int clear_screen(int argc, char *argv){
ttyScreen_t * screen = getScreen(get_current_task());
clearScreen();
clearScreenBuffer();
print_header();
printTicks();
screen->wpos=TTY_SCREEN_SSTART;
move_cursor(screen->wpos/2);
}
/**
* Main loop.
*/
int main(void) {
int32_t lastSpeedCalc = 0;
int32_t lastDebug = 0;
int32_t lastDebug2 = 0;
// initalize all modules
initAll();
// enable interrupts (i.e timers start from here)
sei();
// The LOOP
while(1) {
// read serial port
readCommand(); // communication.c
// apply speed calculation and run odometer
if (uptime() >= lastSpeedCalc + SPEED_CALC_PERIOD) {
lastSpeedCalc += SPEED_CALC_PERIOD;
calculateSpeeds(); // motors.c
if (pidOn) {
runPID(); // motors.c
}
//if (debug1) printSpeed(CPUCHAR);
runOdometer(); // odometer.c
navigator();
}
// read sensors and apply position correction
positionCorrection(); // odometer.c
// print debug loop 2
if (uptime() >= (lastDebug2 + 20)) {
lastDebug2 = uptime();
if (debug6) printf("%d, %d\r\n", p_LsensVal, p_RsensVal);
}
// print debug
if ((debugPeriod) && uptime() >= (lastDebug + debugPeriod)) {
lastDebug += debugPeriod;
//if (debug1) printf(">21%02x\r", speed0 >> 4);
//if (debug1) printf(">21%04x\r>22%04x\r", readADC(0), readADC(1));
//if (debug2) printf("%ld\t%ld\r\n", timer, timer20);
//if (debug2) printf_P(PSTR("%d\t%d\r\n"), p_L, p_R);
if (debug3) printf_P(PSTR("%d, %d / %d, %d / %d, %d / %u, %u\r\n"),
p_Ltrans, p_Lrel, p_Rtrans, p_Rrel, p_Lerr, p_Rerr, posCorrLeftFailed, posCorrRightFailed);
//if (debug4) printf_P(PSTR("%ld\t%ld\r\n"), ticks0, ticks1);
//if (debug5) printSpeed(CPUCHAR);
//if (debug5) printf_P(PSTR("%d\t%d\r\n"), speed0, speed1);
//if (debug6) printf_P(PSTR("%d\t%d\r\n"), accel0, accel1);
if (debug7) printf_P(PSTR("%u\t%u\r\n"), power0, power1);
// debug for GUI
printTicks(CPUCHAR);
printSpeed(CPUCHAR);
printAccel(CPUCHAR);
printAbsDist(CPUCHAR);
printRelDist(CPUCHAR);
printSensors(CPUCHAR);
}
}
while(1);
}
