int kkkk(void) { velocity(255,255); forward(); while(1) { servo_1(0); servo_2(0); servo_3(0); forward(); red_read(); //display the pulse count when red filter is selected _delay_ms(500); green_read(); //display the pulse count when green filter is selected _delay_ms(500); blue_read(); //display the pulse count when blue filter is selected _delay_ms(500); lcd_wr_command(0x01); print_sensor(1,1,3); //Prints value of White Line Sensor1 print_sensor(1,5,2); //Prints Value of White Line Sensor2 print_sensor(1,9,1); //Prints Value of White Line Sensor3 print_sensor(2,1,11); servo_1(100); servo_2(100); servo_3(100); _delay_ms(7000); } }
void close(unsigned char side) { if (side == 0) servo_2(0); else if (side == 1) servo_3(0); }
void open(unsigned char side) { if (side == 0) servo_2(180); else if (side == 1) servo_3(180); }
void reset_servo() { servo_3(150); servo_2(120); servo_1(30); _delay_ms(1000); servo_1_free(); servo_2_free(); servo_3_free(); }
void close(unsigned char side) { if (side == 0) for(i=0;i<=40;i++) { servo_3(i); _delay_ms(10); } else if (side == 1) for(i=0;i<=60;i++) { servo_1(i); _delay_ms(10); } }
void open(unsigned char side) { if (side == 0) for(i=55;i>0;i--) { servo_3(i); _delay_ms(10); } else if (side == 1) for(i=55;i>0;i--) { servo_1(i); _delay_ms(10); } }
//Main function int main(void) { //servo 1 & 3 0 open 40 close //servo 1 60 close unsigned char i = 0; init_devices(); servo_3(0); servo_2(90); servo_1(0); _delay_ms(2000); // servo_1(45); // _delay_ms(2000); //servo_1(60); //while(1); //while(1); // lower(1); //_delay_ms(3000); // elevate(); // while(1); pick(0); _delay_ms(4000); drop(0); while(1); _delay_ms(2000); pick(1); _delay_ms(2000); drop(1); //servo_3(0); //pick(1); _delay_ms(2000); pick(0); while(1); drop(0); return 0; }
//Main Function int main(void) { //all initializations init_devices_motion(); init_devices(); init_devices_lf(); lcd_set_4bit(); lcd_init(); //setting gripper arm initial_angle = 120; servo1_init(); servo_2(initial_angle); servo_3(180); //UDR0 = 0x31; //line_follower(); //pluck_fruit(); while(1); }
void open(unsigned char side) { if (side == 0) for(i=40;i>0;i--) { servo_3(i); _delay_ms(10); } else if (side == 1) for(i=60;i>0;i--) { servo_1(i); _delay_ms(10); } if(side==0) servo_3_free(); else servo_1_free(); }
void Lift() { //Open and come to pick for (i = 0; i <120; i++) { servo_1(i); _delay_ms(30); servo_2(i); _delay_ms(30); servo_3(i); _delay_ms(30); } /*for (i = 120; i >90; i--) { servo_2(i); _delay_ms(30); }*/ for (i = 120; i <150; i++) { servo_1(i); _delay_ms(30); //servo_2(i); //_delay_ms(30); servo_3(i); _delay_ms(30); } //Grab for (i = 150; i >30; i--) { servo_1(i); _delay_ms(30); // servo_2(i); // _delay_ms(30); // servo_3(i); // _delay_ms(30); } //pick for (i = 150; i >120; i--) { // servo_1(i); // _delay_ms(30); servo_3(i); _delay_ms(30); } for (i = 120; i >0; i--) { // servo_1(i); // _delay_ms(30); servo_2(i); _delay_ms(30); servo_3(i); _delay_ms(30); } // _delay_ms(2000); // }
int main() { int i=0; init_devices(); lcd_set_4bit(); lcd_init(); color_sensor_scaling(); /* //variable 'i' scales at 13,14 for sharp sensor for velocitty 240 240 //u turn 1600ms at 200,200 velocity velocity(200,200); left(); _delay_ms(1600); stop(); while(1); threshold=6000; right(); while(ADC_Conversion(11)<65) { i++; lcd_print(1,11,i,3); } stop(); lcd_print(2,11,scan(),1); stop(); while(1); */ setIndicatorAndColor(); threshold=6000; ct = 0; adj = 2; //lcd("Begin"); forwardJaa(); stop(); servo_1(0); servo_2(90); servo_3(0); while (sorted<total) { canDrop(); //buzzer_on(); //_delay_ms(500); //buzzer_off(); if (visitedCount == 3) predict(); if (sorted == total) break; pickup(); traverseToSort(ct, ct % 2 + 4); sortCheck(); } for (i = 0; i<4; i++); while(1); //..printf("%d %d\n", term[i][0], term[i][1]); //..printf("Sort 0=%dSort 1=%d\nArm 0=%dArm 1=%d\n", sort[0], sort[1], arm[0], arm[1]); //..printf("Cost=%d\nSORTED!!!!!\n", cost + 7); //getch(); return 0; }