int16_t main(void) {
init_clock();
init_timer();
init_ui();
init_pin();
init_spi();
init_oc();
init_md();
// Current measurement pin
pin_analogIn(&A[0]);
// SPI pin setup
ENC_MISO = &D[1];
ENC_MOSI = &D[0];
ENC_SCK = &D[2];
ENC_NCS = &D[3];
pin_digitalOut(ENC_NCS);
pin_set(ENC_NCS);
// Open SPI in mode 1
spi_open(&spi1, ENC_MISO, ENC_MOSI, ENC_SCK, 2e6, 1);
// Motor setup
md_velocity(&md1, 0, 0);
// Get initial angle offset
uint8_t unset = 1;
while (unset) {
ANG_OFFSET = enc_readReg((WORD) REG_ANG_ADDR);
unset = parity(ANG_OFFSET.w);
}
ANG_OFFSET.w &= ENC_MASK;
// USB setup
InitUSB();
while (USB_USWSTAT!=CONFIG_STATE) {
ServiceUSB();
}
// Timers
timer_setFreq(&timer2, READ_FREQ);
timer_setFreq(&timer3, CTRL_FREQ);
timer_start(&timer2);
timer_start(&timer3);
// Main loop
while (1) {
ServiceUSB();
if (timer_flag(&timer2)) {
timer_lower(&timer2);
get_readings();
}
if (timer_flag(&timer3)) {
timer_lower(&timer3);
set_velocity();
}
}
}
int main(void) {
setup();
pwm_set_duty(0);
pwm_set_direction(0);
printf("%s\r\n", "STARTING LOOP");
float encoder_master_count = 0;
uint16_t current_ticks = 0;
uint16_t previous_ticks = spi_read_ticks();
float target_degs = 10;
float motor_current = 0; // current through motor in amperes
float pid_command = 0;
float theor_torque;
bitset(&IEC0, 2);
bitset(&IEC0, 6);
while (1) {
if (timer_flag(&timer2)) {
// Blink green light to show normal operation.
timer_lower(&timer2);
led_toggle(&led2);
}
if (timer_flag(&timer3)) {
timer_lower(&timer3);
led_toggle(&led3);
theor_torque = spring_model(degs); // Outputs theoretical torque predicted by spring model
cur_control.set_point = fabsf(theor_torque);
cur_control.neg_set_point = read_sign(theor_torque);
read_motor_current(&motor);
cur_control.position = convert_motor_torque(motor.current);
pid_command = PID_control(&cur_control);
pwm_duty = pid_to_pwm(pid_command, cur_control.neg_set_point);
}
if (!sw_read(&sw2)) {
// If switch 2 is pressed, the UART output terminal is cleared.
printf("%s", clear);
}
ServiceUSB();
current_ticks = spi_read_ticks();
encoder_master_count = encoder_counter(current_ticks, previous_ticks, encoder_master_count);
degs = count_to_deg(encoder_master_count);
previous_ticks = current_ticks;
pin_toggle(DEBUGD1); // Heartbeat signal
}
}
int16_t main(void) {
int led2_on;
int led3_on;
led2_on = 0;
led3_on = 1;
init_clock();
init_ui();
init_timer();
led_on(&led1);
timer_setPeriod(&timer2, 0.1);
timer_start(&timer2);
while (1) {
if (timer_flag(&timer2)) {
timer_lower(&timer2);
led_toggle(&led1);
}
if(!sw_read(&sw2)){
timer_setPeriod(&timer2, 0.5);
timer_start(&timer2);
led2_on = 1;
led3_on = 0;
} else if(!sw_read(&sw3)){
timer_setPeriod(&timer2, 0.1);
timer_start(&timer2);
led2_on = 0;
led3_on = 1;
}
led_write(&led2, led2_on);
led_write(&led3, led3_on);
}
}
int16_t main(void) {
InitUSB(); // initialize the USB registers and serial interface engine
initChip();
initMotor();
led_on(&led1);
timer_setPeriod(LED_TIMER, 0.5); //start internal clock with defined period
timer_start(LED_TIMER);
pin_write(IN1, 1);
pin_write(IN2, 0);
pin_write(D2, 65536*2/5);
while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured...
ServiceUSB(); // ...service USB requests
}
while (1) {
ServiceUSB(); // service any pending USB requests
//LED1 TOGGLE TO CONFIRM RUNNING CODE
if (timer_flag(LED_TIMER)) {
timer_lower(LED_TIMER);
led_toggle(&led1);
pin_write(D2, VAL1);
}
}
}
int16_t main(void) {
//initialize all system clocks
init_clock();
//initialize serial communications
init_uart();
//initialize pin driving library (to be able to use the &D[x] defs)
init_pin();
//initialize the UI library
init_ui();
//initialize the timer module
init_timer();
//initialize the OC module (used by the servo driving code)
init_oc();
imu_init()
//Set servo control pins as output
pin_digitalOut(PAN_PIN);
pin_digitalOut(TILT_PIN);
pin_digitalOut(SONIC_OUT_PIN);
pin_digitalIn(SONIC_IN_PIN);
//Set LED off
led_off(LED);
//Configure blinking rate for LED when connected
timer_setPeriod(LED_TIM, 0.2);
timer_start(LED_TIM);
//Configure timer for reciever timeout
timer_setPeriod(DIST_TIM, 0.05);
//configure PWM on sonic output pin
oc_pwm(PWM_OC, SONIC_OUT_PIN, NULL, SONIC_FREQ, 0x0000);
//According to HobbyKing documentation: range .8 through 2.2 msec
//Set servo control pins as OC outputs on their respective timers
oc_servo(SERVO1_OC, PAN_PIN, SERVO1_TIM, SERVO_PERIOD, SERVO_MIN, SERVO_MAX, pan_set_val);
oc_servo(SERVO2_OC, TILT_PIN, SERVO2_TIM, SERVO_PERIOD, SERVO_MIN, SERVO_MAX, tilt_set_val);
InitUSB(); // initialize the USB registers and serial interface engine
while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured...
ServiceUSB(); // ...service USB requests
led_on(LED);
//There's no point in driving the servos when there's no one connected yet.
}
while (1) {
ServiceUSB(); // service any pending USB requests
//blink the LED
if (timer_flag(LED_TIM)) {
timer_lower(LED_TIM);
led_toggle(LED);
}
//Update the servo control values.
x_gout = gyro_read(OUT_X_L);
}
}
int16_t main(void) {
init();
REV = 0;
REQUESTED_DIRECTION = 0;
SENSED_DIRECTION = 0;
DUTY = 0;
led_on(&led2);
timer_setPeriod(HB_TIMER, 0.5);
timer_start(HB_TIMER);
printf("Good morning!\n");
oc_pwm(&oc3,D2n,PWM_TIMER,FREQ,DUTY);
while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured...
ServiceUSB(); // ...service USB requests
}
while (1) {
ServiceUSB();
SetMotorVelocity(DUTY,REQUESTED_DIRECTION);
get_direction();
get_feedback();
if (timer_flag(HB_TIMER)) {
timer_lower(HB_TIMER);
led_toggle(&led1);
}
}
}
int16_t main(void) {
// printf("Starting Rocket Controller...\r\n");
init_clock();
init_ui();
init_pin();
init_timer();
init_i2c();
setup();
init_servo_driver(&sd1, &i2c3, 16000., 0x0);
init_servo(&servo4, &sd1, 0);
InitUSB();
U1IE = 0xFF; //setting up ISR for USB requests
U1EIE = 0xFF;
IFS5bits.USB1IF = 0; //flag
IEC5bits.USB1IE = 1; //enable
// uint32_t pid_command;
servo_set(&servo4, 1500, 0);
while (1) {
if (timer_flag(&timer1)) {
// Blink green light to show normal operation.
timer_lower(&timer1);
led_toggle(&led2);
// servo_set(&servo4, 1500, 0);
}
}
}
void over_game(void) {
if (game.state != game.last_state) { // if we are entering the state, do intitialization stuff
game.last_state = game.state;
game.hit_flag = 0;
game.level_ticks = 0;
game.level_limit = MAX_LEVEL;
game.level = 0;
game.decay_ticks = 0;
game.decay_limit = MAX_DECAY;
timer_lower(game.level_timer);
timer_lower(game.decay_timer);
update_bar_pix(0, &start_color, &end_color);
if (game.score > game.high) {
game.high = game.score;
}
write_display(game.high_display, game.high, 0);
write_display(game.score_display, game.score, 0);
blink_display(game.score_display, 1);
}
//run state logic
if (game.lose_flag) {
if (timer_flag(game.level_timer)) {
timer_lower(game.level_timer);
game.lose_ticks++;
if (game.lose_ticks == MAX_LOSE) {
trigger_audio(LOSE);
game.lose_flag = 0;
}
}
}
if (pin_read(game.coin_op)) {
game.coin_flag = 1;
trigger_audio(START);
}
if (game.hit_flag && game.coin_flag) {
game.state = rest_game;
game.hit_flag = 0;
game.coin_flag = 0;
}
if (game.state != game.last_state) { // if we are leaving the state, do clean up stuff
game.level = 1;
game.life = MAX_LIFE;
game.score = 0;
game.lose_flag = 0;
game.lose_ticks = 0;
blink_display(game.score_display, 0);
write_display(game.score_display, game.score, 0);
}
}
int16_t main(void) {
init_clock();
init_ui();
init_pin();
init_spi();
init_timer();
init_oc();
init_md();
led_off(&led2);
led_off(&led3);
ENC_MISO = &D[1];
ENC_MOSI = &D[0];
ENC_SCK = &D[2];
ENC_NCS = &D[3];
read_angle.w=0x3FFF;
Pscale.w=1;
Iscale.w=0;
direction.w=1;
speed.w=0;
angle_now.i=180;
angle_prev.i=180;
angle.w=10;
uint8_t loop = 0;
pin_digitalOut(ENC_NCS);
pin_set(ENC_NCS);
spi_open(&spi1, ENC_MISO, ENC_MOSI, ENC_SCK, 2e8,1);
timer_setPeriod(&timer1, 0.05);
timer_start(&timer1);
InitUSB();
// initialize the USB registers and serial interface engine
while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured...
ServiceUSB(); // ...service USB requests
}
while(1){
ServiceUSB();
if (timer_flag(&timer1)) {
timer_lower(&timer1);
angle_prev=angle_now;
angle_prev_con=angle; // service any pending USB requests
angle_now = enc_readReg(read_angle);
angle_now = mask_angle(angle_now);
angle=convert_Angle(angle_prev,angle_now,&loop);
spring_simple(angle);
}
}
}
void rest_game(void) {
if (game.state != game.last_state) { // if we are entering the state, do intitialization stuff
game.last_state = game.state;
game.level_ticks = 0;
game.hit_flag = 0;
}
//run state logic
life_percent = (float)game.life/MAX_LIFE-((float)game.decay_ticks/game.decay_limit)/100.0;
update_bar_pix(life_percent, &start_color, &end_color);
if (timer_flag(game.decay_timer)) {
timer_lower(game.decay_timer);
game.decay_ticks++;
if (game.decay_ticks == game.decay_limit) {
game.life--;
game.decay_ticks = 0;
}
}
if (timer_flag(game.level_timer)) {
timer_lower(game.level_timer);
game.level_ticks++;
if (game.level_ticks == game.level_limit) {
game.state = level_game;
}
}
if (game.hit_flag) {
game.score += 25;
game.hit_flag = 0;
game.life += 10;
if (game.life > MAX_LIFE) {
game.life = MAX_LIFE;
}
write_display(game.score_display, game.score, 0);
}
// Check for state transitions
if (!game.life) {
game.state = over_game;
game.lose_flag = 1;
}
}
void wait_period(float period){
timer_setPeriod(&timer2, period);
timer_start(&timer2);
while(1){
if (timer_flag(&timer2)) {
timer_lower(&timer2);
break;
}
}
}
int main(void) {
setup();
printf("%s\r\n", "STARTING LOOP");
float encoder_master_count = 0;
float previous_degs = 0;
float current_degs = 0;
uint16_t current_ticks = 0;
uint16_t previous_ticks = spi_read_ticks();
while (1) {
if (timer_flag(&timer2)) {
// Blink green light to show normal operation.
timer_lower(&timer2);
led_toggle(&led2);
printf("ddegs %3f, dd %d\r\n", delta_degs, drive_direction);
}
if (timer_flag(&timer3)) {
timer_lower(&timer3);
delta_degs = current_degs - previous_degs;
current_duty_cycle = damper(delta_degs);
previous_degs = current_degs;
}
if (!sw_read(&sw2)) {
// If switch 2 is pressed, the UART output terminal is cleared.
printf("%s", clear);
}
ServiceUSB();
current_ticks = spi_read_ticks();
encoder_master_count = encoder_counter(current_ticks, previous_ticks, encoder_master_count);
current_degs = count_to_deg(encoder_master_count);
previous_ticks = current_ticks;
}
}
int16_t main(void) {
init_clock();
init_ui();
init_timer();
led_on(&led1);
led_on(&led3);
timer_setPeriod(&timer2, 0.5);
timer_start(&timer2);
while (1) {
if (timer_flag(&timer2)) {
timer_lower(&timer2);
led_toggle(&led1);
led_toggle(&led2);
<<<<<<< HEAD
}
int16_t main(void) {
init_clock();
init_ui();
init_timer();
led_on(&led1);
timer_setPeriod(&timer2, 1.0);
timer_start(&timer2);
while (1) {
if (timer_flag(&timer2)) {
timer_lower(&timer2);
led_toggle(&led1);
led_toggle(&led2);
}
led_write(&led3, !sw_read(&sw3));
}
}
int16_t main(void) {
//initialize modules
init_clock();
init_timer();
init_uart();
timer_setPeriod(&timer1,1e-2);//100 Hz
timer_lower(&timer1);
timer_start(&timer1);
printf("Begin");
while (1) {
if (timer_flag(&timer1)){
printf("GO");
timer_lower(&timer1);
}
}
}
void receive(_TIMER *self) {
timer_setPeriod(&timer5, 50e-3);
timer_start(&timer5);
led_toggle(&led1);
overflowing = 0;
while(pin_read(&D[12]) == 0){
if (timer_flag(&timer5) != 0){
led_toggle(&led3);
overflowFlag += 1;
overflowing = 1;
break;
}
}
if (overflowing == 0) {
overflowFlag = 0;
}
readTime = timer_read(&timer5);
led_toggle(&led2);
timer_stop(&timer5);
}
int16_t main(void) {
init_clock();
init_uart();
init_ui();
init_timer();
init_oc();
led_on(&led2);
timer_setPeriod(&timer2, 0.5);
timer_start(&timer2);
val1 = 0;
val2 = 0;
interval = 0.02;
min_width = 5.5E-4;
max_width = 2.3E-3;
pos = 0; //16 bit int with binary point in front of the MSB
oc_servo(&oc1,&D[0],&timer1, interval,min_width, max_width, pos);
oc_servo(&oc2,&D[2],&timer3, interval,min_width, max_width, pos);
printf("Good morning\n");
InitUSB(); // initialize the USB registers and serial interface engine
while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured...
ServiceUSB(); // ...service USB requests
}
while (1) {
ServiceUSB();
//write the values to the servos (move the servos to the requested position)
pin_write(&D[0],val1);
pin_write(&D[2],val2);
if (timer_flag(&timer2)) {
//show a heartbeat and a status message
timer_lower(&timer2);
led_toggle(&led1);
printf("val1 = %u, val2 = %u\n", val1, val2);
}
}
}
int16_t main(void) {
init_clock();
init_ui();
init_timer();
init_pin();
init_oc();
init_md();
led_on(&led2);
led_on(&led3);
timer_setPeriod(&timer1, 0.5);
timer_start(&timer1);
while (1) {
if (timer_flag(&timer1)) {
timer_lower(&timer1);
if (speed > 24000) {
up=0;
}
if (speed < 12000) {
up=1;
}
if (up) {
speed=speed+300;
}
if (!up) {
speed=speed-300;
}
// direction = !direction;
md_speed(&mdp, speed);
md_direction(&mdp, direction);
}
}
}
int16_t main(void) {
init_pin();
init_clock();
init_uart();
init_ui();
init_timer();
init_oc();
//setup the signal input pin
pin_digitalIn(&D[4]);
val1 = 0;
val2 = 0;
pos = 0; //16 bit int with binary point in front of the MSB
led_on(&led2);
timer_setPeriod(&timer2, PULSE_FREQUENCY); //how often we send a pulse
timer_start(&timer2);
timer_setPeriod(&timer3, 0.5); //heartbeat
timer_start(&timer3);
oc_servo(&oc1,&D[0],&timer4, INTERVAL,MIN_WIDTH, MAX_WIDTH, pos);
oc_servo(&oc2,&D[2],&timer5, INTERVAL,MIN_WIDTH, MAX_WIDTH, pos);
oc_pwm(&oc3,&D[3],NULL,FREQ,ZERO_DUTY);
printf("Good morning\n");
InitUSB(); // initialize the USB registers and serial interface engine
while (USB_USWSTAT!=CONFIG_STATE) { // while the peripheral is not configured...
ServiceUSB(); // ...service USB requests
}
while (1) {
ServiceUSB();
pin_write(&D[0],val1);
pin_write(&D[2],val2);
//adapted from Patrick and Charlie's approach
if (!send_pulse && timer_read(&timer2) < PULSE_WIDTH){
send_pulse = 1;
pin_write(&D[3],HALF_DUTY);
get_distance = 1;
} else if (send_pulse && timer_read(&timer2) >= PULSE_WIDTH) {
send_pulse = 0;
pin_write(&D[3],ZERO_DUTY);
}
if (timer_read(&timer2) >= ECHO_TIME)
{
if (pin_read(&D[4]) && get_distance)
{
printf("%d\n", timer_read(&timer2));
get_distance = 0;
}
}
if (timer_flag(&timer3)) {
//show a heartbeat and a status message
timer_lower(&timer3);
led_toggle(&led1);
}
}
}
void VendorRequests(void) {
WORD temp;
uint16_t i = 1;
switch (USB_setup.bRequest) {
case HELLO:
printf("Hello World!\n");
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case SET_VALS:
pan_set_val = USB_setup.wValue.w;
tilt_set_val = USB_setup.wIndex.w;
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case GET_VALS:
temp.w = x_gout;
BD[EP0IN].address[0] = temp.b[0];
BD[EP0IN].address[1] = temp.b[1];
temp.w = tilt_set_val;
BD[EP0IN].address[2] = temp.b[0];
BD[EP0IN].address[3] = temp.b[1];
BD[EP0IN].bytecount = 4; // set EP0 IN byte count to 4
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case PRINT_VALS:
printf("pan_set_val = %u, tilt_set_val = %u\n", pan_set_val, tilt_set_val);
BD[EP0IN].bytecount = 0; // set EP0 IN byte count to 0
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
case GET_DIST:
//Configure timer for transducer burst
timer_setPeriod(PWM_TIM, 0.0005);
timer_start(PWM_TIM); //start the timer for the PWM signal
timer_start(DIST_TIM); //start the timer for the distance measurement
pin_write(SONIC_OUT_PIN, 0x8000); //send the sonic burst by setting it to 50% duty cycle
while (1) {
if (timer_flag(PWM_TIM)) { //If the timer runs out for PWM
pin_write(SONIC_OUT_PIN, 0x0000); //Stopping the sonic burst transmission by setting it to 0% duty cycle
timer_stop(PWM_TIM); //stop PWM timer
break;
}
}
timer_setPeriod(PWM_TIM, 0.001); //reset the PWM timer period to 1 milliseconds
timer_start(PWM_TIM);
while(1) {
if (timer_flag(PWM_TIM)) { //If the timer runs out for PWM
if(pin_read(SONIC_IN_PIN) == 1){ //If the pin gets back a value, the echo is received
temp.w = timer_read(DIST_TIM); //Get the value of the timer for Distance and store in temp.w to be sent to laptop
break;
}
else if(timer_flag(DIST_TIM)) { //timeout period will be set based on experimentation
temp.w = 0xFFFF;
break;
}
}
}
timer_stop(DIST_TIM);
timer_stop(PWM_TIM);
/*while(pin_read(SONIC_IN_PIN) == 0 && i != 0) {
i++;
} */
BD[EP0IN].address[0] = temp.b[0];
BD[EP0IN].address[1] = temp.b[1];
temp.w = pan_set_val;
BD[EP0IN].address[2] = temp.b[0];
BD[EP0IN].address[3] = temp.b[1];
temp.w = tilt_set_val;
BD[EP0IN].address[4] = temp.b[0];
BD[EP0IN].address[5] = temp.b[1];
BD[EP0IN].bytecount = 6; // set EP0 IN byte count to 6
BD[EP0IN].status = 0xC8; // send packet as DATA1, set UOWN bit
break;
default:
USB_error_flags |= 0x01; // set Request Error Flag
}
}