//Main Function
int main()
{
init_devices();
lcd_set_4bit();
lcd_init();
while(1);
}
int main()
{
init_devices();
lcd_set_4bit();
lcd_init();
color_sensor_scaling();/*
threshold= calcThresh();
setIndicatorAndColor();
ct = 0; adj = 2;
lcd("Begin");
while (sorted<total)
{
canDrop();
if (visitedCount == 3)
predict();
if (sorted == total)
break;
pickup();
traverseToSort(ct, ct % 2 + 4);
sortCheck();
}
for (i = 0; i<4; i++);
//..printf("%d %d\n", term[i][0], term[i][1]);
//..printf("Sort 0=%dSort 1=%d\nArm 0=%dArm 1=%d\n", sort[0], sort[1], arm[0], arm[1]);
//..printf("Cost=%d\nSORTED!!!!!\n", cost + 7);
//getch();
*/
forwardJaa();
return 1;
}
//-------------------------------------------------------****MAIN FUNCTION ****------------------------------------------------
int main()
{
init_devices();
lcd_set_4bit();
lcd_init();
lcd_cursor(1,1);
lcd_string("START");
_delay_ms(rand());
//--*** GRIPPER INITAL POSITION ***---
S2 = 0x73;
cli();
timer0_init();
TIMSK |= (1 << OCIE0) | (1 << TOIE0); // timer 0 compare match and overflow interrupt enable
sei();
pickup();
while(1)
{
if( bot_id_set == 1)
{
init_devices2();
init_grid();
dispersion();
localize();
region_division();
break;
}
}
}
//Main Function
int main(void)
{
double error_p = 0.0;
double error_i = 0.0;
double error_d = 0.0;
double angle;
kalman_state k = kalman_init(1, 16, 1, 137);
init_devices();
lcd_set_4bit();
lcd_init();
double preverror = 0.0;
while(1)
{
sensor2 = ADC_Conversion(2);
kalman_update(&k,(double)sensor2);
angle = k.x;
lcd_print(1,5,(int)angle,3);
error_p = (angle - 137);
error_i += error_p*dt;
error_d = (error_p - preverror)/dt;
lcd_print(1,1,abs((int)error_p),3);
Disturbance = ((error_p*kp) + (error_i*ki) + (error_d*kd));
if(angle > 137) back();
else { forward();}
if (Disturbance > MAX) Disturbance = MAX;
if (Disturbance < MIN) Disturbance = MIN;
lcd_print(2,6,abs((int)Disturbance),5);
velocity(35+abs((int)Disturbance),35+abs((int)Disturbance));
preverror = error_p;
}
}
int main(void)
{
init_devices();
lcd_set_4bit();
lcd_init();
lcd_cursor(1,5);
lcd_string("HI");
lcd_print(2,1,read,3);
while(1)
{
//white line sensing
sensor_data_interpretation();
flag=0;
if(Center_white_line<0x28)
{
flag=1;
forward();
velocity(150,150);
}
if((Left_white_line>0x28) && (flag==0))
{
flag=1;
forward();
velocity(130,50);
}
if((Right_white_line>0x28) && (flag==0))
{
flag=1;
forward();
velocity(50,130);
}
if(Center_white_line>0x28 && Left_white_line>0x28 && Right_white_line>0x28)
{
forward();
velocity(0,0);
}
if(count>=6)
break;
}
stop();
read = 0;
lcd_init();
//Printing the stored value on lcd after the count value is reached 6.
lcd_print(1,1 , store[0][0], 3);
lcd_print(1,5 , store[0][1], 3);
lcd_print(1,9 , store[0][2], 3);
lcd_print(1,13 , store[0][3], 3);
lcd_print(2,1 , store[0][4], 3);
lcd_print(2,5 , store[0][5], 3);
while(1);
}
//Main Function
int main(void)
{
init_devices();
lcd_init();
lcd_set_4bit();
while(1){
detect();
}
}
int main()
{
int i=0;
init_devices();
lcd_set_4bit();
lcd_init();
color_sensor_scaling();
/*
//variable 'i' scales at 13,14 for sharp sensor for velocitty 240 240
//u turn 1600ms at 200,200 velocity
velocity(200,200);
left();
_delay_ms(1600);
stop();
while(1);
threshold=6000;
right();
while(ADC_Conversion(11)<65)
{
i++;
lcd_print(1,11,i,3);
}
stop();
lcd_print(2,11,scan(),1);
stop();
while(1);
*/
setIndicatorAndColor();
threshold=6000;
ct = 0; adj = 2;
//lcd("Begin");
while (sorted<total)
{
canDrop();
//buzzer_on();
//_delay_ms(500);
//buzzer_off();
if (visitedCount == 3)
predict();
if (sorted == total)
break;
pickup();
traverseToSort(ct, ct % 2 + 4);
sortCheck();
}
for (i = 0; i<4; i++);
//..printf("%d %d\n", term[i][0], term[i][1]);
//..printf("Sort 0=%dSort 1=%d\nArm 0=%dArm 1=%d\n", sort[0], sort[1], arm[0], arm[1]);
//..printf("Cost=%d\nSORTED!!!!!\n", cost + 7);
//getch();
return 0;
}
void init_devices1 (void)
{
cli(); //Clears the global interrupts
lcd_port_config(); // configure the LCD port
lcd_set_4bit();
lcd_init();
port_init();
timer5_init();
sei(); //Enables the global interrupts
}
void init_devices (void)
{
cli(); //Clears the global interrupts
port_init();
adc_init();
lcd_init();
lcd_set_4bit();
// timer1_init();
sei(); //Enables the global interrupts
}
//Function to Initialize LCD
void lcd_init()
{
lcd_set_4bit();
_delay_ms(1);
lcd_wr_command(0x28); //4-bit mode and 5x8 dot character font
lcd_wr_command(0x01); //Clear LCD display
lcd_wr_command(0x06); //Auto increment cursor position
lcd_wr_command(0x0E); //Turn on LCD and cursor
lcd_wr_command(0x80); //Set cursor position
}
//-------------------------------------------------------------------------------
// Main Programme start here.
//-------------------------------------------------------------------------------
int main(void)
{
uint16_t x_byte = 0,y_byte = 0,z_byte = 0;
uint8_t x_byte1 = 0,x_byte2 = 0,y_byte1 = 0,y_byte2 = 0,z_byte1 = 0,z_byte2 = 0;
init_devices();
lcd_set_4bit(); // set the LCD in 4 bit mode
lcd_init(); // initialize the LCD with its commands
display_clear(); // clear the LCD
write_byte(0x0,0x2D);
write_byte(0x8,0x2D);
while(1)
{
x_byte1 = read_byte(X1);
//lcd_print(1,1,x_byte1,3);
x_byte2 = read_byte(X2);
//lcd_print(2,1,x_byte2,3);
y_byte1 = read_byte(Y1);
//lcd_print(1,6,y_byte1,3);
y_byte2 = read_byte(Y2);
//lcd_print(2,6,y_byte2,3);
z_byte1 = read_byte(Z1);
//lcd_print(1,10,z_byte1,3);
z_byte2 = read_byte(Z2);
//lcd_print(2,10,z_byte2,3);
//_delay_ms(100);
x_byte = x_byte2;
x_byte = x_byte<<8;
x_byte |= x_byte1;
pr_int(1,1,x_byte,3);
y_byte = y_byte2;
y_byte = y_byte<<8;
y_byte |= y_byte1;
pr_int(2,4,y_byte,3);
z_byte = z_byte2;
z_byte = z_byte<<8;
z_byte |= z_byte1;
pr_int(1,9,z_byte,3);
}
}
void init_devices (void)
{
cli(); //Clears the global interrupt
port_init(); //Initializes all the ports
uart0_init();
lcd_set_4bit();
lcd_init();
servo_init();
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
sei(); // Enables the global interrupt
}
//Main Function
int main(void)
{
init_devices();
lcd_set_4bit();
lcd_init();
while(1)
{
lcd_cursor(1,3);
lcd_string("FIRE BIRD 5");
lcd_cursor(2,1);
lcd_string("NEX ROBOTICS IND");
}
}
//!Main Function This just initializes the ports and goes into a infinate wait
int main(void)
{
PositionPanServo_1=0;
PositionPanServo_2=0;
PositionPanServo_3=0;
init_devices();
lcd_set_4bit();
lcd_init();
// servo_1(0);
// _delay_ms(30);
// servo_2(0);
while(1){
//servo_3(0);
}
}
//Main Function
int main(void)
{
int t = 0;
uint i=65535;
init_devices();
lcd_set_4bit();
lcd_init();
start_timer4();
_delay_ms(70);
t=micro_sec();
lcd_print(1,3,i,5);
}
//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");
}
}
}
//Main Function
int main(void)
{
unsigned char x;
int flag=1;
init_devices(); //Initialize all the devices
lcd_set_4bit(); //Set the LCD in 4 bit mode
while(1)
{
x = PINL & (1<< 6); //Read the PL6 pin to read the PIR Sensor output
lcd_init(); //Initialize the LCD
if(x) //Check if the PL6 pin is HIGH
{
PORTJ = 0xFF; //Turn ON Bargraph LED
if(flag ==1) // A flag has been added to stop the screen from re-initializing every time in the while loop
{
lcd_init();
lcd_cursor(1,1);
}
lcd_string("Human Detected"); //Display "Human Detected" on the LCD
flag=0;
}
else
{
PORTJ = 0x00; //Turn OFF Bargraph LED
if(flag==0)
{
lcd_init();
lcd_cursor(1,1);
}
lcd_string("Empty Space"); //Display "Empty Space" on the LCD
flag=1;
}
}
}
int main(void)
{
init_devices();
lcd_set_4bit();
lcd_init();
color_sensor_scaling();
while(1)
{
red_read(); //display the pulse count when red filter is selected
_delay_ms(500);
green_read(); //display the pulse count when green filter is selected
_delay_ms(500);
blue_read(); //display the pulse count when blue filter is selected
_delay_ms(500);
no_filter();//display the pulse count when no filter is selected
_delay_ms(500);
}
}
/*
* Main function, will call different phases, locate/clean
*/
int main(void)
{
unsigned char sharp;
unsigned int value=0;
init_devices();
lcd_set_4bit();
lcd_init();
lcd_wr_command(0x0C);// Display ON Cursor OFF
while(1) {
if (phase == 1) {
locate();
}
sharp = ADC_Conversion(11); //Stores the Analog value of front sharp connected to ADC channel 11 into variable "sharp"
value = Sharp_GP2D12_estimation(sharp); //Stores Distance calsulated in a variable "value".
lcd_print(2,1,value,3);
}
servo_1_free();
return 0;
}
//Main Function
int main(void)
{
//all initializations
init_devices_motion();
init_devices();
init_devices_lf();
lcd_set_4bit();
lcd_init();
//setting gripper arm
initial_angle = 120;
servo1_init();
servo_2(initial_angle);
servo_3(180);
//UDR0 = 0x31;
//line_follower();
//pluck_fruit();
while(1);
}
//-------------------------------------------------------------------------------
//call this routine to initialize all peripherals
void init_devices(void)
{
//stop errant interrupts until set up
cli(); //disable all interrupts
port_init();
uart2_init();
adc_init();
timer1_init();
timer5_init();
lcd_set_4bit();
lcd_init();
spi_init();
// below for lines are important for Encoder init
left_position_encoder_interrupt_init();
right_position_encoder_interrupt_init();
EICRB = 0x0A; //pin change int edge 4:7
EIMSK = 0x30;
sei(); //re-enable interrupts
//all peripherals are now initialized
}
//Main Function
int main()
{
init_devices();
lcd_set_4bit();
lcd_init();
while(1)
{
while (my_signal==0x01)
{
PORTA = PORTA & 0x00;
};
Left_white_line = ADC_Conversion(3); //Getting data of Left WL Sensor
Center_white_line = ADC_Conversion(2); //Getting data of Center WL Sensor
Right_white_line = ADC_Conversion(1); //Getting data of Right WL Sensor
flag=0;
print_sensor(1,1,3); //Prints value of White Line Sensor1
print_sensor(1,5,2); //Prints Value of White Line Sensor2
print_sensor(1,9,1); //Prints Value of White Line Sensor3
if(Center_white_line>0x10 && Left_white_line>0x10 && Right_white_line>0x10)
{
flag=1;
forward();
velocity(0,0);
UDR0=0x34;
}
if(Center_white_line<0x10)
{
flag=1;
forward();
velocity(105,100);
UDR0=0x36;
}
if((Left_white_line>0x10) && (flag==0))
{
flag=1;
forward();
velocity(105,70);
UDR0=0x36;
}
if((Right_white_line>0x10) && (flag==0))
{
flag=1;
forward();
velocity(75,100);
UDR0=0x36;
}
_delay_ms(250);
PORTA=0x00;
_delay_ms(500);
}
}
// MAIN FUNCTION
int main()
{
//init_devices2();
// White Line Following
while(1)
{
init_devices_motion();
init_devices_adc();
lcd_set_4bit();
lcd_init();
unsigned char flag = 0;
unsigned char Left_white_line = 0;
unsigned char Center_white_line = 0;
unsigned char Right_white_line = 0;
unsigned char lwl=0;
unsigned char cwl=0;
unsigned char rwl=0;
while(1)
{
Left_white_line = ADC_Conversion(3); //Getting data of Left WL Sensor
Center_white_line = ADC_Conversion(2); //Getting data of Center WL Sensor
Right_white_line = ADC_Conversion(1); //Getting data of Right WL Sensor
flag=0;
print_sensor(1,1,3); //Prints value of White Line Sensor1
print_sensor(1,5,2); //Prints Value of White Line Sensor2
print_sensor(1,9,1); //Prints Value of White Line Sensor3
if(Center_white_line<0x10)
{
flag=1;
forward();
velocity(100,100);
//_delay_ms(10000);
}
if((Left_white_line>0x10) && (flag==0))
{
//bot_charging_process();
flag=1;
forward();
velocity(130,30);
}
if((Right_white_line>0x10) && (flag==0))
{
//bot_charging_process();
flag=1;
forward();
velocity(30,130);
}
if(Center_white_line>0x10 && Left_white_line>0x10 && Right_white_line>0x10)
{
forward();
velocity(0,0);
}
if((((Center_white_line-Right_white_line>0)&&(Center_white_line-Right_white_line<=10))||((Right_white_line-Center_white_line>0)&&(Right_white_line-Center_white_line<=10)))&&
(((Center_white_line-Left_white_line>0)&&(Center_white_line-Left_white_line<=10))||((Left_white_line-Center_white_line>0)&&(Left_white_line-Center_white_line<=10)))&&
(((Left_white_line-Right_white_line>0)&&(Left_white_line-Right_white_line<=10))||((Right_white_line-Left_white_line>0)&&(Right_white_line-Left_white_line<=10)))
) // recognising node position that is if the reading at all three white line sensors differ maximum by 10 then that point will be node
{
lwl=Left_white_line;
cwl=Center_white_line;
rwl=Right_white_line;
stop();
_delay_ms(500);
break;
}
}
bot_charging_process();
//buzzer();
for(int t=max_angle_of_bot;t>=0;t--)
{
soft_left_2(); //left wheel forward leaving the right wheel at rest to get
//soft rotation at the axis of right wheel
_delay_ms(rot_time);
stop();
_delay_ms(100);
}
forward();
_delay_ms(100);
}
}
//Main Function
int main()
{
init_devices();
lcd_set_4bit();
lcd_init();
while(1)
{
Left_white_line = ADC_Conversion(3); //Getting data of Left WL Sensor
Center_white_line = ADC_Conversion(2); //Getting data of Center WL Sensor
Right_white_line = ADC_Conversion(1); //Getting data of Right WL Sensor
Front_Sharp_Sensor = ADC_Conversion(11);
Front_IR_Sensor = ADC_Conversion(6);
flag1=0;
flag2=0;
print_sensor(1,1,3); //Prints value of White Line Sensor1
print_sensor(1,5,2); //Prints Value of White Line Sensor2
print_sensor(1,9,1); //Prints Value of White Line Sensor3
print_sensor(2,4,11); //Prints Value of Front Sharp Sensor
print_sensor(2,8,6); //Prints Value of Front IR Sensor
if(Front_Sharp_Sensor>0x82 || Front_IR_Sensor<0xF0)
{
flag2=1;
stop();
buzzer_on();
}
if((Center_white_line<0x28) && (flag2==0))
{
flag1=1;
buzzer_off();
forward();
velocity(150,150);
}
if((Left_white_line>0x28) && (flag1==0) && (flag2==0))
{
flag1=1;
buzzer_off();
forward();
velocity(150,50);
}
if((Right_white_line>0x28) && (flag1==0) && (flag2==0))
{
flag1=1;
buzzer_off();
forward();
velocity(50,150);
}
if((Center_white_line>0x28) && (Left_white_line>0x28) && (Right_white_line>0x28) && (flag2==0))
{
buzzer_off();
forward();
velocity(0,0);
}
}
}
//Main Function
int main(void)
{
unsigned char flag ;
init_devices();
lcd_set_4bit();
lcd_init();
velocity(VELOCITY_MAX,VELOCITY_MAX); // Set the speed to max velocity
forward(); // start to move froward
unsigned char lch=0;
unsigned char rch=0;
unsigned char cch=0;
int ler=0;
int rer=0;
float thd=10;
int per=0;
int thdh=80;
int thdl=20;
float kp=10;
int kd=50;
int rl=0,old_rl=0;
int PWM_ratio_1 = 10;
int PWM_ratio_2 = 25;
unsigned char old_ler=0;
unsigned char old_rer=0;
unsigned char old_per=100;
while(1)
{
lch=ADC_Conversion(3);
rch=ADC_Conversion(5);
cch=ADC_Conversion(4);
ler=lch-cch;
rer=rch-cch;
per=lch-rch;
rl=rch-lch;
print_sensor(1,1,3); //Prints value of White Line Sensor Left
print_sensor(1,5,4); //Prints value of White Line Sensor Center
print_sensor(1,9,5); //Prints value of White Line Sensor Right
if(rl>0)
{
thd = 120 - (kp*rl+kd*(rl-old_rl));
}
else
{
thd = -120 - (kp*rl+kd*(rl-old_rl));
}
lcd_print (2,1,abs(rl),3);
lcd_print (2,5,(unsigned char)abs(thd),3);
if(rl>(-thd) && rl<(thd))
{
forward();
//velocity(255,255);
}
else
{
if(rl>0)
{
if(rl<thd+30)
soft_right();
//velocity(min(255,rl*PWM_ratio_1),0);
else
right();
//velocity(min(255,rl*PWM_ratio_2),0);
}
else
{
if(rl>-thd-30)
soft_left();
//velocity(0,min(255,-rl*PWM_ratio_1));
else
left();
//velocity(0,min(255,-rl*PWM_ratio_2));
}
}
old_rl=rl;
}
}
void main()
{
unsigned int value,value1;
int a=0,b=0;
cli();
INIT_PORTS(); //Initialize ports
uart0_init(); //Initialize UART0 for xbee communication
timer5_init();
sei();
INIT_PORTS_ROTATE(); //Initialize ports
right_position_encoder_interrupt_init(); //Initialize control registers for wheel
left_position_encoder_interrupt_init(); // encoders.
init_devices();
lcd_set_4bit(); //LCD initialization functions.
lcd_init();
unsigned char angle = 0;
init_devices_servo(); //Initialize servo motors.
data='0';
sharp = ADC_Conversion(11); //Stores the Analog value of front sharp connected to ADC channel 11 into variable "sharp"
value = Sharp_GP2D12_estimation(sharp); //Stores Distance calsulated in a variable "value".
// lcd_print(1,1,value,3);
// sharp1 = ADC_Conversion(10); //Stores the Analog value of front sharp connected to ADC channel 11 into variable "sharp"
// value1 = Sharp_GP2D12_estimation(sharp1); //Stores Distance calsulated in a variable "value".
// lcd_print(1,5,value1,3);
// set servo for camera to ground zero
servo_1(0); // code to bring the camera to ground state
_delay_ms(1000);
// set servo for incline to ground zero
servo_2(90); // align camera
_delay_ms(500);
// the bot rotating slowly trying to find the bot
int terminate = 0;
while(data=='0' && terminate < 150)
{
velocity(150,150); //If no ball is detected the rotate and scan
angle_rotate_left(3); // for ball in the arena.
_delay_ms(500);
stop();
_delay_ms(500);
sharp = ADC_Conversion(11); //Stores the Analog value of front sharp connected to ADC channel 11 into variable "sharp"
value = Sharp_GP2D12_estimation(sharp); //Stores Distance calsulated in a variable "value".
terminate++;
// lcd_print(1,1,value,3);
}
if(terminate == 60)
{
buzzer_on();
return;
}
/*If a ball(red colour) is detected then matlab code sends a '5' signal through
zigbee.If a '5' is received then the robot stops rotating and moves towards the
ball*/
value2 = 100;
if(atoi(data) > 5)
{
lcd_print(1,5,value2,2);
}
velocity(160,184);
// change value
while(value>140)
{
sharp = ADC_Conversion(11); //Stores the Analog value of front sharp connected to ADC channel 11 into variable "sharp"
value = Sharp_GP2D12_estimation(sharp); //Stores Distance calsulated in a variable "value".
lcd_print(1,1,value,3);
forward();
}
stop();
_delay_ms(2000);
/* the servo_1 is for the camera and the servo_2 is for the inclined plane */
// rotate 90 at left
left90_at_place();
_delay_ms(1000);
// rotate the camera 90 degrees to the right
servo_1(90);
_delay_ms(1000);
//rotate in circle
rotate_in_circle();
int perceived_height;
perceived_height = atoi(data);
lcd_print(1,5,perceived_height,5);
// rotate 90 degrees to the right to face the ball again
right90_at_place();
stop();
_delay_ms(2000);
// rotate camera also to ground state to face the ball again
servo_1(0); // code to bring the camera to ground state
_delay_ms(1000);
// set servo for incline
int angle_of_inclination = get_angle(perceived_height);
lcd_print(1,2,angle_of_inclination,5);
servo_2(angle_of_inclination);
_delay_ms(1000);
while(1);
}
//Main Function
int main()
{
init_devices();
init_encoders();
lcd_set_4bit();
lcd_init();
int value=0;
forward();
velocity(130,130);
lcd_print(2,1,130,3);
lcd_print(2,5,130,3);
lcd_print(2,9,pathindex,2);
lcd_print(2,13,dirn,3);
while(1)
{
read_sensor();
follow();
if(isPlus())
{
read_sensor();
value = path[pathindex++];
// Code inserted for calculation of actual location wrt initial starting point ,
// It will consider direction also.
if (value == F)
{
// Move the bot forward, for location only , No movement on ground.
move_bot(FR);
}
else if (value == L)
{
// Move the bot left , for location only , No movement on ground.
move_bot(LT);
}
else if (value == R)
{
// Move the bot right, for location only , No movement on ground.
move_bot(RT);
}
else if (value == M)
{
// To stop the Bot and then break out
stop();
break;
}
orient(value);
/* lcd_print(2,9,pathindex,2);
lcd_print(2,13,dirn,3);
lcd_print(1,13,turnL,1);
lcd_print(1,15,turnR,1);
*/
}
if(turnL == 1)
{/*
lcd_print(1,13,turnL,1);
forward_mm(20);
stop();
velocity(180,180);
left_degrees(95);
//_delay_ms(120);
read_sensor();
// while(Left_white_line <0x40)
// {
// read_sensor();
// left();
// }
stop();
forward();
velocity(180,180);
turnL = 0;
*/
back_mm(50);
//stop();
//velocity(130,130);
stop();
left_degrees(50);
rotate_left_slowly();
forward();
velocity(130,130);
turnL = 0;
}
if(turnR == 1)
{
/*
lcd_print(1,15,turnR,1);
forward_mm(20);
stop();
velocity(180,180);
right_degrees(95);
//_delay_ms(200);
read_sensor();
// while(Right_white_line <0x30)
// {
// read_sensor();
// right();
// }
stop();
forward();
//follow();
velocity(180,180);
turnR = 0;
*/
back_mm(50);
//stop();
//velocity(130,130);
stop();
right_degrees(50);
rotate_right_slowly();
forward();
velocity(130,130);
turnR = 0;
}
}
// Three Beeps for Interval
buzzer_on();
_delay_ms(100);
buzzer_off();
_delay_ms(100);
buzzer_on();
_delay_ms(100);
buzzer_off();
_delay_ms(100);
buzzer_on();
_delay_ms(100);
buzzer_off();
_delay_ms(100);
//code to head-back to starting position , i.e. Origin
return_path_counter = reach_origin();
forward();
velocity(130,130);
int counter = 0;
int intermediate_value = 0;
while(counter < return_path_counter)
{
read_sensor();
follow();
if(isPlus())
{
read_sensor();
value = path_to_origin[counter];
counter++;
// Code inserted for calculation of actual location wrt initial starting point ,
// It will consider direction also.
if (intermediate_value == FR)
{
// Move the bot forward, for location only , No movement on ground.
value = F;
}
else if (value == LT)
{
// Move the bot left , for location only , No movement on ground.
value = L;
}
else if (value == RT)
{
// Move the bot right, for location only , No movement on ground.
value = R;
}
else if (value == ST)
{
value = M;
// specially inserted as break will not allow the bot to stop using "orient(value)".
orient(value);
break;
}
orient(value);
}
if(turnL == 1)
{
back_mm(50);
//stop();
//velocity(130,130);
stop();
left_degrees(50);
rotate_left_slowly();
forward();
velocity(130,130);
turnL = 0;
}
if(turnR == 1)
{
back_mm(50);
//stop();
//velocity(130,130);
stop();
right_degrees(50);
rotate_right_slowly();
forward();
velocity(130,130);
turnR = 0;
}
}
// Three beeps for Finish
buzzer_on();
_delay_ms(100);
buzzer_off();
_delay_ms(100);
buzzer_on();
_delay_ms(100);
buzzer_off();
_delay_ms(100);
buzzer_on();
_delay_ms(100);
buzzer_off();
_delay_ms(100);
}
//Main Function
int main()
{
init_devices();
lcd_set_4bit();
lcd_init();
forward();
velocity(253,255);
_delay_ms(50);
while(1)
{
Left_white_line = ADC_Conversion(3); //Getting data of Left WL Sensor
Center_white_line = ADC_Conversion(2); //Getting data of Center WL Sensor
Right_white_line = ADC_Conversion(1); //Getting data of Right WL Sensor
flag=0;
print_sensor(1,1,3); //Prints value of White Line Sensor1
print_sensor(1,5,2); //Prints Value of White Line Sensor2
print_sensor(1,9,1); //Prints Value of White Line Sensor3
if(Center_white_line>0x30)
{
flag=1;
forward();
velocity(253,255);
}
if((Left_white_line>0x30) && (flag==0))
{
flag=1;
forward();
velocity(200,255);
}
if((Right_white_line>0x30) && (flag==0))
{
flag=1;
forward();
velocity(255,200);
}
if(Center_white_line>0x30 && Left_white_line>0x30 && Right_white_line>0x30)
{
forward();
velocity(253,255);
_delay_ms(100);
}
if(Center_white_line<0x30 && Left_white_line<0x30 && Right_white_line<0x30)
{
stop();
velocity(0,0);
_delay_ms(100);
}
}
}
//Main Function
int main()
{
init_devices();
lcd_set_4bit();
lcd_init();
int max = 100 ;
while(1)
{
Left_white_line = ADC_Conversion(3); //Getting data of Left WL Sensor
Center_white_line = ADC_Conversion(2); //Getting data of Center WL Sensor
Right_white_line = ADC_Conversion(1); //Getting data of Right WL Sensor
flag=0;
senser_value_L = print_sensor(1,5,3); //Prints value of White Line Sensor1
senser_value_C = print_sensor(1,1,2); //Prints Value of White Line Sensor2
senser_value_R = print_sensor(1,9,1); //Prints Value of White Line Sensor3
SetTunings();
pid = PID(senser_value_L-senser_value_R);
if (pid < 30)
{
forward();
velocity(max+pid,max);
}
if (pid > 30)
{
forward();
velocity(max,max+pid);
}
/*else if((Left_white_line < 0x30) && (flag==0))
{
pid = PID(senser_value_L);
flag=1;
forward();
velocity(max,max+pid);
}
else if((Right_white_line<0x30) && (flag==0))
{
pid = PID(senser_value_R);
flag=1;
forward();
velocity(max+pid,max);
}
if(Center_white_line>0x10 && Left_white_line>0x10 && Right_white_line>0x10)
{
forward();
velocity(0,0);
}*/
lcd_print(1,13,pid,3);
}
}
void intialisation()
{
cli(); //Clears the global interrupts
//usart init
UBRR0L = 0x5F; //set baud rate lo
UBRR0H = 0x00; //set baud rate hi
UCSR0B = (1 << TXEN0);
UCSR0C = (1 << UCSZ01) | (1 << UCSZ00);
//buzzer initialization
DDRC = DDRC | 0x08; //Setting PORTC 3 as output
PORTC = PORTC & 0xF7; //Setting PORTC 3 logic low to turnoff buzzer
//motion
DDRA = DDRA | 0x0F; //PA3..PA0 for DC motor direction control
PORTA = PORTA & 0xF0;
DDRL = DDRL | 0x18; //Setting PL3 and PL4 pins as output for PWM generation
PORTL = PORTL | 0x18; //PL3 and PL4 pins are for velocity control using PWM.
//bar LED
DDRJ = 0xFF; //LED Bar graph
PORTJ = 0x00; //LED Bar graph OFF
//position encoder
DDRE = DDRE & 0xCF; //INT4 & INT5 for left & right position encoder
PORTE = PORTE | 0x30; //Enable internal pull-up for PE4 & PE5
//left position encoder
EICRB = EICRB | 0x05; // INT4 & INT5 - both edge (+ & -) triggered
EIMSK = EIMSK | 0x10; // INT4 Interrupts Enabled
/*
EICRA = EICRA | 0x01; // INT0 is set to trigger with both edges(+ & -)
EIMSK = EIMSK | 0x01; // Enable Interrupt INT0 for color sensor*/
//lcd
DDRC = DDRC | 0xFF; //all the LCD pin's direction set as output
PORTC = PORTC & 0x80; //all the LCD pins are set to logic 0 except PORTC 7
//adc
DDRF = 0x00; //set PORTF direction as input
PORTF = 0x00; //set PORTF pins floating
DDRK = 0x00; //set PORTK direction as input
PORTK = 0x00; //set PORTK pins floating
ADCSRA = 0x00;
ADCSRB = 0x00; //MUX5 = 0
ADMUX = 0x00; //Vref=5V external --- ADLAR=1 --- MUX4:0 = 0000
ACSR = 0x80;
ADCSRA = 0x87; //ADEN=1 --- ADIE=1 --- ADPS2:0 = 1 1 0
//TIMER4 initialize - prescale:256
// WGM: 0) Normal, TOP=0xFFFF
// desired value: 1Hz
// actual value: 1.000Hz (0.0%)
TCCR4B = (1 << WGM42);
OCR4A = COUNT_OCR4A;
TIMSK4 = (1 << OCIE4A);
// Timer 5 initialized in PWM mode for velocity control
// Prescale:256
// PWM 8bit fast, TOP=0x00FF
// Timer Frequency:225.000Hz
TCCR5B = 0x00; //Stop
TCNT5H = 0xFF; //Counter higher 8-bit value to which OCR5xH value is compared with
TCNT5L = 0x01; //Counter lower 8-bit value to which OCR5xH value is compared with
OCR5AH = 0x00; //Output compare register high value for Left Motor
OCR5AL = 0xFF; //Output compare register low value for Left Motor
OCR5BH = 0x00; //Output compare register high value for Right Motor
OCR5BL = 0xFF; //Output compare register low value for Right Motor
OCR5CH = 0x00; //Output compare register high value for Motor C1
OCR5CL = 0xFF; //Output compare register low value for Motor C1
TCCR5A = 0xA9; /*{COM5A1=1, COM5A0=0; COM5B1=1, COM5B0=0; COM5C1=1 COM5C0=0}
For Overriding normal port functionality to OCRnA outputs.
{WGM51=0, WGM50=1} Along With WGM52 in TCCR5B for Selecting FAST PWM 8-bit Mode*/
TCCR5B = 0x0B; //WGM12=1; CS12=0, CS11=1, CS10=1 (Prescaler=64)
sei(); //Enables the global interrupts
lcd_set_4bit();
lcd_init();
}
