bool InitGameplay(uint8_t Priority) {
MyPriority = Priority;
// initialize servo
ServoInit();
SetFlagsInactive();
// initialize audio
AudioControlInit();
ExternalLineInit();
// set currentState to INIT
currentState = INIT;
ES_Event ThisEvent;
ThisEvent.EventType = ES_INIT;
// post ES_INIT to itself
if (ES_PostToService(MyPriority, ThisEvent) == true)
{
return true;
} else {
return false;
}
}
int main(void)
{
delay_init();
GPIOCLKInit();
UserLEDInit();
LCD1602Init();
//IRCtrolInit();
TIM2_Init();
MotorInit();
ServoInit();
RedRayInit();
//USART3Conf(9600);
while(1)
{
if(tick_5ms >= 5)
{
tick_5ms = 0;
tick_200ms++;
if(tick_200ms >= 40)
{
tick_200ms = 0;
LEDToggle(LED_PIN);
}
// continue_time--;//200ms 无接收指令就停车
// if(continue_time == 0)
// {
// continue_time = 1;
// CarStop();
// }
//do something
SearchRun();
if(ctrl_comm_last != ctrl_comm)//指令发生变化
{
ctrl_comm_last = ctrl_comm;
switch(ctrl_comm)
{
case COMM_UP: CarGo();break;
case COMM_DOWN: CarBack();break;
case COMM_LEFT: CarLeft();break;
case COMM_RIGHT: CarRight();break;
case COMM_STOP: CarStop();break;
default : break;
}
Delayms(10);//防抖
LCD1602WriteCommand(ctrl_comm);
}
}
}
}
int main(void)
{
delay_init();
GPIOCLKInit();
UserLEDInit();
//LCD1602Init();
//IRCtrolInit();
TIM2_Init();
MotorInit();
UltraSoundInit();
//RedRayInit();
ServoInit();
while(1)
{
if(tick_5ms >= 5)
{
tick_5ms = 0;
tick_200ms++;
if(tick_200ms >= 40)
{
tick_200ms = 0;
LEDToggle(LED_PIN);
//LCD1602WriteDistance(distance_cm);//更新距离
}
// continue_time--;//200ms 无接收指令就停车
// if(continue_time == 0)
// {
// continue_time = 1;
// CarStop();
// }
//do something
Distance();//计算距离
BarrierProc();
// if(ctrl_comm_last != ctrl_comm)//接收到红外信号
// {
// ctrl_comm_last = ctrl_comm;
// switch(ctrl_comm)
// {
// case COMM_UP: CarGo();break;
// case COMM_DOWN: CarBack();break;
// case COMM_LEFT: CarLeft();break;
// case COMM_RIGHT: CarRight();break;
// case COMM_STOP: CarStop();break;
// default : break;
// }
// LCD1602WriteCommand(ctrl_comm);
// }
}
}
}
int main(void)
{
delay_init();
GPIOCLKInit();
UserLEDInit();
LCD1602Init();
IRCtrolInit();
TIM2_Init();
MotorInit();
ServoInit();
while(1)
{
if(tick_5ms >= 5)
{
tick_5ms = 0;
tick_200ms++;
if(tick_200ms >= 40)
{
tick_200ms = 0;
LEDToggle(LED_PIN);
}
continue_time--;//200ms 无接收指令就停车
if(continue_time == 0)
{
continue_time = 1;
CarStop();
}
//do something
if(ir_rec_flag == 1)//接收到红外信号
{
ir_rec_flag = 0;
switch(ctrl_comm)
{
case COMM_UP: CarGo();break;
case COMM_DOWN: CarBack();break;
case COMM_LEFT: CarLeft();break;
case COMM_RIGHT: CarRight();break;
case COMM_STOP: CarStop();break;
default : break;
}
LCD1602WriteCommand(ctrl_comm);
}
}
}
}
/********************************************************************************************************
Function Name: main
Description :
Inputs : None
Outputs : None
Notes :
Revision :
********************************************************************************************************/
int main(void)
{
SystemInit(); //ϵͳʱÖÓ³õʼ»¯
InputIOInit(); //Êý×ÖÊäÈë³õʼ»¯
OutputIOInit();//Êý×ÖÊä³ö³õʼ»¯
SensorInit(); //Ä£ÄâÊäÈë³õʼ»¯
ZLG7290Init(); //¼üÅ̳õʼ»¯
MotorInit(); //µç»ú³õʼ»¯
ServoInit(); //¶æ»ú³õʼ»¯
EncoderInit(); //±àÂëÆ÷³õʼ»¯
/*
V_PIDInit(); //µç»ú±Õ»·Êä³ö
*/
SystemStart();
//UsartInit(); //´®¿Ú³õʼ»¯
}
int main()
{
initVision();
InitGameSystem();
ServoInit(RC_STR_SERVO);
ServoInit(RC_VEL_SERVO);
vsRunControl = 1;
xil_printf("press any key to continue...\r\n");
char c;
read(0,&c,1);
if(c == '~') {
useHeartbeat = TRUE;
} else {
useHeartbeat = FALSE;
}
vsInit();
// SetServo(RC_STR_SERVO, 10);
xTaskCreate( heartbeat,
( signed portCHAR * ) "Heartbeat",
configMINIMAL_STACK_SIZE,
NULL,
( tskIDLE_PRIORITY + 10 ),
hbHandle );
xTaskCreate( comm,
( signed portCHAR * ) "Communications",
configMINIMAL_STACK_SIZE,
NULL,
( tskIDLE_PRIORITY + 5 ),
commHandle );
xTaskCreate( vision,
( signed portCHAR * ) "Vision",
configMINIMAL_STACK_SIZE,
NULL,
( tskIDLE_PRIORITY + 6 ),
visionHandle );
xTaskCreate( control,
( signed portCHAR * ) "Control",
configMINIMAL_STACK_SIZE,
NULL,
( tskIDLE_PRIORITY + 9 ),
controlHandle );
xTaskCreate( nav,
( signed portCHAR * ) "Navigation",
configMINIMAL_STACK_SIZE,
NULL,
( tskIDLE_PRIORITY + 7 ),
navHandle );
xTaskCreate( ai,
( signed portCHAR * ) "AI",
configMINIMAL_STACK_SIZE,
NULL,
( tskIDLE_PRIORITY + 8 ),
aiHandle );
//This is the start of image processing
// SetServo(RC_STR_SERVO, 40);
// SetServo(RC_VEL_SERVO, 8);
vTaskStartScheduler();
// loopFrame();
return 0;
}
void InitApp(void) {
/* Send Low Level Voltage to all ports */
LATA = 0x0000;
LATB = 0x0000;
LATC = 0x0000;
LATD = 0x0000;
LATE = 0x0000;
LATF = 0x0000;
LATG = 0x0000;
#if defined(__dsPIC33EP512MU814__)
LATH = 0x0000;
LATJ = 0x0000;
LATK = 0x0000;
#endif
/* Disable all analog inputs */
ANSELA = 0x0000;
ANSELB = 0x0000;
ANSELC = 0x0000;
ANSELD = 0x0000;
ANSELE = 0x0000;
ANSELG = 0x0000;
/* Configure all digital ports as outputs */
TRISA = 0x0000;
TRISB = 0x0000;
TRISC = 0x0000;
TRISD = 0x0000;
TRISE = 0x0000;
TRISF = 0x0000;
TRISG = 0x0000;
#if defined(__dsPIC33EP512MU814__)
TRISH = 0x0000;
TRISJ = 0x0000;
TRISK = 0x0000;
#endif
#if STARTKITBOARD
mInitAllLEDs();
mInitAllSwitches();
#endif
/* Configure Nested Interrupts */
INTCON1bits.NSTDIS = 0b0; // Interrupt nesting enabled
initClock();
#if USE_UART1
serial_assign(&Serial1, 1u);
Serial1.init();
Serial1.open();
XBeeInit(&Xbee1, XBEE1_ATAP, &Serial1);
#endif /*USE_UART1*/
#if USE_UART2
serial_assign(&Serial2, 2u);
Serial2.init();
Serial2.open();
XBeeInit(&Xbee2, XBEE2_ATAP, &Serial2);
#endif /*USE_UART2*/
#if USE_UART3
serial_assign(&Serial3, 3u);
Serial3.init();
Serial3.open();
XBeeInit(&Xbee3, XBEE3_ATAP, &Serial3);
#endif /*USE_UART3*/
#if USE_UART4
serial_assign(&Serial4, 4u);
Serial4.init();
Serial4.open();
XBeeInit(&Xbee4, XBEE4_ATAP, &Serial4);
#endif /*USE_UART4*/
#if USE_ADC1
ADC1Init();
ADC1Start();
#endif
#if USE_ENC
EncInit();
#endif
#if USE_PWM
PWMxInit();
PWMxStart();
#endif
#if USE_PWM && USE_ADC1
ServoInit();
asm ("repeat #640;");
Nop();
ServoStart();
#endif /* USE_PWM && USE_ADC1 */
#if USE_IMU
IMUInit();
IMUStart();
#endif
#if USE_SPIS
SPISInit();
SPISStart();
#endif
}
