void batteryVoltageLow(uint8_t isVoltageLow)
{
if(isVoltageLow)
{
writeString("LOW Battery");
writeIntegerLength_WIFI(adcBat,DEC,4);
}
else
{
writeString("Battery Ok!");
writeIntegerLength_WIFI(adcBat,DEC,4);
}
}
/**
* This function reads ALL registers available in the standard I2C Bus Slave
* Example program for the Robot Base and outputs their values on the serial interface.
* You will see a lot of zeros when the Motors are not running. The main values that are not
* zero are the two Light Sensors and the two free ADC Channels.
*/
void readAllRegisters(void)
{
I2CTWI_transmitByte(I2C_RP6_BASE_ADR, 0); // Start with register 0...
I2CTWI_readBytes(I2C_RP6_BASE_ADR,RP6data, 30); // and read all 30 registers up to
// register Number 29 !
// Now we output the Data we have just read on the serial interface:
writeString_P_WIFI("\nREADING ALL RP6 REGISTERS:");
uint8_t i = 0;
for(i = 0; i < 30; i++)
{
if(i % 8 == 0) // add some newline chars otherwise everything
writeChar_WIFI('\n'); // is printed on ONE single line...
else
writeString_P_WIFI(" | ");
writeChar_WIFI('#');
writeIntegerLength_WIFI(i,DEC,2);
writeChar_WIFI(':');
writeIntegerLength_WIFI(RP6data[i],DEC,3);
}
writeChar_WIFI('\n');
}
int main(void)
{
initRP6M256();
initLCD();
// ---------------------------------------
WDT_setRequestHandler(watchDogRequest);
// ---------------------------------------
I2CTWI_initMaster(100);
I2CTWI_setRequestedDataReadyHandler(I2C_requestedDataReady);
I2CTWI_setTransmissionErrorHandler(I2C_transmissionError);
setLEDs(0b1111);
mSleep(1000);
setLEDs(0b0000);
// ---------------------------------------
// Setup ACS power:
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_ACS_POWER, ACS_PWR_OFF);
// Enable Watchdog for Interrupt requests:
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_WDT, true);
// Enable timed watchdog requests:
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_WDT_RQ, true);
startStopwatch1();
startStopwatch2();
startStopwatch3();
while(true)
{
/*
mSleep(600);
warnForObs();
mSleep(600);
task_checkINT();
mSleep(600);
light_detection();
mSleep(600);
task_I2CTWI();
mSleep(600);*/
writeIntegerLength_WIFI(adcBat,DEC,4);
behaviourController();
}
return 0;
}
