void range_sensors_main()
{
iodefs_init();
leds_init();
range_sensors_init();
event_q_init();
sei();
range_sensors_start();
while(1){
event_t e = event_q_get_next_event();
switch(e){
case NEW_PROXIMITY_READINGS:
handle_new_prox();
break;
default:
break;
}
}
}
int main()
{
motors_init();
movman_init();
contacts_init();
event_q_init();
adc_init();
leds_init();
sei();
adc_start();
movman_schedule_move(
WAIT_5_SECONDS_THEN_FULL_FORWARD_FOR_A_LONG_TIME,
TO_MEET_STARTUP_REQUIREMENT,
IMMEDIATELY);
while(1){
// Testing in the lab showed this runs every ~95us
event_t e = event_q_get_next_event();
switch(e){
case LINE_DETECTED:
handle_line_detected();
break;
case CONTACT_DETECTED_BOTH:
case CONTACT_DETECTED_FRONT:
handle_front_contact();
break;
case CONTACT_DETECTED_REAR:
handle_rear_contact();
break;
case MOVEMENT_COMPLETE:
handle_movement_complete();
break;
case NEW_PROXIMITY_READINGS:
handle_new_prox_readings();
break;
default:
break;
}
}
return 0;
}
