void main(void) {
WDTCTL = WDTPW + WDTHOLD; //disable watchdog
//int dir1=1; // Direction for PWM duty cycle change. A +1
// value increases, a -1 value decreases
//int dir2=-1; //start direction for number 2
//initialization stuff here
//remember to enable any pull-up/downs!
P1OUT = 0;
P1DIR |= ALL_LEDS;
P1SEL |= (LED2 | LED1); //initialize the TA0.1 on led2,
//and TA0.2 on led1
P1SEL2 |= LED1;
//P1SEL2 is important here!
BCSCTL1 = CALBC1_1MHZ; // Running at 1 MHz
DCOCTL = CALDCO_1MHZ;
TA_init();
ADC_init();
//infinite loop
for(;;) {
/*__delay_cycles(PWM_TOP*5);
TACCR1 += dir1;
TACCR2 += dir2;
if (TACCR1 == PWM_TOP){
dir1 = -1; //switch directions
dir2 = 1;
} else if (TACCR1 == 0){
dir1 = 1;
dir2 = -1;
}*/
ADC_read_vals();
set_pwms();
//TACCR1 = 5;
}
//return 0; //should never reach this
}
int main(void) {
// UDP Creation
struct sockaddr_in si_me, si_other;
int s, slen = sizeof(si_other) , recv_len;
char buf[BUFLEN];
char motor1_2, motor1_1,motor2_2, motor2_1,motor3_2, motor3_1,motor4_2, motor4_1,motor5_2, motor5_1,motor6_2, motor6_1;
char motor1[3], motor2[3], motor3[3], motor4[3], motor5[3], motor6[3];
//create a UDP socket
if ((s=socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1)
{
die("socket");
}
// zero out the structure
memset((char *) &si_me, 0, sizeof(si_me));
si_me.sin_family = AF_INET;
si_me.sin_port = htons(PORT);
si_me.sin_addr.s_addr = htonl(INADDR_ANY);
//bind socket to port
if( bind(s , (struct sockaddr*)&si_me, sizeof(si_me) ) == -1)
{
die("bind");
}
//Set up pwms
char freq[5];
int i, motor_num;
set_pwms();
//Ask the user what the frequency should be
printf("What should the frequency be? ");
fflush(stdout);
scanf("%s", freq);
//Set all frequencies to the user input
for(i='1';i<'7';i++){
set_freq(i,freq);
}
//Activate the run file in each pwm folder
for(i='1';i<'7';i++){
set_run(i,"1");
}
//Set the duty percent to 50 for all pwms
for(i='1';i<'7';i++){
set_duty(i,"50");
}
while(1){
//try to receive some data
if ((recv_len = recvfrom(s, buf, BUFLEN, 0, (struct sockaddr *) &si_other, &slen)) == -1)
{
die("recvfrom()");
}
// Figure out the number of motors from first three bytes of the array received from UDP packet
motor_num = buf[3];
int motors[motor_num];
// Create an array that has the duty percent for each motor in the elements
for(i=0; i<motor_num; i++){
motors[i] = buf[i+4];
if(motors[i] > 100) motors[i] = motors[i] - 256; //Conversion for numbers that should be negative
}
fflush(stdout);
//Change the percentages from -100-100 to 0-100 because that's the percentages the BeagleBone can do
for(i=0; i<6; i++){
motors[i] = (motors[i] + 100)/2;
}
// The next bunch of if else statements convert the integer duty percent number into strings that the
// Beaglebone can understand. Each statement will go through the first and second digit of the integer
// and then change them to ASCII code and put them into an array.
if(motors[0] == 100){
motor1[0] = '1';
motor1[1] = '0';
motor1[2] = '0';
motor1[3] = '\0';
}
else {
motor1_2 = motors[0]%10 + 0x30;
motor1_1 = (motors[0]/10)%10 + 0x30;
motor1[0] = '0';
motor1[1] = motor1_1;
motor1[2] = motor1_2;
motor1[3] = '\0';
}
if(motors[1] == 100){
motor2[0] = '1';
motor2[1] = '0';
motor2[2] = '0';
motor2[3] = '\0';
}
else {
motor2_2 = motors[1]%10 + 0x30;
motor2_1 = (motors[1]/10)%10 + 0x30;
motor2[0] = '0';
motor2[1] = motor2_1;
motor2[2] = motor2_2;
motor2[3] = '\0';
}
if(motors[2] == 100){
motor3[0] = '1';
motor3[1] = '0';
motor3[2] = '0';
motor3[3] = '\0';
}
else {
motor3_2 = motors[2]%10 + 0x30;
motor3_1 = (motors[2]/10)%10 + 0x30;
motor3[0] = '0';
motor3[1] = motor3_1;
motor3[2] = motor3_2;
motor3[3] = '\0';
}
if(motors[3] == 100){
motor4[0] = '1';
motor4[1] = '0';
motor4[2] = '0';
motor4[3] = '\0';
}
else {
motor4_2 = motors[3]%10 + 0x30;
motor4_1 = (motors[3]/10)%10 + 0x30;
motor4[0] = '0';
motor4[1] = motor4_1;
motor4[2] = motor4_2;
motor4[3] = '\0';
}
if(motors[4] == 100){
motor5[0] = '1';
motor5[1] = '0';
motor5[2] = '0';
motor5[3] = '\0';
}
else {
motor5_2 = motors[4]%10 + 0x30;
motor5_1 = (motors[4]/10)%10 + 0x30;
motor5[0] = '0';
motor5[1] = motor5_1;
motor5[2] = motor5_2;
motor5[3] = '\0';
}
if(motors[5] == 100){
motor6[0] = '1';
motor6[1] = '0';
motor6[2] = '0';
motor6[3] = '\0';
}
else {
motor6_2 = motors[5]%10 + 0x30;
motor6_1 = (motors[5]/10)%10 + 0x30;
motor6[0] = '0';
motor6[1] = motor6_1;
motor6[2] = motor6_2;
motor6[3] = '\0';
}
// Print all the duty percents that were calculated
printf("First Motor: %s\n", motor1);
printf("Second Motor: %s\n", motor2);
printf("Third Motor: %s\n", motor3);
printf("Fourth Motor: %s\n", motor4);
printf("Fifth Motor: %s\n", motor5);
printf("Sixth Motor: %s\n\n", motor6);
// Set the duty percent of each motor
set_duty('1', motor1);
set_duty('2', motor2);
set_duty('3', motor3);
set_duty('4', motor4);
set_duty('5', motor5);
set_duty('6', motor6);
}
close(s);
return 0;
}
