bool test_all()
{
if (test_encoder() &&
test_motor() &&
test_steer_motor_controller())
return true;
return false;
}
int main()
{
unsigned int leye,reye = 0;
DDRB = 0xFF; /* 定义B口为输出*/
PORTB = 0; /* 关闭全部LED */
pwm_init();
adc_init();
_pin_mode(PORTB,PB2,INPUT);
_pin_mode(PORTB,PB3,INPUT);
led_init();
test_motor((char*)&R_MOTOR);
test_motor((char*)&L_MOTOR);
while (1){
//continue;
leye=_adc(LEYE_ADC);
leye+=_adc(LEYE_ADC);
leye/=2;
reye=_adc(REYE_ADC);
reye+=_adc(REYE_ADC);
reye/=2;
/*sun, in door, 100-240*/
if(leye<50 || reye<50){
ucLED_On();
}else
ucLED_Off();
set_speed(150-leye/2,(char*)&L_MOTOR);
set_speed((150-reye/2),(char*)&R_MOTOR);
}
}
int main(void) {
u16 i;
u08 data[2];
int j=0;
init();
test_motor();
clear_screen();
_delay_ms(100);
data[0] = 0x1; //change to WAKE mode
send_address(0x2A,0);
write_register(&data[0], 1);
_delay_ms(100);
unlock_bus();
//send_address(0x2);
//read_register(&data[1], 1);
print_num(data[0]);
//while(1) {}
while(1) {
//X
send_address(0x1,1);
read_register(&(data[0]), 1);
print_num(data[0]);
print_string(" ",1);
//Y
send_address(0x3,1);
read_register(&(data[0]), 1);
print_num(data[0]);
print_string(" ", 1);
//Z
lcd_cursor(0,1);
send_address(0x5,1);
read_register(&(data[0]), 1);
print_num(data[0]);
print_string(" ",1);
print_num(count);
_delay_ms(50);
clear_screen();
OCR2A = 28;
}
/*
USI_TWI_Master_Initialize();
i2cMessageBuf[0] = 0x1c << 1; // Odd numbers for read
i2cMessageBuf[1] = 0x0d; // Register 0 contains version number
i2cMessageBuf[2] = (0x1c << 1) + 1; // Odd numbers for read
i2cMessageBuf[3] = 0x00; // Register 0 contains version number
USI_TWI_Start_Read_Write( i2cMessageBuf, 1 );
*/
while(get_sw1() == 0) {}
DDRD |= _BV(IR_PIN);
led_on(1);
led_on(0);
clear_screen();
while(1) {
_delay_ms(1500);
if (j) {
clear_screen();
print_string("test",4);
led_on(1);
led_off(0);
//sbi(PORTC,LCD_E_PIN);
//sbi(PORTC,LCD_RS_PIN);
//PORTA = 0xff;
sbi(PORTD,IR_PIN); //turn on IR pin
sbi(PORTC,SERVO0_PIN); //set servo pins
sbi(PORTC,SERVO1_PIN);
sbi(PORTC,SERVO2_PIN);
sbi(PORTF,SERVO3_PIN);
//test i2c pins
//sbi(PORTE,4);
//sbi(PORTE,5);
//motor test
sbi(PORTB,MOTOR0_EN_PIN);
sbi(PORTB,MOTOR1_EN_PIN);
sbi(PORTD,MOTOR0_DIR0_PIN);
sbi(PORTD,MOTOR0_DIR1_PIN);
sbi(PORTD,MOTOR1_DIR0_PIN);
sbi(PORTD,MOTOR1_DIR1_PIN);
j=0;
} else {
led_off(1);
led_on(0);
clear_screen();
print_string("program",7);
j=1;
//cbi(PORTC,LCD_E_PIN);
//cbi(PORTC,LCD_RS_PIN);
//PORTA = 0;
cbi(PORTD,IR_PIN); //turn off IR pin
cbi(PORTC,SERVO0_PIN); //clear servo pins
cbi(PORTC,SERVO1_PIN);
cbi(PORTC,SERVO2_PIN);
cbi(PORTF,SERVO3_PIN);
//test i2c pins
//cbi(PORTE,4);
//cbi(PORTE,5);
//motor test
cbi(PORTB,MOTOR0_EN_PIN);
cbi(PORTB,MOTOR1_EN_PIN);
cbi(PORTD,MOTOR0_DIR0_PIN);
cbi(PORTD,MOTOR0_DIR1_PIN);
cbi(PORTD,MOTOR1_DIR0_PIN);
cbi(PORTD,MOTOR1_DIR1_PIN);
}
}
return 0;
}
int main(void) {
u16 i;
u08 data[2];
int j=0;
init();
test_motor();
clear_screen();
/* while(1){
set_position(0,0);
set_position(1,0);
set_position(2,0);
set_position(3,0);
_delay_ms(1000);
set_position(0,255);
set_position(1,255);
set_position(2,255);
set_position(3,255);
_delay_ms(1000);
}
*/
_delay_ms(100);
for (i=0;i<1;i++) {
led_on(1);
_delay_ms(100);
led_off(1);
_delay_ms(100);
}
data[0] = 0x1; //change to WAKE mode
send_address(0x2A,0);
write_register(&data[0], 1);
_delay_ms(100);
unlock_bus();
//send_address(0x2);
//read_register(&data[1], 1);
print_num(data[0]);
//while(1) {}
while(1) {
//X
send_address(0x1,1);
read_register(&(data[0]), 1);
print_num(data[0]);
print_string(" ");
//Y
send_address(0x3,1);
read_register(&(data[0]), 1);
print_num(data[0]);
print_string(" ");
//Z
lcd_cursor(0,1);
send_address(0x5,1);
read_register(&(data[0]), 1);
print_num(data[0]);
print_string(" ");
print_num(count);
count++;
_delay_ms(50);
clear_screen();
OCR2A = 28;
}
while(get_sw() == 0) {}
led_on(1);
led_on(0);
clear_screen();
while(1) {
_delay_ms(1500);
if (j) {
clear_screen();
print_string("test");
led_on(1);
led_off(0);
//sbi(PORTC,LCD_E_PIN);
//sbi(PORTC,LCD_RS_PIN);
//PORTA = 0xff;
sbi(PORTC,SERVO0_PIN); //set servo pins
sbi(PORTC,SERVO1_PIN);
sbi(PORTC,SERVO2_PIN);
sbi(PORTF,SERVO3_PIN);
//test i2c pins
//sbi(PORTE,4);
//sbi(PORTE,5);
//motor test
sbi(PORTB,MOTOR0_EN_PIN);
sbi(PORTB,MOTOR1_EN_PIN);
sbi(PORTD,MOTOR0_DIR0_PIN);
sbi(PORTD,MOTOR0_DIR1_PIN);
sbi(PORTD,MOTOR1_DIR0_PIN);
sbi(PORTD,MOTOR1_DIR1_PIN);
j=0;
} else {
led_off(1);
led_on(0);
clear_screen();
print_string("program");
j=1;
//cbi(PORTC,LCD_E_PIN);
//cbi(PORTC,LCD_RS_PIN);
//PORTA = 0;
cbi(PORTC,SERVO0_PIN); //clear servo pins
cbi(PORTC,SERVO1_PIN);
cbi(PORTC,SERVO2_PIN);
cbi(PORTF,SERVO3_PIN);
//test i2c pins
//cbi(PORTE,4);
//cbi(PORTE,5);
//motor test
cbi(PORTB,MOTOR0_EN_PIN);
cbi(PORTB,MOTOR1_EN_PIN);
cbi(PORTD,MOTOR0_DIR0_PIN);
cbi(PORTD,MOTOR0_DIR1_PIN);
cbi(PORTD,MOTOR1_DIR0_PIN);
cbi(PORTD,MOTOR1_DIR1_PIN);
}
}
return 0;
}
