static int lcdi2c_probe(struct i2c_client *client, const struct i2c_device_id *id)
{
data = (LcdData_t *) devm_kzalloc(&client->dev, sizeof(LcdData_t),
GFP_KERNEL);
if (!data)
return -ENOMEM;
i2c_set_clientdata(client, data);
sema_init(&data->sem, 1);
data->row = 0;
data->column = 0;
data->handle = client;
data->backlight = 1;
data->cursor = cursor;
data->blink = blink;
data->deviceopencnt = 0;
data->major = major;
lcdinit(data, topo);
lcdprint(data, "HD44780\nDriver");
dev_info(&client->dev, "%ux%u LCD using bus 0x%X, at address 0x%X",
data->organization.columns,
data->organization.rows, busno, address);
return 0;
}
static ssize_t lcdi2c_fopwrite(struct file *file, const char __user *buffer,
size_t length, loff_t *offset)
{
u8 i, str[81];
CRIT_BEG(data, EBUSY);
for(i = 0; i < length && i < (data->organization.columns * data->organization.rows); i++)
get_user(str[i], buffer + i);
str[i] = 0;
(*offset) = lcdprint(data, str);
CRIT_END(data);
return i;
}
void main()
{
for(i=0;i<8;i++) // used to fill data to be displayed in the arry. You can put any value in the array.
data_array[i] = i;
i = 0; //reset i to 0 for data_array [0] increment display on the LCD
buzzer = 1; // buzzer off
lcd_init(); //Initialize LCD
while(1)
{
lcdprint(data_array);//call this function to print the array onto the screen
delay_ms(1000);
i++;
data_array [0] = i;
}
}
void main()
{
unsigned char i=0;
output_enable = 0;
start_conv = 0; //de-assert all control signals to ADC
buzzer = 1; //buzzer off
lcd_init(); //Initialize LCD
pca_init(); //Initialize PCA to genarate PWM
forward();
left_motor_velocity(0x4F); //0x00 will give full (100% duty cycle) velocity, while 0xFF will give zero (0% duty cycle) velocity. Any value in between 0x00 and 0xFF will give intermediate velocity.
right_motor_velocity(0x4F); //0x00 will give full (100% duty cycle) velocity, while 0xFF will give zero (0% duty cycle) velocity. Any value in between 0x00 and 0xFF will give intermediate velocity.
while(1)
{
for(i=0;i<8;i++) //Doing ADC conversion
{
data_array[i] = ADC_conversion(i);
}
left_whiteline = data_array[4];
center_whiteline = data_array[5];
right_whiteline = data_array[6];
front_sharp_sensor = data_array[2];
flag = 0; //reset the flag to 0
//check if robot's center white line sensor is on the white line
if(center_whiteline < 25)
{
flag = 1; //set the flag to 0 so that further white line sensor comparision is disabled
left_motor_velocity(0x4F); //left and right motor is at same velocity
right_motor_velocity(0x4F);
}
//robot is drifting towards left side, increase velocity of the left wheel and decrease velocity of the right wheel
if ((left_whiteline > 25) && (flag == 0))
{
flag = 1; //set the flag to 0 so that further white line sensor comparision is disabled
left_motor_velocity(0x3F); //increase left motor velocity
right_motor_velocity(0x5F); //decrease right motor velocity
}
//robot is drifting towards right side, decrease velocity of the left wheel and increase velocity of the right wheel
if ((right_whiteline > 25) && (flag == 0))
{
flag = 1; //set the flag to 0 so that further white line sensor comparision is disabled
left_motor_velocity(0x5F); //decrease right motor velocity
right_motor_velocity(0x3F); //increase left motor velocity
}
if(front_sharp_sensor >= 110) // obstacle is near the robot, stop and turn on the buzzer
{
stop();
buzzer = 0; //buzzer on
}
else
{
forward();
buzzer = 1; //buzzer off
}
if((left_whiteline > 25) && (center_whiteline > 25) && (right_whiteline > 25)) // no whiteline is detected, stop (buzzer will not turn on)
{
stop();
}
lcdprint(data_array);//call this function to print the array onto the screen
delay_ms(250);
}
}
