int main(void){
//SYSTEMConfigPerformance(10000000);
int i;
state = forward;
float Volts = 0.0;
float VoltNew = 0.0;
init_timer_1();
enableInterrupts();
init_lcd();
clear_lcd();
initPWM();
char voltage[8];
initADC();
initMotor();
while(1){
while(IFS0bits.AD1IF == 0) {
}
val = ADC1BUF0;
IFS0bits.AD1IF = 0;
VoltNew = (float)val*5.0/(1023.0);
Volts = VoltNew;
sprintf(voltage, "%.2f",Volts);
move_cursor_lcd(0,1);
print_string_lcd(voltage);
switch(state) {
case forward:
idle1 = 0;
OC1RS = 0;
OC2RS = 0;
if (Volts > 2.5) {;
OC3RS = 1023;
OC4RS = (1- (Volts - 2.5)/2.5)*1023;
}
else if (Volts < 2.5) {
OC3RS = (1- (2.5 - Volts)/2.5)*1023;
OC4RS = 1023;
}
else {
OC3RS = 1023;
OC4RS = 1023;
}
stateNext = back;
break;
case back:
idle1 = 0;
OC3RS = 0;
OC4RS = 0;
if (Volts > 2.5) {;
OC1RS = 1023;
OC2RS = (1- (Volts - 2.5)/2.5)*1023;
}
else if (Volts < 2.5) {
OC1RS = (1- (2.5 - Volts)/2.5)*1023;
OC2RS = 1023;
}
else {
OC1RS = 1023;
OC2RS = 1023;
}
stateNext = forward;
break;
case idle:
OC1RS = 0;
OC2RS = 0;
OC3RS = 0;
OC4RS = 0;
idle1 = 1;
break;
case debounce1:
delay_ms(40);
break;
case debounce2:
delay_ms(40);
if(idle1 == 1)
state = stateNext;
else if (idle1 == 0)
state = idle;
break;
}
}
return 0;
}
int main(void)
{
// open the Character LCD port
char_lcd_dev = alt_up_character_lcd_open_dev ("/dev/LCD");
/* Initialize the character display */
alt_up_character_lcd_init(char_lcd_dev);
// Initially writes the start time of timer to lcd
write_time_to_buffer(top_row, seconds, minutes, hours, am_pm_mode);
hex_write_date(month, day, year);
// Initialize the switches
int * sw_ptr = (int *) SW_BASE;
int sw_values;
int oldvalue = 0x00000000;
// Masks for individual switches
int MASK_17 = 0x00020000;
int MASK_16 = 0x00010000;
int MASK_1 = 0x00000002;
int MASK_0 = 0x00000001;
int is_fast = 0; //use to tell other function if sped up, 0 = slow, 1 = fast
int clk_modify = 0; //if 0, clock isn't being changed, if 1 clock is being changed
int alarm_modify = 0; //if 0 alarm isn't being changed, if 1, alarm is being changed
// Initialize the Timers
init_timer_0(&tenths);
// Tracker to see when the time changes
int old_tenths = 0;
// Initialize the KEY port
init_button_pio();
// continually
while(1) {
// check the state of the context integer updated by various ISR functions
// Act accordingly, which means
// Update the switch_values
sw_values = *(sw_ptr);
//check if sw17 is up and if it is, then speed up the timer
if((sw_values & MASK_17) == 0x00020000 && oldvalue == 0x00000000){
speed_up();
oldvalue = sw_values & MASK_17;
is_fast = 1;
}
//check if sw17 is down and if it is then slow down the timer
else if ((sw_values & MASK_17) == 0x00000000 && oldvalue == 0x00020000) {
slow_down();
oldvalue = sw_values & MASK_17;
is_fast = 0;
}
// Allow user to change the time if SW0 is up
if((sw_values & MASK_0) == 0x00000001){
clk_modify = 1;
}
else{
clk_modify = 0;
}
// Buttons increment the hours, minutes, and seconds, respectively to Key3, Key2, and Key1
if(clk_modify == 1 && alarm_modify == 0 && alarm == 0){
// Handle if a key was pressed
if (edge_capture) {
handle_key_press_time();
}
}
// Allow user to change the alarm if SW1 is up
if((sw_values & MASK_1) == 0x00000002){
alarm_modify = 1;
alt_up_character_lcd_set_cursor_pos(char_lcd_dev, 0, 1);
alt_up_character_lcd_string(char_lcd_dev, bot_row);
}
else{
alarm_modify = 0;
alt_up_character_lcd_set_cursor_pos(char_lcd_dev, 0, 1);
alt_up_character_lcd_string(char_lcd_dev, " ");
}
// Buttons increment the hours, minutes, and seconds, respectively to Key3, Key2, and Key1
if(alarm_modify == 1 && clk_modify == 0 && alarm == 0){
// Handle if a key was pressed
if (edge_capture) {
handle_key_press_alarm_set();
}
}
// Check if alarm should go off yet
if(hours == alarm_hours && minutes == alarm_minutes && seconds == 0){
alarm = 1;
init_timer_1(&half_second);
}
// While alarm is going off
if( alarm == 1 ){
if (half_second % 2) {
// Turn hex on
hex_on();
}
else {
// Turn hex off
hex_off();
}
if( edge_capture) {
handle_key_press_alarm();
}
}
else { stop_timer_1(); }
// Check SW16 for "AM_PM" enable or "24" mode enable
// If the switch is enabled, then we turn on 24 hour mode
// Else we turn on AM / PM Mode
// TODO: Optimize so that it doesn't assign something every loop cycle. Maybe we could slim it down
if((sw_values & MASK_16) == MASK_16 ) {
am_pm_mode = 0;
}
else {
am_pm_mode = 1;
}
// Update the clock
if (tenths != old_tenths) {
// Call the util.h function to update the time
update_time(top_row, &old_tenths, &tenths, &seconds, &minutes, &hours, &day, &month, &year, am_pm_mode, 0);
// Write the updated time to the display
alt_up_character_lcd_set_cursor_pos(char_lcd_dev, 0, 0);
alt_up_character_lcd_string(char_lcd_dev, top_row);
}
}
return 0;
}
int main(void){
//SYSTEMConfigPerformance(10000000);
int i = 0;
int j = 0;
int onLine = 0;
float Volts = 0.0;
init_timer_1();
enableInterrupts();
init_lcd();
clear_lcd();
initPWM();
char voltage[8];
initSW1();
initADC();
initMotor();
move_cursor_lcd(0,1);
print_string_lcd("lLLLLL");
PrintValue();
lineL = valL + 50;//780;
lineR = valR + 50;//805;
lineM = valM - 60;//840;
while(1){
switch(state) {
case Forward:
OC1RS = 0;
OC2RS = 0;
OC3RS = 200;
OC4RS = 200;
onLine = 0;
PrintValue();
if(valR > lineR && valL > lineL && valM > lineM) {
state = Double;
}
else if (valL > lineL) {
onLine = 0;
state = TurnLeft;
if (valM > lineM + 50/*&& counter == 0*/) state = Forward;
}
else if (valR > lineR) {
onLine = 0;
state = TurnRight;
if (valM > lineM /*&& counter == 0*/) state = Forward;
//else state = TurnRight;
}
else onLine = 0;
sprintf(stateDisp, "For");
break;
//All sensors are over a line
case Double:
OC1RS = 0;
OC2RS = 0;
OC3RS = 200;
OC4RS = 200;
if (onLine == 0) {
counter += 1;
onLine = 1;
}
sprintf(stateDisp,"Doub");
PrintValue();
// delay_ms(100);
//if(!(valR > (lineR + Thresh) && valL > (lineL + Thresh) && valM > (lineM + Thresh))) state = Forward;
if (counter >= 1) state = TurnAround;
//if (counter > 5) state = TurnLeft;
if (counter == 12) state = Idle;
break;
case TurnAround:
sprintf(stateDisp,"Tur");
OC1RS = 100;
OC2RS = 0;
OC3RS = 100;
OC4RS = 0;
onLine = 0;
PrintValue();
stateNext = TurnAround;
delay_ms(1);
if (valR > lineR /*&& valR < lineR*/ && i == 1) {
j = 1;
}
if(valR < lineR) i = 1;
if (j == 1 && valM > lineM + Thresh) {
stateNext = Forward;
i = 0;
j = 0;
}
//else if(valR < lineR) state = Forward;
state = stateNext;
break;
case TurnLeft:
OC1RS = 0;
OC2RS = 0;
OC3RS = 0;
OC4RS = 300;
onLine = 0;
sprintf(stateDisp, "Lef");
PrintValue();
if(valL < lineL) state = Forward;
//else if (valR > lineR && valM > lineM) state = Double;
break;
case TurnRight:
OC1RS = 0;
OC2RS = 0;
OC3RS = 300;
OC4RS = 0;
onLine = 0;
sprintf(stateDisp, "Rig");
PrintValue();
if(valR < lineR) state = Forward;
//if(valL > lineL) state = TurnLeft
if(valL > lineL) state = TurnLeft;
if (valR > (lineR + Thresh) && valL > (lineL + Thresh) && valM > (lineM + Thresh)) state = Double;
//else if(counter < 1) state = Forward;
//else state = TurnRight;
break;
case Idle:
idle1 = 1;
OC1RS = 0;
OC2RS = 0;
OC3RS = 0;
OC4RS = 0;
sprintf(stateDisp, "Idl");
PrintValue();
break;
}
}
return 0;
}
int main(void){
int j = 0;
int onLine = 0;
init_timer_1();
enableInterrupts();
init_lcd();
clear_lcd();
initPWM();
initADC();
initMotor();
move_cursor_lcd(0,1);
print_string_lcd("XXXX"); //Though the reason is unclear, the display does not function properly without some initial string being printed on it
PrintValue();
lineL = valL + lThresh;
lineR = valR + rThresh;
lineM = valM - mThresh;
while(1){
switch(state) {
//Default state. Proceed forward, while ready to change into any other state
case Forward:
OC1RS = 0;
OC2RS = 0;
OC3RS = fSpeed;
OC4RS = fSpeed;
onLine = 0;
PrintValue();
if(valR > lineR + Thresh && valL > lineL + Thresh && valM > lineM + Thresh) {
stateNext = Triple;
state = Delay;
}
else {
if (valL > lineL + Thresh && valM > lineM + Thresh) {
Full = 1;
i = 0;
stateNext = SharpLeft;
state = Delay;
}
else if (valR > lineR + Thresh && valM > lineM + Thresh) {
Full = 1;
i = 0;
stateNext = SharpRight;
state = Delay;
}
else if (valR > lineR) {
state = TurnRight;
}
else if (valL > lineL) {
state = TurnLeft;
}
}
sprintf(stateDisp, "For");
break;
//All sensors are over a line
case Triple:
OC1RS = 0;
OC2RS = 0;
OC3RS = fSpeed;
OC4RS = fSpeed;
if (onLine == 0) {
counter += 1;
onLine = 1;
}
sprintf(stateDisp,"Trip");
PrintValue();
if (!(valR > lineR + Thresh && valL > lineL + Thresh && valM > lineM + Thresh)) {
if (counter < 3 && counter > 1) {
i = 0;
Full = 1;
stateNext = SharpRight;
state = Delay;
}
else if (counter == 3) state = TurnAround;
else if (counter > 3) state = Idle;
}
break;
//Make 180 degree turn
case TurnAround:
sprintf(stateDisp,"Tur");
OC1RS = tSpeed;
OC2RS = 0;
OC3RS = tSpeed;
OC4RS = 0;
onLine = 0;
PrintValue();
delay_ms(1);
if (valR > lineR /*&& valR < lineR*/ && i == 1) {
j = 1;
}
if(valR < lineR) i = 1;
if (j == 1 && valM > lineM + Thresh) {
i = 0;
j = 0;
state = Forward;
}
break;
//Turn left until the left sensor no longer detects the line
case TurnLeft:
OC1RS = 0;
OC2RS = 0;
OC3RS = 0;
OC4RS = tSpeed;
onLine = 0;
sprintf(stateDisp, "Lef");
PrintValue();
if(valL < lineL) state = Forward;
else if (valR > (lineR + Thresh) && valL > (lineL + Thresh) && valM > (lineM + Thresh)) {
state = Triple;
}
else if (valL > lineL + Thresh && valM > lineM + Thresh) {
i = 0;
Full = 1;
stateNext = SharpLeft;
state = Delay;
}
break;
//Turn right until the right sensor no longer detects the line
case TurnRight:
OC1RS = 0;
OC2RS = 0;
OC3RS = tSpeed;
OC4RS = 0;
onLine = 0;
sprintf(stateDisp, "Rig");
PrintValue();
if(valR < lineR) state = Forward;
else if (valR > (lineR + Thresh) && valL > (lineL + Thresh) && valM > (lineM + Thresh)) {
state = Triple;
}
else if (valR > lineR + Thresh && valM > lineM + Thresh) {
i = 0;
Full = 1;
stateNext = SharpRight;
state = Delay;
}
break;
//Turn right until both the right and middle sensors have passed over a new line
case SharpRight:
OC1RS = 0;
OC2RS = 0;
OC3RS = tSpeed / 2;
OC4RS = 0;
onLine = 0;
sprintf(stateDisp, "sRi");
PrintValue();
if (valM > lineM) state = Forward;
if (valR > lineR && i == 1) {
j = 1;
}
if(valR < lineR) i = 1;
if (j == 1 && valM > lineM + Thresh) {
i = 0;
j = 0;
state = Forward;
}
break;
//Turn left until both the left and middle sensors have passed over a new line
case SharpLeft:
OC1RS = 0;
OC2RS = 0;
OC3RS = 0;
OC4RS = tSpeed;
onLine = 0;
sprintf(stateDisp, "sLe");
PrintValue();
if (valM > lineM) state = Forward;
if (valL > lineL && i == 1) {
j = 1;
}
if(valR < lineR) i = 1;
if (j == 1 && valM > lineM + Thresh) {
i = 0;
j = 0;
state = Forward;
}
break;
//Halt robot. Primarily for debugging
case Idle:
idle1 = 1;
OC1RS = 0;
OC2RS = 0;
OC3RS = fSpeed;
OC4RS = fSpeed;
sprintf(stateDisp, "Idl");
PrintValue();
break;
//Continue forward until the robot has passed a 90 degree turn or perpendicular line, then take the appropriate action
case Delay:
OC1RS = 0;
OC2RS = 0;
OC3RS = fSpeed;
OC4RS = fSpeed;
PrintValue();
sprintf(stateDisp, "Del");
if (!(valR > lineR + Thresh || valL > lineL + Thresh)) state = stateNext;
break;
}
}
return 0;
}
