// ============================================================================================
// MAIN FUNCTION
// ============================================================================================
int main(void)
{
char input_char;
int end_time;
_delay_ms(50);
init();
xgrid.rx_pkt = &rx_pkt;
LED_PORT.OUT = LED_USR_0_PIN_bm;
fprintf_P(&usart_stream, PSTR("avr-xgrid build %ld\r\n"), (unsigned long) &__BUILD_NUMBER);
// ##### Initialization of swarm dynamics #####
switch(program_num){
case 1: swarm_initialization1(); break;
case 2: swarm_initialization2(); break;
case 3: swarm_initialization3(); break;
}
// ############################################
while (1){
end_time = jiffies + 100;
if (usart.available()) input_char = usart.get();
// main loop
if (input_char == 0x1b) xboot_reset();
else if(input_char != 0x00){
fprintf_P(&usart_stream, PSTR("CPU: %c\r\n"), input_char);
external_command(input_char);
input_char = 0x00; // clear the most recent computer input
}
communication(); // send position data to neighbors
// ##### Processing for swarm dynamics #####
switch(program_num){ // select program
case 1: swarm_calculation1(); break; // Ken's swarm dynamics
case 2: swarm_calculation2(); break; // two rythms
case 3: swarm_calculation3(); break; // Van der Pol Oscillator
default: no_movement();
}
// #########################################
servo_motor_control(); // servo control
if(jiffies>end_time){
LED_PORT.OUT = LED_USR_1_PIN_bm; // turn on yellow LED
}
while(jiffies<end_time);
if(jiffies>60000) jiffies = 0; //reset jiffies in every 60 sec
}
return 0;
}
// ============================================================================================
// reset messege to all
// ============================================================================================
void reset_myself(int num)
{
switch(num){
case 1: swarm_initialization1(); break;
case 2: swarm_initialization2(); break;
case 3: swarm_initialization3(); break;
}
}
// ============================================================================================
// MAIN FUNCTION
// ============================================================================================
int main(void)
{
float angle;
char input_char;
_delay_ms(50);
init();
xgrid.rx_pkt = &rx_pkt;
LED_PORT.OUT = LED_USR_0_PIN_bm;
swarm_initialization2();
while (1){
if (usart.available()) input_char = usart.get();
// main loop
if (input_char == 0x1b) xboot_reset();
if (input_char == 's') sensor = true;
if (input_char == ' ') sensor = false;
if(communication_on){
communication();
communication_on = false;
}
if(calculation_on){
/*
mchip.hd_memo = mchip.hd;
swarm_calculation1();
mchip.hd_diff = (mchip.hd - mchip.hd_memo) / 5.0; //divide into 5 step
*/
servo_tick = 0;
swarm_calculation2();
calculation_on = false;
}
if(servo_motor_on){
//angle = mchip.hd_memo + (float)servo_tick * mchip.hd_diff;
//servo_motor_control(angle);
//servo_motor_on = false;
}
}
return 0;
}
