void loop() // run over and over again
{
// wait here for one of the three buttons to be pushed
unsigned char button = wait_for_button(ANY_BUTTON);
clear();
if (button == TOP_BUTTON)
{
play_from_program_space(fugue);
print("Fugue!");
lcd_goto_xy(0, 1);
print("flash ->");
}
if (button == MIDDLE_BUTTON)
{
play("! V8 cdefgab>cbagfedc");
print("C Major");
lcd_goto_xy(0, 1);
print("RAM ->");
}
if (button == BOTTOM_BUTTON)
{
if (is_playing())
{
stop_playing();
print("stopped");
}
else
{
play_note(A(5), 200, 15);
print("note A5");
}
}
}
//Calibrates the sensor
void calibrate(unsigned int *sensors, unsigned int *minv, unsigned int *maxv) {
//say something to the user
clear();
lcd_goto_xy(0, 0);
print(" Fluffy");
lcd_goto_xy(0, 1);
print("A=Go!");
//wait on the calibration button
wait_for_button_press(BUTTON_A);
//wait for the user to move his hand
delay_ms(500);
//activate the motors
set_motors(40, -40);
//take 165 readings from the sensors...why not?
int i;
for (i = 0; i < 165; i++) {
read_line_sensors(sensors, IR_EMITTERS_ON);
update_bounds(sensors, minv, maxv);
delay_ms(10);
}
//and turn the motors off, we're done
set_motors(0, 0);
delay_ms(750);
}
int main()
{
// Initialize the encoders and specify the four input pins.
encoders_init(IO_C2, IO_C3, IO_C4, IO_C5);
while(1)
{
// Read the counts for motor 1 and print to LCD.
lcd_goto_xy(0,0);
print_long(encoders_get_counts_m1());
print(" ");
// Read the counts for motor 2 and print to LCD.
lcd_goto_xy(4,0);
print_long(encoders_get_counts_m2());
print(" ");
// Print encoder errors, if there are any.
if(encoders_check_error_m1())
{
lcd_goto_xy(0,1);
print("Error 1");
}
if(encoders_check_error_m2())
{
lcd_goto_xy(0,1);
print("Error 2");
}
delay_ms(50);
}
}
int main( void )
{
/* perform battery check */
bat_check();
/* display welcome message and */
/* seed random number generator */
clear();
lcd_goto_xy(0,0);
print("Welcome!");
lcd_goto_xy(0,1);
print("Press B");
wait_for_button_press(BUTTON_B); /* button down */
long seed = 0;
while(button_is_pressed(BUTTON_B)) /* while button not released */
seed++;
srandom(seed);
while(1)
{
clear();
/* obtain random number between 0-9 */
int val = random() % 10;
/* display number */
lcd_goto_xy(0,0);
print_long(val);
lcd_goto_xy(0,1);
print("Press B");
/* wait for user to press/release B */
wait_for_button(BUTTON_B);
}
}
int main() // run over and over again
{
while(1)
{
// note that the following line could also be accomplished with:
// int pot = analogRead(7);
int pot = read_trimpot(); // determine the trimpot position
// avoid clearing the LCD to reduce flicker
lcd_goto_xy(0, 0);
print("pot=");
print_long(pot); // print the trim pot position (0 - 1023)
print(" "); // overwrite any left over digits
int motorSpeed = (512 - pot) / 2;
lcd_goto_xy(0, 1);
print("spd=");
print_long(motorSpeed); // print the resulting motor speed (-255 - 255)
print(" ");
set_motors(motorSpeed, motorSpeed); // set speeds of motors 1 and 2
// all LEDs off
red_led(0);
green_led(0);
// turn green LED on when motors are spinning forward
if (motorSpeed > 0)
green_led(1);
// turn red LED on when motors are spinning in reverse
if (motorSpeed < 0)
red_led(1);
delay_ms(100);
}
}
unsigned char motor_wait(unsigned int time_ms)
{
unsigned char button;
unsigned long time = get_ms();
while (get_ms() - time < time_ms)
{
// check if top or bottom buttons have been pressed
button = button_is_pressed(TOP_BUTTON | MIDDLE_BUTTON);
if (button != 0) // if so, turn off motors and LEDs, return button ID
{
set_motors(0, 0);
return button;
}
lcd_goto_xy(10, 0);
print("cur: ");
print_unsigned_long(x2_get_motor_current(MOTOR1));
print(" ");
lcd_goto_xy(10, 1);
print("cur: ");
print_unsigned_long(x2_get_motor_current(MOTOR2));
print(" ");
}
return 0;
}
/*
* TASK: Update LCD
*
* Periodically update the LCD with information about system state
*/
static void
update_lcd(void)
{
char buf[128];
char tmp[8];
clear();
lcd_goto_xy(0, 0);
/* Print target/actual degrees */
sprintf(buf, "(%-5ld , %-5ld )",
interpolator_get_absolute_target_position(),
interpolator_get_current_position());
print(buf);
sprintf(tmp, "%ld", interpolator_get_target_position());
lcd_goto_xy(1 + strlen(tmp), 0);
print_character(CUSTOM_SYMBOL_DEGREE);
sprintf(tmp, "%ld", interpolator_get_current_position());
lcd_goto_xy(9 + strlen(tmp), 0);
print_character(CUSTOM_SYMBOL_DEGREE);
/* Print last torque value */
lcd_goto_xy(0, 1);
sprintf(buf, "torque: %d", motor_get_last_torque());
print(buf);
}
/*-----------------------------------------------------------------------------
* Function name: bat_check
* Description: This function checks the voltage on the batteries and
* displays a message on the LCD until the user presses B.
* The message on the first line cycles between the following:
* Bat Chk [-> descriptive message]
* xxxxmV [-> the battery voltage]
* Okay/Replace [-> whether the batteries should be replaced]
----------------------------------------------------------------------------*/
void bat_check( void )
{
int firstLineType = 0; /* what should be displayed on line 1 */
/* 0-19: Bat Chk */
/* 20-39: xxxxmV */
/* 40-59: Okay/Replace */
int bat = 0; /* last read battery voltage */
/* wait for user to press button B */
while(!button_is_pressed(BUTTON_B))
{
/* clear the lcd */
clear();
/* FIRST LINE */
/* set lcd position to beginning of first line */
lcd_goto_xy(0,0);
/* for first line, alternate between displaying:
Bat Check
xxxxmV
Okay/Replace */
if (firstLineType < 20)
{
print("Bat Chk");
}
else if (firstLineType < 40)
{
bat = read_battery_millivolts();
print_long(bat);
print("mV");
}
else if (firstLineType < 60)
{
if (bat >= 4500)
{
print("Okay"); /* okay */
}
else
{
print("Replace"); /* replace */
}
}
firstLineType++;
firstLineType = firstLineType % 60;
/* SECOND LINE */
/* set lcd position to beginning of second line */
lcd_goto_xy(0,1);
print("Press B");
/* small delay */
delay_ms(50);
}
/* once pressed, wait a little bit */
delay_ms(500);
}
int main()
{
TCCR0A = 0; // configure timer0 to run at 78 kHz
TCCR0B = 0x04; // and overflow when TCNT0 = 256 (~3 ms)
play_from_program_space(rhapsody);
while(1)
{
// allow the sequence to keep playing automatically through the following delays
#ifndef ALWAYS_CHECK
play_mode(PLAY_AUTOMATIC);
#else
play_mode(PLAY_CHECK);
#endif
lcd_goto_xy(0, 0);
print("blink!");
int i;
for (i = 0; i < 8; i++)
{
#ifdef ALWAYS_CHECK
play_check();
#endif
red_led(1);
delay_ms(500);
red_led(0);
delay_ms(500);
}
lcd_goto_xy(0, 0);
print("timing");
lcd_goto_xy(0, 1);
print(" "); // clear bottom LCD line
// turn off automatic playing so that our time-critical code won't be interrupted by
// the buzzer's long timer1 interrupt. Otherwise, this interrupt could throw off our
// timing measurements. Instead, we will now use playCheck() to keep the sequence
// playing in a way that won't throw off our measurements.
#ifndef ALWAYS_AUTOMATIC
play_mode(PLAY_CHECK);
#endif
unsigned char maxTime = 0;
for (i = 0; i < 8000; i++)
{
TCNT0 = 0;
while (TCNT0 < 20) // time for ~250 us
;
if (TCNT0 > maxTime)
maxTime = TCNT0; // if the elapsed time is greater than the previous max, save it
#ifndef ALWAYS_AUTOMATIC
play_check(); // check if it's time to play the next note and play it if so
#endif
}
lcd_goto_xy(0, 1);
print("max=");
print_long((unsigned int)maxTime);
print(" "); // overwrite any left over characters
}
}
void test()
{
unsigned char button;
clear();
delay(200);
print("Orangutn"); // print to the top line of the LCD
delay_ms(400); // delay 200 ms
lcd_goto_xy(0, 1); // go to the start of the second LCD line
#if defined __AVR_ATmega328P__
print(" LV-328"); // print to the bottom line of the LCD
#elif defined __AVR_ATmega168__
print(" LV-168"); // print to the bottom line of the LCD
#else
#error "Unrecognized device type"
#endif
delay_ms(1000); // delay 700 ms
clear(); // clear the LCD, move cursor to start of top line
print(" Temp.");
do
{
// Perform 10-bit analog-to-digital conversions on ADC channel 6.
// Average ten readings and return the result, which will be one
// third of the battery voltage when the "ADC6 = VBAT/3" solder
// bridge is in place on the bottom of the Orangutan PCB
int Tf = read_temperature_f(); // read temp sensor on ADC6 in 0.1°F
lcd_goto_xy(1, 1); // second character of the second LCD line
print_long(Tf/10); // display temperature in °F
print("."); // print the decimal point
print_long(Tf - 10*(Tf/10)); // display the tenths digit
print_character(223); // display the degree symbol character (°)
print("F "); // display the units
delay_ms(50); // delay for 50 ms
button = button_is_pressed(ALL_BUTTONS); // check for button press
}
while (button == 0); // loop if no buttons are being pressed
// *** MAIN LOOP ***
while (1) // loop forever
{
if (button & TOP_BUTTON) // if the top button is pressed
button = melodyTest(); // this func. loops until next button press
else if (button & MIDDLE_BUTTON) // if the middle button is pressed
button = IOTest(); // this func. loops until next button press
else if (button & BOTTOM_BUTTON) // if the bottom button is pressed
button = motorTest(); // this func. loops until next button press
}
}
int main()
{
clear(); // clear the LCD
print("Send serial");
lcd_goto_xy(0, 1); // go to start of second LCD row
print("or press B");
// Set the baud rate to 9600 bits per second. Each byte takes ten bit
// times, so you can get at most 960 bytes per second at this speed.
serial_set_baud_rate(USB_COMM, 9600);
// Start receiving bytes in the ring buffer.
serial_receive_ring(USB_COMM, receive_buffer, sizeof(receive_buffer));
while(1)
{
// USB_COMM is always in SERIAL_CHECK mode, so we need to call this
// function often to make sure serial receptions and transmissions
// occur.
serial_check();
// Deal with any new bytes received.
check_for_new_bytes_received();
// If the user presses the middle button, send "Hi there!"
// and wait until the user releases the button.
if (button_is_pressed(MIDDLE_BUTTON))
{
wait_for_sending_to_finish();
memcpy_P(send_buffer, PSTR("Hi there!\r\n"), 11);
serial_send(USB_COMM, send_buffer, 11);
send_buffer[11] = 0; // terminate the string
clear(); // clear the LCD
lcd_goto_xy(0, 1); // go to start of second LCD row
print("TX: ");
print(send_buffer);
// Wait for the user to release the button. While the processor is
// waiting, the OrangutanSerial library will not be able to receive
// bytes from the USB_COMM port since this requires calls to the
// serial_check() function, which could cause serial bytes to be
// lost. It will also not be able to send any bytes, so the bytes
// bytes we just queued for transmission will not be sent until
// after the following blocking function exits once the button is
// released. If any of this is a concern, you can replace the
// following line with:
// do
// {
// while (button_is_pressed(MIDDLE_BUTTON))
// serial_check(); // receive and transmit as needed
// delay_ms(10); // debounce the button press/release
// }
// while (button_is_pressed(MIDDLE_BUTTON));
wait_for_button_release(MIDDLE_BUTTON);
}
}
}
// Blinks the LEDs
void led_test()
{
play("c32");
print("Red 1 ");
red_led(1);
if(wait_for_250_ms_or_button_b())
return;
red_led(0);
if(wait_for_250_ms_or_button_b())
return;
play(">c32");
lcd_goto_xy(0,0);
print("Green 1 ");
green_led(1);
if(wait_for_250_ms_or_button_b())
return;
green_led(0);
if(wait_for_250_ms_or_button_b())
return;
play("d32");
lcd_goto_xy(0,0);
print("Red 2 ");
red_led2(1);
if(wait_for_250_ms_or_button_b())
return;
red_led2(0);
if(wait_for_250_ms_or_button_b())
return;
play(">d32");
lcd_goto_xy(0,0);
print("Green 2 ");
green_led2(1);
if(wait_for_250_ms_or_button_b())
return;
green_led2(0);
if(wait_for_250_ms_or_button_b())
return;
play("e32>e32");
lcd_goto_xy(0,0);
print("Yellow ");
yellow_led(1);
if(wait_for_250_ms_or_button_b())
return;
yellow_led(0);
if(wait_for_250_ms_or_button_b())
return;
}
void lcd_screen(char* firsth_row_text,char* second_row_text)
{
cli();
lcd_clear();
lcd_goto_xy(0,0);
lcd_write_str(firsth_row_text);
lcd_goto_xy(0,1);
lcd_write_str(second_row_text);
sei();
}
void test()
{
unsigned char button;
clear();
delay(200);
print("Orangutn"); // print to the top line of the LCD
delay_ms(400); // delay 200 ms
lcd_goto_xy(0, 1); // go to the start of the second LCD line
#if defined __AVR_ATmega328P__
print(" SV-328"); // print to the bottom line of the LCD
#elif defined __AVR_ATmega168__
print(" SV-168"); // print to the bottom line of the LCD
#else
#error "Unrecognized device type"
#endif
delay_ms(1000); // delay 700 ms
clear(); // clear the LCD, move cursor to start of top line
print(" VBAT");
do
{
// Perform 10-bit analog-to-digital conversions on ADC channel 6.
// Average ten readings and return the result, which will be one
// third of the battery voltage when the "ADC6 = VBAT/3" solder
// bridge is in place on the bottom of the Orangutan PCB
int vbat = analog_read_average(6, 10); // 10-sample avg of ADC6
vbat = to_millivolts(vbat) * 3; // convert reading to bat. voltage (mV)
lcd_goto_xy(0, 1); // go to the start of the second LCD line
print_long(vbat); // display battery voltage in millivolts
print(" mV "); // display the units
delay_ms(50); // delay for 50 ms
button = button_is_pressed(ANY_BUTTON); // check for button press
}
while (button == 0); // loop if no buttons are being pressed
// *** MAIN LOOP ***
while (1) // loop forever
{
if (button & TOP_BUTTON) // if the top button is pressed
button = melodyTest(); // this func. loops until next button press
else if (button & MIDDLE_BUTTON) // if the middle button is pressed
button = IOTest(); // this func. loops until next button press
else if (button & BOTTOM_BUTTON) // if the bottom button is pressed
button = motorTest(); // this func. loops until next button press
}
}
int main()
{
// Make SSbar be an output so it does not interfere with SPI communication.
set_digital_output(IO_B4, LOW);
// Set the mode to SVP_MODE_ANALOG so we can get analog readings on line D/RX.
svp_set_mode(SVP_MODE_ANALOG);
while(1)
{
clear(); // Erase the LCD.
if (usb_configured())
{
// Connected to USB and the computer recognizes the device.
print("USB");
}
else if (usb_power_present())
{
// Connected to USB.
print("usb");
}
if (usb_suspend())
{
// Connected to USB, in the Suspend state.
lcd_goto_xy(4,0);
print("SUS");
}
if (dtr_enabled())
{
// The DTR virtual handshaking line is 1.
// This often means that a terminal program is conencted to the
// Pololu Orangutan SVP USB Communication Port.
lcd_goto_xy(8,0);
print("DTR");
}
if (rts_enabled())
{
// The RTS virtual handshaking line is 1.
lcd_goto_xy(12,0);
print("RTS");
}
// Display an analog reading from channel D, in millivolts.
lcd_goto_xy(0,1);
print("Channel D: ");
print_long(analog_read_millivolts(CHANNEL_D));
// Wait for 100 ms, otherwise the LCD would flicker.
delay_ms(100);
}
}
void turn_in_place() {
if (TIME_TO_DISPLAY) {
clear();
lcd_goto_xy(0,0);
print("Front");
lcd_goto_xy(0,1);
print("Obstacle");
}
// Turn to the right in place
set_motors(50, -50);
}
void back_up()
{
if (TIME_TO_DISPLAY)
{
clear();
lcd_goto_xy(0,0);
print("Backing");
lcd_goto_xy(0,1);
print("Up");
}
// Back up slightly to the left
set_motors(-50,-90);
}
// *** triggered by middle button ***
// This function tests the motors by first ramping motor1 speed from zero
// to full speed "forward", to full speed "reverse", and finally back to zero.
// It then does the same for motor2 before repeating all over again.
// While motor1 is running, the red user LED is on, otherwise it is off.
// While the currently active motor is moving "forward", the green user LED
// is on, otherwise it is off. The LCD gives you feedback as to which motor
// is currently moving in which direction (F = "forward", R = "reverse", and
// - = inactive).
unsigned char motorTest()
{
unsigned char button;
int speed;
unsigned char motor = 0;
clear(); // clear the LCD, go to the start of the first LCD line
print("motor2"); // print to the first line of the LCD
lcd_goto_xy(0, 1); // go to the start of the second LCD line
print("motor1"); // print to the second line of the LCD
while (1)
{
red_led(!motor); // turn red LED on when m1 is active, off for m2
lcd_goto_xy(7, !motor); // go to end of LCD line for active motor
print("F"); // print "F" for "forward"
lcd_goto_xy(7, motor); // go to end of LCD line for inactive motor
print("-"); // print "-" for "inactive"
green_led(1); // turn green LED on when motor is moving "forward"
for (speed = 0; speed < 255; speed++)
{
button = motorUpdate(motor, speed); // ramp up motor speed
if (button != 0) // from 0 to 255
return button;
}
for (speed = 255; speed > -255; speed--)
{
if (speed == -1) // motor starts moving in "reverse"
{
green_led(0); // green LED off when motor going "reverse"
lcd_goto_xy(7, !motor); // go to end of active motor's LCD line
print("R"); // print "R" for "reverse"
}
button = motorUpdate(motor, speed); // ramp down motor speed
if (button != 0) // from 255 to -255
return button;
}
for (speed = -255; speed <= 0; speed++)
{
button = motorUpdate(motor, speed); // ramp up motor speed
if (button != 0) // from -255 to 0
return button;
}
motor = !motor; // alternate between m1 and m2
}
}
int main()
{
// set up the 3pi
initialize();
int last_proximity = 0;
const int base_speed = 200;
const int set_point = 100; // what is the set point for?
// This is the "main loop" - it will run forever.
while(1)
{
// In case it gets stuck: for 1 second every 15 seconds back up
if (get_ms() % 15000 > 14000) {
back_up();
continue;
}
// If something is directly in front turn to the right in place
int front_proximity = analog_read(5);
if (front_proximity > 200) {
turn_in_place();
continue;
}
int proximity = analog_read(1); // 0 (far away) - 650 (close)
int proportional = proximity - set_point;
int derivative = proximity - last_proximity;
// Proportional-Derivative Control Signal
int pd = proportional / 3 + derivative * 20;
int left_set = base_speed + pd;
int right_set = base_speed - pd;
set_motors(left_set, right_set);
if (TIME_TO_DISPLAY) {
clear();
lcd_goto_xy(0,0);
print_long(proximity);
lcd_goto_xy(5,0);
print_long(pd);
lcd_goto_xy(0,1);
print_long(left_set);
lcd_goto_xy(4,1);
print_long(right_set);
}
last_proximity = proximity; // remember last proximity for derivative
}
// This part of the code is never reached.
while(1)
{
set_motors(0,0)
}
}
int main()
{
lcd_load_custom_character(happy, 0);
lcd_load_custom_character(sad, 1);
lcd_load_custom_character(indifferent, 2);
lcd_load_custom_character(surprised, 3);
lcd_load_custom_character(mocking, 4);
clear(); // this must be called before we can use the custom characters
print("mood: ?");
// initialize the random number generator based on how long we hold the button the first time
wait_for_button_press(ANY_BUTTON);
long seed = 0;
while(button_is_pressed(ANY_BUTTON))
seed++;
srandom(seed);
while(1)
{
lcd_goto_xy(6, 0); // move cursor to the correct position
char mood;
do
{
mood = random()%5;
} while (mood == prevMood); // ensure we get a new mood that differs from the previous
prevMood = mood;
print_character(mood); // print a random mood character
wait_for_button(ANY_BUTTON); // wait for any button to be pressed
}
}
void check_for_qtr_shorts()
{
// Test for shorts
unsigned int sensor_pins[] = {IO_C0,IO_C1,IO_C2,IO_C3,IO_C4};
unsigned char shorts = 1;
clear();
print("qtr");
lcd_goto_xy(0,1);
print("shorts");
while (shorts)
{
unsigned char i;
shorts = 0;
for(i=0;i<5;i++)
{
unsigned char j;
for (j=0;j<5;j++)
{
set_digital_input(sensor_pins[j],PULL_UP_ENABLED);
}
set_digital_output(sensor_pins[i],LOW);
delay_ms(2);
for (j=0;j<5;j++)
{
if (i == j && is_digital_input_high(sensor_pins[j]))
shorts = 1;
if (i != j && !is_digital_input_high(sensor_pins[j]))
shorts = 1;
}
}
}
}
void print_two_lines_delay_1s(const char *line1, const char *line2)
{
clear();
print_from_program_space(line1);
lcd_goto_xy(0,1);
print_from_program_space(line2);
delay_ms(1000);
}
int main() {
setup();
//displayWelcome();
displayBattery();
unsigned char b = lineCalibration();
int numTurns = 0;
const int MAX_TURNS = 8;
char turns[MAX_TURNS+1];
if (b == BUTTON_B) {
numTurns = followTrack(turns, MAX_TURNS);
clear();
if (numTurns <= MAX_TURNS) {
//play_from_program_space(success);
turns[numTurns] = '\0';
print(turns);
} else {
print_long(numTurns);
print(" turns.");
}
} else if (b == BUTTON_A) {
bool l = false;
bool r = false;
bool s = false;
followSegment(l, r, s);
clear();
if (l) {
lcd_goto_xy(0,1);
print("L");
}
if (s) {
lcd_goto_xy(4,0);
print("S");
}
if (r) {
lcd_goto_xy(7,1);
print("R");
}
}
while (true); // prevent exit from main
return 0; // dead code
}
/** displayWelcome ******************************************
* Output welcome message, play tune and delay 2s.
* @modifies - lcd displays welcome message, tune is played
*/
void displayWelcome() {
clear();
print_from_program_space(welcome_line1);
lcd_goto_xy(0,1);
print_from_program_space(welcome_line2);
play_from_program_space(welcome);
delay_ms(2000);
}
int main() // run once, when the program starts
{
print("Press a");
lcd_goto_xy(0, 1);
print("button..");
while(1)
loop();
}
void print_two_lines_delay_1s(const char *line1, const char *line2)
{
// Play welcome music and display a message
clear();
print_from_program_space(line1);
lcd_goto_xy(0,1);
print_from_program_space(line2);
delay_ms(1000);
}
void check_emitter_jumper()
{
unsigned int values[5];
clear();
// off values
while(!button_is_pressed(BUTTON_C))
{
read_line_sensors(values,IR_EMITTERS_OFF);
lcd_goto_xy(0,0);
print("IR- ");
display_values(values,TEST_LINE_SENSOR_TIMEOUT);
lcd_goto_xy(6,1);
print("C");
delay_ms(50);
}
while(button_is_pressed(ALL_BUTTONS));
}
void log_update_lcd() {
clear();
lcd_goto_xy(0,0);
print("V:");
print_long(g_velocity);
print(" T:");
print_long(g_motor_output);
print(" P:");
print_long(g_prop_gain);
print(" D:");
print_long(g_der_gain);
lcd_goto_xy(0,1);
print("P: ");
print_long(g_current_position);
print(" G: ");
print_long(g_target_position);
}
int main()
{
print("Hello");
lcd_goto_xy(0, 1);
print("World!");
while(1);
}
// Prints on LCD a hex based picture, A hex picture can be produced from the "LCDAssistant.exe" windows based software.
void printPictureOnLCD ( const unsigned char *data )
{
int pixel_cols = LCD_WIDTH * (LCD_HEIGHT / CHAR_HEIGHT); //<6> means 6 lines on LCD.
lcd_goto_xy(0, 0);
for(int i=0;i<pixel_cols;i++)
lcd_col(pgm_read_byte(data++));
//_delay_ms(100);
}