseAndPlaceObstacle:
DetermineRoversPosition( GetRoversPosition() );
nextState = DetectAndPlaceObstacle();
break;
case TimeToCelebrate:
Celebrate();
for(;;);
break;
default:
nextState = FindClosestTarget;
break;
}
}
}
///////////////////
// Initialize the standard Auxiliary Library
int InitializeAuxLib(const std::string& config, int bpp, int vidflags)
{
// We have already loaded all options from the config file at this time.
#ifdef linux
//XInitThreads(); // We should call this before any SDL video stuff and window creation
#endif
ConfigFile=config;
if(getenv("SDL_VIDEODRIVER"))
notes << "SDL_VIDEODRIVER=" << getenv("SDL_VIDEODRIVER") << endl;
// Solves problem with FPS in fullscreen
#ifdef WIN32
if(!getenv("SDL_VIDEODRIVER")) {
notes << "SDL_VIDEODRIVER not set, setting to directx" << endl;
putenv((char*)"SDL_VIDEODRIVER=directx");
}
#endif
// Initialize SDL
int SDLflags = SDL_INIT_TIMER | SDL_INIT_NOPARACHUTE;
if(!bDedicated) {
SDLflags |= SDL_INIT_VIDEO;
} else {
hints << "DEDICATED MODE" << endl;
bDisableSound = true;
bJoystickSupport = false;
}
if(SDL_Init(SDLflags) == -1) {
errors << "Failed to initialize the SDL system!\nErrorMsg: " << std::string(SDL_GetError()) << endl;
#ifdef WIN32
// retry it with any available video driver
unsetenv("SDL_VIDEODRIVER");
if(SDL_Init(SDLflags) != -1)
hints << "... but we have success with the any driver" << endl;
// retry with windib
else if(putenv((char*)"SDL_VIDEODRIVER=windib") == 0 && SDL_Init(SDLflags) != -1)
hints << "... but we have success with the windib driver" << endl;
else
#endif
return false;
}
#ifndef DISABLE_JOYSTICK
if(bJoystickSupport) {
if(SDL_InitSubSystem(SDL_INIT_JOYSTICK) != 0) {
warnings << "WARNING: couldn't init joystick subystem: " << SDL_GetError() << endl;
bJoystickSupport = false;
}
}
#endif
if(!bDedicated && !SetVideoMode())
return false;
// Enable the system events
SDL_EventState(SDL_SYSWMEVENT, SDL_ENABLE);
SDL_EventState(SDL_VIDEOEXPOSE, SDL_ENABLE);
// Enable unicode and key repeat
SDL_EnableUNICODE(1);
SDL_EnableKeyRepeat(200,20);
/*
Note about the different sound vars:
bDisableSound - if the sound system+driver is disabled permanentely
tLXOptions->bSoundOn - if the sound is enabled temporarely (false -> volume=0, nothing else)
I.e., even with tLXOptions->bSoundOn=false (Audio.Enabled=false in config), the sound system
will be loaded. To start OLX without the sound system, use the -nosound parameter.
The console variable Audio.Enabled links to tLXOptions->bSoundOn.
The console command 'sound' also wraps around tLXOptions->bSoundOn.
tLXOptions->iSoundVolume will never be touched by OLX itself, only the user can modify it.
tLXOptions->bSoundOn will also not be touched by OLX itself, only user actions can modify it.
(Both points were somewhat broken earlier and kind of annoying.)
*/
if( !bDisableSound ) {
// Initialize sound
//if(!InitSoundSystem(22050, 1, 512)) {
if(!InitSoundSystem(44100, 1, 512)) {
warnings << "Failed the initialize the sound system" << endl;
bDisableSound = true;
}
}
if(bDisableSound) {
notes << "soundsystem completly disabled" << endl;
// NOTE: Don't change tLXOptions->bSoundOn here!
}
if( tLXOptions->bSoundOn ) {
StartSoundSystem();
}
else
StopSoundSystem();
// Give a seed to the random number generator
srand((unsigned int)time(NULL));
if(!bDedicated) {
SmartPointer<SDL_Surface> bmpIcon = LoadGameImage("data/icon.png", true);
if(bmpIcon.get())
SDL_WM_SetIcon(bmpIcon.get(), NULL);
}
InitEventQueue();
// Initialize the keyboard & mouse
InitEventSystem();
// Initialize timers
InitializeTimers();
#ifdef DEBUG
// Cache
InitCacheDebug();
#endif
return true;
}
//Here, the distinctions between the autonomous personality and driver personality is defined.
task main()
{
InitializeLCDScreen();
InitializePIDControllers();
InitializeDebugStream();
InitializeTimers();
InitializeEncoders();
SenAutoPot = SensorValue(AutoSelector);
UpdateAutonomousRoutine();
while(true)
{
Input();
if(!IsRobotDisabled) //Simulation Allowed but Competiton still works if defined
{
if (IsRobotInAutonomousMode || IsRobotInVirtualAutonomousMode ||
(DriverMode != DriverJoystickControl && DriverMode != DriverMotorTest))
{
AutonomousControl();
UpdateScreen(DispAutonomousMode);
#ifdef LOGENCODERS
LogEncoders();
#endif
if (!IsRobotInAutonomousMode)
if (!JoystickCheck(true))
IsRobotInVirtualAutonomousMode = false;
}
else
{
AutonomousStep=0;
UpdateAutonomousRoutine();
UpdateScreen(DispDriverMode);
if (DriverMode == DriverJoystickControl)
{
AutonomousReset(Finish);
SubroutineCheck();
DriveControl();
IntakeControl();
LiftControl();
DescorerControl();
}
else if (DriverMode == DriverMotorTest)
{
if (!JoystickCheck(false))
DriverMode = DriverJoystickControl;
}
}
}
else
{
AutonomousStep=0;
AutonomousReset(Finish);
UpdateAutonomousRoutine();
UpdateScreen(DispDisabledMode);
}
Output();
MainNonDelayedLoopTime = time1[T4];
while (time1[T4] < MinLoopMS) {}
MainLoopTime = time1[T4];
ClearTimer(T4);
}
}
