void main(void)
{
volatile unsigned int i ;
WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer
P1DIR |= 0x01; // Port 1 pin 0 - LED1
P4DIR |= 0b10000000; // Port 4 pin 7 - LED2
uart_init();
char welcome_message[] = "Welcome to Serial Programming";
while(welcome_message[i]!='\0')
{
UCA1TXBUF = welcome_message[i];
while(UCA1STAT & UCBUSY);
i++;
}
while(1)
{
uart_char('S');
uart_char('\n');
uart_char('\r');
uart_string("Saurav Shandilya");
uart_char('\n');
uart_char('\r');
}
}
void userApp2(void * args)
{
while(1)
{
uart_string("in userApp2");
OSTimeDly(100);
}
}
//-------------------------------------------------------------------
void notmain ( void )
{
disable_watchdog();
hexstring(0x12345678);
uart_string("Hello World!\r\n");
hexstring(0x12345678);
while(1)
{
uart_putc(uart_getc());
}
}
//-------------------------------------------------------------------
int notmain ( void )
{
unsigned int ra;
volatile unsigned int beg,end;
ra=GET32(RCC_APB1ENR);
ra|=1<<3; //enable TIM5
PUT32(RCC_APB1ENR,ra);
PUT16(TIM5BASE+0x00,0x0000);
PUT16(TIM5BASE+0x00,0x0001);
PUT32(CPACR,GET32(CPACR)|(0xF<<20));
clock_init();
uart_init();
hexstring(0x12345678,1);
//instruction cache, data cache and prefetch
ra=GET32(FLASH_ACR);
PUT32(FLASH_ACR,ra|0x700);
uart_string("\nHello World!\n");
beg=GET32(TIM5BASE+0x24);
ra=add(1,1,LOOPS);
end=GET32(TIM5BASE+0x24);
hexstring(end-beg,1);
beg=GET32(TIM5BASE+0x24);
ra=add(1,1,LOOPS);
end=GET32(TIM5BASE+0x24);
hexstring(end-beg,1);
beg=GET32(TIM5BASE+0x24);
ra=m4add(1.0F,1.0F,LOOPS);
end=GET32(TIM5BASE+0x24);
hexstring(end-beg,1);
beg=GET32(TIM5BASE+0x24);
ra=m4add(1.0F,1.0F,LOOPS);
end=GET32(TIM5BASE+0x24);
hexstring(end-beg,1);
beg=GET32(TIM5BASE+0x24);
ra=add(1,1,LOOPS);
end=GET32(TIM5BASE+0x24);
hexstring(end-beg,1);
beg=GET32(TIM5BASE+0x24);
ra=m4add(1.0F,1.0F,LOOPS);
end=GET32(TIM5BASE+0x24);
hexstring(end-beg,1);
hexstring(0x12345678,1);
return(0);
}
int printf(const char *fmt, ...)
{
int i;
int len;
va_list args;
va_start(args, fmt);
len = vsprintf(g_pcOutBuf,fmt,args);
va_end(args);
uart_string(g_pcOutBuf);
return len;
}
void userApp2(void * args)
{
int i;
INP_GPIO(16);
OUT_GPIO(16);
while(1)
{
//DisableInterrupts();
read_dht11_dat();
//EnableInterrupts();
PUT32(GPCLR0, 1 << 16);
OSTimeDly(1000);
uart_string("in userApp2");
OSTimeDly(1000);
}
}
void read_dht11_dat()
{
uint8_t laststate = HIGH;
uint8_t counter = 0;
uint8_t j = 0, i;
float f;
uint32_t * read_addr = (uint32_t *) 0x20200034;
uint32_t dht_mask = 1 << DHTPIN;
// init dht11_dat to ZERO
dht11_dat[0] = dht11_dat[1] = dht11_dat[2] = dht11_dat[3] = dht11_dat[4] = 0;
/* host send start signal */
// pinMode( DHTPIN, OUTPUT );
INP_GPIO(DHTPIN);
OUT_GPIO(DHTPIN);
//uart_string("bef clr: ");
//print_dht();
// digitalWrite( DHTPIN, LOW );
GPIO_CLR = dht_mask;
//uart_string("aft clr: ");
//print_dht();
int wtf_delay_cnt = 0;
while(1){
if(wtf_delay_cnt == 2)
break;
OSTimeDly(10);
wtf_delay_cnt++;
}
//delay( 18 );
//wtf_delay(18000);
// digitalWrite( DHTPIN, HIGH );
//uart_string("bef set: ");
//print_dht();
GPIO_SET = dht_mask;
//uart_string("aft set: ");
//print_dht();
//delayMicroseconds( 40 );
wtf_delay(40);
INP_GPIO(DHTPIN);
// receive data
DisableInterrupts();
for ( i = 0; i < MAXTIMINGS; i++ )
{
counter = 0;
while ( digitalRead(DHTPIN) == laststate )
{
counter++;
//delayMicroseconds( 1 );
wtf_delay(1);
if ( counter == 255 )
{
break;
}
}
laststate = digitalRead( DHTPIN );
if ( counter == 255 )
break;
/* ilk 3 donusumu atla */
if ( (i >= 4) && (i % 2 == 0) )
{
dht11_dat[j / 8] <<= 1;
if ( counter > 16 )
dht11_dat[j / 8] |= 1;
j++;
}
}
EnableInterrupts();
if ( (j >= 40) &&
(dht11_dat[4] == ( (dht11_dat[0] + dht11_dat[1] + dht11_dat[2] + dht11_dat[3]) & 0xFF) ) )
{
f = dht11_dat[2] * 9. / 5. + 32;
//printf( "Nem = %d.%d %% Sıcaklık = %d.%d *C (%.1f *F)\n",
// dht11_dat[0], dht11_dat[1], dht11_dat[2], dht11_dat[3], f );
uart_string("Nem & Sicaklik: ");
hexstrings(dht11_dat[0]);
uart_string("\n");
hexstrings(dht11_dat[2]);
uart_string("\n");
}else {
uart_string("data arriving.\n");
}
}
int main(void)
{//all initializations
int i,j,z,n;
z=1;
i=0;
j=0;
DDRB|=0xFF;
DDRD|=0xFF;
DDRC|=0xFF;
TCCR1A|=(1<<WGM11)|(1<<COM1B1)|(1<<COM1A1)|(1<<COM1A0)|(1<<COM1B0);
TCCR1B|=(1<<WGM13)|(1<<WGM12)|(1<<CS11);
ICR1=19999;
uart_init();
while(1){
while(1){i=0;
int grabbed=0;
char input9[100]=" ";
while(1) {input9[i] = uart_read();
if (input9[i]=='.')
break;
i++;}
if(strcmp(input9,"Grab.")==0||strcmp(input9,"\nGrab.")==0)
{//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//code to hold cube in 2 brackets, add delay and then hold with other 2 brackets if you want
PORTC=0b00001000;//select linear RL
OCR1A=19150;
_delay_ms(5000);
PORTC=0b00000001;//select linear FB
OCR1B=19150;
_delay_ms(5000);
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
grabbed=1;
uart_string("Grabbed.\n");
}
else if(strcmp(input9,"Ungrab.")==0||strcmp(input9,"\nUngrab.")==0)
{//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//all brackets go back,leaving cube
PORTC=0b00000000;//select linear RL and FB
OCR1A=17200;
OCR1B=17200;
_delay_ms(5000);
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
grabbed=0;
uart_string("Ungrabbed.\n");
}
else if(strcmp(input9,"Start.")==0||strcmp(input9,"\nStart.")==0)
{
//if (grabbed==1)
//{
uart_string("Ready.\n");
goto right;
//}
}
else {uart_string("Invalid.\n");
uart_num(strcmp(input9,"Start."));
uart_string(input9);
}
}
//*******************************************************************************************//Right
right:
i=0;
char input6[100]=" ";
while(1) {
input6[i] = uart_read();//read char
if (input6[i]=='.')
break;
i++;
}
if(strcmp(input6,"\nRight.")==0)
{
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//code to bring R to the top face
PORTC=0b00000001;//select linear FB
OCR1B=17200;
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=17200;
OCR1B=19150;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;
OCR1B=18250;
_delay_ms(100);
PORTC=0b00010010;//select B and F
OCR1B=17200;
OCR1A=19150;
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;
_delay_ms(100);
PORTC=0b00010010;//select B and F
OCR1B=18250;
OCR1A=18250;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;
_delay_ms(100);
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
uart_string("Right.\n");
}
else {
uart_num(strcmp(input6,"\nRight."));
goto right;
}
//*******************************************************************************************//front
front:
i=0;
char input1[100]=" ";
while(1) {
input1[i] = uart_read();//read char
if (input1[i]=='.')
break;
i++;
}
if(strcmp(input1,"\nFront.")==0)
{//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//code to bring F to the top face
PORTC=0b00001000;//select linear RL
OCR1A=17200;
_delay_ms(100);
PORTC=0b00010010;//select B and F
OCR1A=17200;
OCR1B=19150;
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;
_delay_ms(100);
PORTC=0b00010010;//select B and F
OCR1B=18250;
OCR1A=18250;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;
_delay_ms(100);
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
uart_string("Front.\n");
}
else goto front;
//*******************************************************************************************//down
down:
i=0;
char input2[100]=" ";
while(1) {
input2[i] = uart_read();//read char
if (input2[i]=='.')
break;
i++;
}
if(strcmp(input2,"\nDown.")==0)
{//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//code to bring D to the top face
PORTC=0b00000001;//select linear FB
OCR1B=17200;
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=17200;
OCR1B=19150;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;
OCR1B=18250;
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;
_delay_ms(100);
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
uart_string("Down.\n");
}
else goto down;
//*******************************************************************************************//left
left:
i=0;
char input3[100]=" ";
while(1) {
input3[i] = uart_read();//read char
if (input3[i]=='.')
break;
i++;
}
if(strcmp(input3,"\nLeft.")==0)
{//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//code to bring L to the top face
PORTC=0b00000001;//select linear FB
OCR1B=17200;
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=19150;
OCR1B=17200;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;
OCR1B=18250;
_delay_ms(100);
PORTC=0b00010010;//select B and F
OCR1A=17200;
OCR1B=19150;
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;
_delay_ms(100);
PORTC=0b00010010;//select B and F
OCR1B=18250;
OCR1A=18250;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;
_delay_ms(100);
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
uart_string("Left.\n");
}
else goto left;
//*******************************************************************************************//back
back:
i=0;
char input4[100]=" ";
while(1) {
input4[i] = uart_read();//read char
if (input4[i]=='.')
break;
i++;
}
if(strcmp(input4,"\nBack.")==0)
{//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//code to bring B to the top face
PORTC=0b00001000;//select linear RL
OCR1A=17200;
_delay_ms(100);
PORTC=0b00010010;//select B and F
OCR1A=17200;
OCR1B=19150;
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;
_delay_ms(100);
PORTC=0b00010010;//select B and F
OCR1B=18250;
OCR1A=18250;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;
_delay_ms(100);
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
uart_string("Back.\n");
}
else goto back;
//*******************************************************************************************//
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//write code to bring U on top again
PORTC=0b00000001;//select linear FB
OCR1B=17200;
_delay_ms(100);
PORTC=0b00010010;//select B and F
OCR1A=17200;
OCR1B=19150;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;
_delay_ms(100);
PORTC=0b00010010;//select B and F
OCR1A=19150;
OCR1B=17200;
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;
_delay_ms(100);
PORTC=0b00010010;//select B and F
OCR1A=18250;
OCR1B=18250;
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=19150;
OCR1B=17200;
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;
OCR1B=18250;
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;
_delay_ms(100);
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//*******************************************************************************************//
i=0;
char input[100]=" ";
while(1) {
input[i] = uart_read();//read char
if (input[i]=='.')
break;
i++;
}
//*******************************************************************************************//solve cube
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//now code for solving the cube //solution is char input [100]
while(input[z]!='.')
{
while(input[j]!=' ')
{
n=n+1;
j++;
}
if(n==1)
{
if(input[z]=='R')
{
PORTC=0b00001100;//select R
OCR1A=17200;//rotR-0
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00001100;//select R
OCR1A=18250;//rotR-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
}
else if(input[z]=='L')
{
PORTC=0b00100001;//select L
OCR1B=17200;//rotL-0
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100001;//select L
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
}
else if(input[z]=='F')
{
PORTC=0b00001010;//select F
OCR1A=17200;//rotF-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00001010;//select F
OCR1B=18250;//rotF-90
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
}
else if(input[z]=='B')
{
PORTC=0b00010001;//select B
OCR1B=17200;//rotB-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00010001;//select B
OCR1B=18250;//rotB-90
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
}
else if(input[z]=='U')
{
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=19150;//rotR-180
OCR1B=17200;//rotL-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00000000;
OCR1A=18250;//rotR-90
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
PORTC=0b00001010;//select F
OCR1A=17200;//rotF-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00001010;//select F
OCR1A=18250;//rotF-90
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=17200;//rotR-0
OCR1B=19150;//rotL-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;//rotR-90
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
}
else if(input[z]=='D')
{
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=19150;//rotR-180
OCR1B=17200;//rotL-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;//rotR-90
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
PORTC=0b00010001;//select B
OCR1B=17200;//rotB-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00010001;//select B
OCR1B=18250;//rotB-90
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=17200;//rotR-0
OCR1B=19150;//rotL-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;//rotR-90
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
}
z++;
}
if(n==2)
{
if(input[z+1]=='2')
{
if(input[z]=='R')
{
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00001100;//select R
OCR1A=19150;//rotR-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
PORTC=0b00001100;//select R
OCR1A=17200;//rotR-0
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00001100;//select R
OCR1A=18250;//rotR-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
}
else if(input[z]=='L')
{
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100001;//select L
OCR1B=19150;//rotL-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
PORTC=0b00100001;//select L
OCR1B=17200;//rotL-0
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100001;//select L
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
}
else if(input[z]=='F')
{
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00001010;//select F
OCR1A=19150;//rotF-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001010;//select F
OCR1A=17200;//rotF-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00001010;//select F
OCR1A=18250;//rotF-90
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
}
else if(input[z]=='B')
{
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00010001;//select B
OCR1B=19150;//rotB-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00010001;//select B
OCR1B=17200;//rotB-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00010001;//select B
OCR1B=18250;//rotB-90
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
}
else if(input[z]=='U')
{
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=19150;//rotR-180
OCR1B=17200;//rotL-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;//rotR-90
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00001010;//select F
OCR1A=19150;//rotF-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001010;//select F
OCR1A=17200;//rotF-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00001010;//select F
OCR1A=18250;//rotF-90
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=17200;//rotR-0
OCR1B=19150;//rotL-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;//rotR-90
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
}
else if(input[z]=='D')
{
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=19150;//rotR-180
OCR1B=17200;//rotL-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;//rotR-90
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00010001;//select B
OCR1B=19150;//rotB-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00010001;//select B
OCR1B=17200;//rotB-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00010001;//select B
OCR1B=18250;//rotB-90
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=17200;//rotR-0
OCR1B=19150;//rotL-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;//rotR-90
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
}
z+=2;}
else
if(input[z]=='R')
{
PORTC=0b00001100;//select R
OCR1A=19150;//rotR-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00001100;//select R
OCR1A=18250;//rotR-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
}
else if(input[z]=='L')
{
PORTC=0b00100001;//select L
OCR1B=19150;//rotL-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100001;//select L
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
}
else if(input[z]=='F')
{
PORTC=0b00001010;//select F
OCR1A=19150;//rotF-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00001010;//select F
OCR1A=18250;//rotF-90
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
}
else if(input[z]=='B')
{
PORTC=0b00010001;//select B
OCR1B=19150;//rotB-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00010001;//select B
OCR1B=18250;//rotB-90
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
}
else if(input[z]=='U')
{
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=19150;//rotR-180
OCR1B=17200;//rotL-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;//rotR-90
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
PORTC=0b00001010;//select F
OCR1A=19150;//rotF-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00001010;//select F
OCR1A=18250;//rotF-90
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=17200;//rotR-0
OCR1B=19150;//rotL-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;//rotR-90
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
}
else if(input[z]=='D')
{
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=19150;//rotR-180
OCR1B=17200;//rotL-0
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;//rotR-90
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
PORTC=0b00010001;//select B
OCR1B=19150;//rotB-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=17200;//linFB-0
_delay_ms(100);
PORTC=0b00010001;//select B
OCR1B=18250;//rotB-90
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=17200;//rotR-0
OCR1B=19150;//rotL-180
_delay_ms(100);
PORTC=0b00000001;//select linear FB
OCR1B=19150;//linFB-180
_delay_ms(100);
PORTC=0b00001100;//select linear RL
OCR1A=17200;//linRL-0
_delay_ms(100);
PORTC=0b00100100;//select R and L
OCR1A=18250;//rotR-90
OCR1B=18250;//rotL-90
_delay_ms(100);
PORTC=0b00001000;//select linear RL
OCR1A=19150;//linRL-180
_delay_ms(100);
}
z+=2;
}
z++;
}
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//*******************************************************************************************//done
uart_string("Done\n");
}
}
