int nxtClose()
{
motorMove(OUT_ABC, 0);
libusb_release_interface(dev_handle, 0);
libusb_close(dev_handle);
libusb_exit(ctx);
return 0;
}
void timer0_int_handler() {
WriteTimer0(0);
// unsigned int val;
// int length, msgtype;
// toggle an LED
#ifdef __USE18F2680
LATBbits.LATB0 = !LATBbits.LATB0;
#endif
// reset the timer
// try to receive a message and, if we get one, echo it back
// length = FromMainHigh_recvmsg(sizeof(val), (unsigned char *)&msgtype, (void *) &val);
// if (length == sizeof (val)) {
// ToMainHigh_sendmsg(sizeof (val), MSGT_TIMER0, (void *) &val);
// }
//unsigned char motorcomm[2] = {0x9F, 0x1F};
#ifdef MOTORPIC
distMoved++;
if(distMoved >= distDesired){
unsigned char motormsg[5] = {0x04, 0x00, 0x00, 0x00, 0x00};
motormsg[1] = distMoved;
motormsg[2] = (distMoved & 0x17);
start_i2c_slave_reply(5, motormsg);
distMoved = 0;
unsigned char motorcomm[2] = {0x00, 0x00};
motorMove(0x00, 0x00, 0);
}
#endif
//ConvertADC();
//while( BusyADC()) {
//LATBbits.LATB1 = 1;
//}
//LATBbits.LATB1 = 0;
}
