//The main loop!
int main()
{
//Initialize all devices
init_devices();
lcd_set_4bit();
lcd_init();
leftVel=100;
rightVel=100;
functionFlag=0;
while(1)
{
//Extract out commands from received data
process_rcvd_data();
//Perform certain actions according to the state of the Firebird
if (white_line_flag) {
whiteline_follow_continue();
}
if (acc_flag) {
acc_continue();
}
if (acc_modified_flag) {
acc_modified();
}
//If there exists a command on the command buffer, call the invoker on it
if(command_rcvd >= 1){
unsigned char a;
int error = get_char_from_input(&a);
if (error == -1) {
//lcd_string("ERROR");
buzzer_prompt(1000);
_delay_ms(1000);
buzzer_prompt(1000);
command_rcvd--;
continue;
}
//lcd_num(a);
my_invoker(a);
command_rcvd--;
//serial_sendString("ok");
}
}
}
//Called when whiteline following needs to be enabled
void whiteline_follow_start() {
white_line_flag = 1;
whiteline_follow_continue();
}
