void initializePlatform(){
	
/* Initialize the PWMs that will be used to driver the motors*/
	PWM_dreapta_SetRatio16(0xFFFF); // 0xFFFF = duty cycle 0%
	PWM_stanga_SetRatio16(0xFFFF);
	PWM_dreapta_Enable();
	PWM_stanga_Enable();
	
}
Exemple #2
0
void motor(int left, int right) 
{
	/*#############################################################################################################################################################################
	**		Functia motor este functia de control al motoarelor.
	**Aceasta functie ia ca si argument vitezele celor doua motoare(-65535 -> 65535), iar in cazul in care viteza este negativa robotul va merge inapoi.
	**Pasii pe care ii urmeaza:
	**	--seteaza pinii corespunzatori motoarelor ca pini de output
	**	--daca viteza motorului din stanga/dreapta este negativa sa inverseaza directia
	**	--scade din viteza maxima viteza data deoarece 65535 este valoarea pentru viteza 0, iar 0 este valoarea pentru viteza 65535, astfel inversand valorile pentru viteza
	**#############################################################################################################################################################################*/
	const int maxspd=65535;

	sens_dreapta_SetOutput();
	sens_stanga_SetOutput();

	if(left>0)
	{
		sens_stanga_PutVal(1);
	}
	else
	{
		sens_stanga_PutVal(0);
		left=-left;
	}
	if(right>0)
	{
		sens_dreapta_PutVal(1);
	}
	else
	{
		sens_dreapta_PutVal(0);
		right=-right;
	}

	PWM_stanga_SetRatio16(maxspd - left);
	PWM_dreapta_SetRatio16(maxspd - right);
	PWM_stanga_Enable();
	PWM_dreapta_Enable();


}
Exemple #3
0
/*lint -save  -e970 Disable MISRA rule (6.3) checking. */
int main(void)
/*lint -restore Enable MISRA rule (6.3) checking. */
{
  /* Write your local variable definition here */

	bool button=1;

	struct sensor s[6];
	
	int64_t min_avg[6]={23, 14, 15, 15, 18, 23};
	int64_t max_avg[6]={1000, 193, 172, 170, 160, 550};
	int i;
	int64_t error;

  /*** Processor Expert internal initialization. DON'T REMOVE THIS CODE!!! ***/
  PE_low_level_init();
  /*** End of Processor Expert internal initialization.                    ***/

  /* Write your code here */
  //Initializeaza timer-ul
  CountTimer_Init((LDD_TUserData *)NULL);
  //Opreste motoarele
  motor(0, 0);
  //Activeaza PWM-ul pentru motoare
  PWM_stanga_Enable();
  PWM_dreapta_Enable();
  
  IR_LED_PutVal(0);
  while(button)
	button=Button_GetVal();
  WAIT1_Waitms(500);
  IR_LED_PutVal(1);

  while(1){
	  
	  readSensors(min_avg, max_avg, s);
	  WAIT1_Waitms(1);
#if DEBUG==TRUE
	  for(i=0; i<6; i++){
		  Term1_SendNum(s[i].value);
		  Term1_SendStr("  ");
	  }
	  for(i=0; i<6; i++){
		  Term1_SendNum(s[i].seen);
		  Term1_SendStr("  ");
	  }
#endif
	  error=propder(s);
#if DEBUG==TRUE
	  Term1_SendNum(error);
	  Term1_SendChar('\n');
	  Term1_SendChar('\r');
#endif
	  drive(error);

  }




  /*** Don't write any code pass this line, or it will be deleted during code generation. ***/
  /*** RTOS startup code. Macro PEX_RTOS_START is defined by the RTOS component. DON'T MODIFY THIS CODE!!! ***/
  #ifdef PEX_RTOS_START
    PEX_RTOS_START();                  /* Startup of the selected RTOS. Macro is defined by the RTOS component. */
  #endif
  /*** End of RTOS startup code.  ***/
  /*** Processor Expert end of main routine. DON'T MODIFY THIS CODE!!! ***/
  for(;;){}
  /*** Processor Expert end of main routine. DON'T WRITE CODE BELOW!!! ***/
} /*** End of main routine. DO NOT MODIFY THIS TEXT!!! ***/