// The function that contains the loop which checks the wall
void check_wall()
{
while (true){
//Assuming front sensor is port 0, 1 is left and 2 is right
sensor1_reading = ReadAnalog(0);
sensor2_reading = ReadAnalog(1);
sensor3_reading = ReadAnalog(2);
if (check_front = 1)
{
}
}
}
void main( void ) {
unsigned char i = 0;
// Pins C6 and C7 are used for UART TX and RX respectively
InitEcoCar();
ReadAnalog(0);
J1939_Initialization( TRUE );
LATB = 0;
TRISB = 0;
TRISC = 0;
ShowBootupAnimation();
while (J1939_Flags.WaitingForAddressClaimContention)
J1939_Poll(5);
// CANbus is now initialized and we can now loop while we check
// our message receive buffer for new CANbus messages (where all received messages are put).
while (1) {
//Receive Messages
J1939_Poll(10);
while (RXQueueCount > 0) {
J1939_DequeueMessage( &Msg );
LATCbits.LATC5 = 1;
if ( J1939_Flags.ReceivedMessagesDropped )
J1939_Flags.ReceivedMessagesDropped = 0;
}
}
}
int main(){
InitHardware();
int adc_reading = ReadAnalog(0);
printf("%d\n",adc_reading);
while(1){
adc_reading = ReadAnalog(0);
if (adc_reading > 50){
SetMotor(1,1,255);
SetMotor(2,1,255);
Sleep(1,500000);
}
else{
SetMotor(1,1,0);
SetMotor(2,1,0);
}
}
return;
}
int check_right()
{
// Reads the value from the right IR sensor
int sensor3_reading = ReadAnalog(2);
// If the IR sensor returns below 200, it is deemed to be too close to the wall.
int max_distance_3 = 200;
if (sensor3_reading < max_distance_3)
{
return 1;
}
else
{
return 0;
}
}
int check_left()
{
// Reads the value from the left IR sensor
int sensor2_reading = ReadAnalog(1);
// If the IR sensor returns below 200, it is deemed to be too close to the wall.
int max_distance_2 = 200;
if (sensor2_reading < max_distance_2)
{
return 1;
}
else
{
return 0;
}
}
void GoPiGo::IBoard::ReloadBoardVersion()
{
Transaction Lock(this);
int16_t rawdata = 0;
for (int i = 0; i < 10; ++i)
{
rawdata = ReadAnalog(boardversioninfo_pin);
}
if (rawdata > 790)
{
BoardVersion = 16;
}
else
{
BoardVersion = 14;
}
}
