int main(void)
{
stdout = &mystdout;
general_init();
UART_INIT();
PWM_Init();
ADC_Init();
_delay_ms(250);
Interrupt_Init();
//beep();
printf("Initialization Complete\n");
for(;;){
if(Serial_Finish){
serialDecodify();
actuateMotors();
//sonarRead();
//if( (sonarReading0 < 1000) | (sonarReading1 < 1000) | (sonarReading2 < 1000)) sonarReading0 = sonarReading1 = sonarReading2 = 1000;
//printf("%u%u%u", sonarReading0, sonarReading1, sonarReading2); //might get an error here because needs interrupts to send data through UART
ledCounter--;
if(!ledCounter){
toggle_leds();
ledCounter = 5;
}
}
}
}
int
main(int argc, char* argv[])
{
// At this stage the system clock should have already been configured
// at high speed.
GPIO_InitTypeDef GPIO_InitStruct;
//Initialize the System
SystemInit();
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC,ENABLE);
//SET GPIOC To Ouptut Port
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_4;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOC, &GPIO_InitStruct);
//SET GPIOD To Input Port
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_3;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOD, &GPIO_InitStruct);
Interrupt_Init();
EXTI_GenerateSWInterrupt(EXTI_Line3);
// Infinite loop
while (1)
{
// Add your code here.
}
}
void main(void) {
// initialize board
Sys_Init();
putchar(' '); //the quotes in this line may not format correctly
Port_Init();
PCA_Init();
SMB_Init();
Interrupt_Init();
printf("Starting\n\r");
//print beginning message
printf("Embedded Control Drive Motor Control\r\n");
// Initialize motor in neutral and wait for 1 second
MOTOR_PW = PW_NEUT;
motorPW = 0xFFFF-MOTOR_PW;
PCA0CPL2 = motorPW;
PCA0CPH2 = motorPW>>8;
printf("Pulse Width = %d\r\n",MOTOR_PW);
c = 0;
while (c < 50); //wait 1 second in neutral
printf("end wait \r\n");
//Main Functionality
while (1) {
if (!SS1) { // If the slide switch is active, set PW to center
PW = PWCENTER;
PCA0CP0 = 0xFFFF - PW; // Update comparator with new PW value
while (!SS1); // Wait...
} else if (take_heading) { // Otherwise take a new heading
reading = Read_Compass(); // Get current heading
printf("%d\n\r", reading);
Steering_Servo(reading); // Change PW based on current heading
PCA0CP0 = 0xFFFF - PW; // Update comparator with new PW value
}
if (getRange) {
getRange = 0; // Reset 80 ms flag
range_val = read_ranger(); // Read the distance from the ranger
printf("Range: %d cm \r\n", range_val);
printf("Pulse Width: %d \r\n", MOTOR_PW);
// Start a new ping
Data[0] = 0x51; // write 0x51 to reg 0 of the ranger:
i2c_write_data(addr, 0, Data, 1); // write one byte of data to reg 0 at addr
}
if (SS0) Drive_Motor(range_val);
else Drive_Motor(45); // Hold the motor in neutral if the slide switch is off
}
}
int main(void)
{
//initialize the GPIO ports
PortFunctionInit();
//configure the GPIOF interrupt
Interrupt_Init();
//
// Loop forever.
//
while(1)
{
}
}
//******************************************************************************************
//main program function
//******************************************************************************************
void main(void) {
Sys_Init(); // System Initialization
Port_Init(); // Initialize ports 2 and 3
Interrupt_Init(); //Initialize Interrupts
Timer_Init(); //Initialize timer 0
putchar(' ');
printf("\r\nStart\r\n");
while(1) {
BILED0=1; //Turn OFF the BILED
BILED1=1;
printf("\rHow To Play:\r\nIf Red Led is on the player must Push button 0\r\nIf Green Led is on the player must Push button 1\r\nIf both Leds are on the player must push both Buttons\r\nKeep in mind you will only have 1 sec push the corresponding button/s\r\nA correct input will make the Clear Led flash green, while an incorrect input will make it flash red\r\nTo begin press any key\r\n");
keyinput=getchar();
previousnum=keyinput%3;
i=0;
numC=0;
while (i<=9) {
StopAndResetTimer();
if(!SS) {
StartTimer();
randomnum = random(); //create a random number. where randomnum is a
while (randomnum==previousnum) {
randomnum = random();
} //check to see if the random number was used before
if (randomnum==0) {
LED0=0; //turn it on
debounce();
LED0=1; //turn it off
if (PB0==0 && PB1==1) {
correct(); //store correct answer;
} else {
incorrect();
}
} else if (randomnum==1) {
LED1=0; //turn it on
debounce();
LED1=1; //turn it off
if (PB0==1 && PB1==0) {
correct();
} else {
incorrect();
}
} else{ //rand num is 2, light LED0 and LED1 for 1 second
LED0=0;
LED1=0;
debounce();
LED0=1;
LED1=1;
if (PB0==0 && PB1==0){
correct();
} else {
incorrect();
}
}
previousnum=randomnum;
i++; //increment i
} else {
PauseTimer();
}
}// end while < 9
printf("\r\n Number of correct answers = %d\r\n", numC); //display results
ending();
TR0 = 0; //turn off timer
BILED1=1;
BILED0=1;
while (!SS); //wait until the switch is turned off and back on again to loop
while (SS);
}
}//end main
//-----------------------------------------------------------------------------
// Main Function
//-----------------------------------------------------------------------------
void main(void)
{
desired_range = 150;
// initialize board
Sys_Init();
putchar(' '); //the quotes in this line may not format correctly
PCA_Init();
ADC_Init();
Interrupt_Init();
Port_Init();
XBR0_Init();
SMB_Init();
putchar('\r');
//print beginning message
printf("En taro Adun, Executor!\r\n");
// set the PCA output to a neutral setting
steering_neutral();
ranger_neutral();
wait(); /* Let stuff warm up */
// Get the PD constants and target heading from the keypad
compass_kp = read_gain()/10.;
desired_heading = read_heading();
compass_kd = read_gain_high();
ranger_kp = read_gain_thrust()/10.;
ranger_kd = read_gain_thrust_high();
//Write the settings to the record
printf ( "Compass KP = %d, Compass KD = %d, Desired Heading = %d, Ranger KP = %d, Ranger KD = %d, Desired Range = %d\r\n",
compass_kp,
compass_kd,
desired_heading,
ranger_kp,
ranger_kd,
desired_range );
printf ( "Time, heading, range\r\n ");
PCA0CPL1 = 0xFFFF - 3200;
PCA0CPH1 = ( 0xFFFF - 3200 ) >> 8 ;
// Start at time 0.
time = 0;
while(1) /* Infinite loop is go */
{
if ( nCounts == 50 )
{
// Update the LCD loop
lcd_clear();
lcd_print( "Batt level: %d\n", get_battery_voltage() );
lcd_print("Heading :%d\n", heading/10);
lcd_print("Alt: %d", range );
if (SS)
lcd_print("PAUSED\n");
else
lcd_print("\n");
lcd_print("# forHead, * forGain");
}
if ( read_keypad() != -1 )
{
// Check the keypad
pause();
if ( getKey() == '#' )
{
// If # was pressed, get a new heading
steering_neutral();
ranger_neutral();
desired_heading = read_heading();
time = 0;
printf ( "Compass KP = %d, Compass KD = %d, Desired Heading = %d, Ranger KP = %d, Ranger KD = %d, Desired Range = %d\r\n",
compass_kp,
compass_kd,
desired_heading,
ranger_kp,
ranger_kd,
desired_range );
printf ( "Time, heading, range\r\n ");
}
else if( getKey() == '*' )
{
// If * was pressed, get new gain contants
steering_neutral();
ranger_neutral();
compass_kp = read_gain()/10.;
compass_kd = read_gain_high();
ranger_kp = read_gain_thrust()/10.;
ranger_kd = read_gain_thrust_high();
time = 0;
printf ( "Compass KP = %d, Compass KD = %d, Desired Heading = %d, Ranger KP = %d, Ranger KD = %d, Desired Range = %d\r\n",
compass_kp,
compass_kd,
desired_heading,
ranger_kp,
ranger_kd,
desired_range );
printf ( "Time, heading, range\r\n ");
}
}
else
pause();
if(SS) //while the SS is off
{
//printf("The slide switch is OFF \r\n");
steering_neutral();
ranger_neutral();
}
if(!SS) //SS is On
{
//printf("The Slide switch is On \r\n");
if ( new_heading )
printf("%lu,%d,%d\r\n",
time,
compass_old_error,
ranger_old_error );
if (new_heading) //wait for 40ms
{
heading=read_compass();
//printf("The heading result is %d\r\n", heading);
new_heading=0;
Steering_Servo( );
}
if (new_range)
{
ReadRanger( );
Speed_Cont( ); //adjust motor speed
new_range=0; //reset ranger flag
}
}
}
}
void main(void)
{
Sys_Init(); // System Initialization
Port_Init(); // Initialize ports 2 and 3
Interrupt_Init(); //Initialize Interrupts
Timer_Init(); //Initialize timer 0
putchar(' '); // the quote fonts may not copy correctly into SiLabs IDE
BILED0=0; //Turn OFF the BILED
BILED1=0;
printf("\r\nStart");
while(1)
{
printf("\r\n\n Press any key to begin"); //get a number to randomize the random number even more
keyinput=getchar();
previous_num=keyinput%3;
printf("\r\n This game will light 1 or both leds. Press the corresponding button to win.");
while (i<=9)
{
if(!SS)
{
TR0 = 1; //start timer0
TL0 = 0; //clear low bits
TH0 = 0; //clear high bits
Counts = 0; //set the counts to 0
random_num = random(); //create a random number. where random_num is a
while (random_num==previous_num)
{
random_num = random();
} //check to see if the random number was used before
if (random_num==0)
{ //light LED0 for 1 second
Counts=0;
LED0=0; //turn it on
while (Counts<338); //wait 1 second
LED0=1; //turn it off
if (PB1==0 && PB2==1)
{
correct_answer(); //store correct answer;
}
else
{
incorrect_answer();
}
}
else if (random_num==1)
{ //light LED1 for 1 second
Counts=0;
LED1=0; //turn it on
while (Counts<338); //wait 1 second
LED1=1; //turn it off
if (PB1==1 && PB2==0)
{
correct_answer();
}
else
{
incorrect_answer();
}
}
else //this means that the random number is 2
{ //light LED0 and LED1 for 1 second
Counts=0;
LED0=0;
LED1=0;
while (Counts<338);
LED0=1;
LED1=1;
if (PB1==0 && PB2==0)
{
correct_answer();
}
else
{
incorrect_answer();
}
}
previous_num=random_num;
i++; //increment i
}
else
{
TR0=0; //END
}
}
TR0 = 0; //turn off timer
printf("\r\n Number of correct answers = %d", number_correct); //display results
while (!SS); //wait until the switch is turned off and back on again to loop
}
}
