void writeChar(char letter, int pos)
{
selectDisplayChar(pos);
switch(letter)
{
case ' ':
write_blank();
break;
case 'A':
write_A();
break;
case 'B':
write_B();
break;
case 'C':
write_C();
break;
case 'D':
write_D();
break;
case 'E':
write_E();
break;
case 'F':
write_F();
break;
case 'G':
write_G();
break;
case 'H':
write_H();
break;
case 'I':
write_I();
break;
case 'J':
write_J();
break;
case 'K':
write_K();
break;
case 'L':
write_L();
break;
case 'M':
write_M();
break;
case 'N':
write_N();
break;
case 'O':
write_O();
break;
case 'P':
write_P();
break;
case 'Q':
write_Q();
break;
case 'R':
write_R();
break;
case 'S':
write_S();
break;
case 'T':
write_T();
break;
case 'U':
write_U();
break;
case 'V':
write_V();
break;
case 'W':
write_W();
break;
case 'X':
write_X();
break;
case 'Y':
write_Y();
break;
case 'Z':
write_Z();
break;
case ':':
write_colon();
break;
default:
write_checker();
break;
}
}
int main(void) {
// status_t status; // Declaration of return variable for DAVE3 APIs (toggle comment if required)
PORT0 ->HWSEL &= ~0x0000c000UL; //Faz pin 0.7 funcionar
PORT0 ->HWSEL |= 0 << 14;
DAVE_Init(); // Initialization of DAVE Apps
//PORT0->HWSEL &= ~0x0000c000UL; //Faz pin 0.7 funcionar
//PORT0->HWSEL |= 0 << 14;
/*Etapa de inicializacao*/
configure_E(); //Configura transceptor como emissor
//IO004_SetPin(LED1); //Leds para debug
//IO004_SetPin(LED2);
//VER COMOFAS pra ligar analog do controle aqui ja
psxHandShake();
psxConfiguraControle();
ADC001_GenerateLoadEvent(&ADC001_Handle0);
ADC001_GetResult(&ADC001_Handle0, &result);
Software_Timers_Init();
/*Loop do controle*/
while (1) {
ADC001_GetResult(&ADC001_Handle0, &result);
pwm_max = PWM_LIM;
/*Inicializa o que sera mandado*/
BOOLType blah2 = 1;
BOOLType buzina = 1;
BOOLType enable = 0;
BOOLType albh2 = 1;
BOOLType blah1 = 1;
BOOLType albh1 = 1;
int16_t pow1, pow2;
/*Le controle*/
psxLeControle();
if (psx_status != 140) //Nao ta analogico
{
psxHandShake();
psxConfiguraControle();
continue;
}
/*Com dados do controle atribui valores e chama callbacks*/
if (START && start) {
start_state = 1;
start();
}
if (SELECT && select) {
select_state = 1;
select();
}
if (L_DOIS && l_dois) {
l_dois_state = 1;
l_dois();
}
if (L_UM && l_um) {
l_um_state = 1;
l_um();
}else if(!R_UM){
acceleration_ticks=0;
}
if (L_TRES && l_tres) {
l_tres_state = 1;
l_tres();
}
if (R_UM && r_um) {
r_um_state = 1;
r_um();
}else if(!L_UM){
acceleration_ticks = 0;
}
if (R_DOIS && r_dois) {
r_dois_state = 1;
r_dois();
}
if (R_TRES && r_tres) {
r_tres_state = 1;
r_tres();
}
if (SQR && sqr) {
sqr_state = 1;
sqr(DEGRAU);
// changeMode(DEGRAU);
}
if (TRIANGLE && triangle) {
triangle_state = 1;
triangle(LINEAR);
// changeMode(LINEAR);
}
if (CIRCLE && circle) {
circle_state = 1;
circle(EXP);
// changeMode(EXP);
}
if (CROSS && cross) {
cross_state = 1;
cross();
}
if (LEFT && left) {
left_state = 1;
left();
}
if (RIGHT && right) {
right_state = 1;
right();
}
if (UP && up) {
up_state = 1;
up();
}
if (DOWN && down) {
down_state = 1;
down();
}
//
data_E[0] = pwm_max;
//if (psxDado[5] == 0 && psxDado[3] == 0) continue; //Enquanto for zero nao faz nada -> tirar quando ligar o analogico
pow1 = (psxDado[5] - 127); //<<1; //Analog esq //Subtrai 127 para saber o sentido
pow2 = (psxDado[3] - 127); //<<1;
data_E[3] = 0;
int16_t temp; //Variavel para armazenamento temporario dos calculos
if (!flipped) //Robo virado, variavel atribuida pelo clique de um botao
{
if (pow1 < -30)
albh2 = 0; //ok
else if (pow1 > 30)
blah2 = 0; //ok
else {
albh2 = 1;
blah2 = 0;
}
if (pow2 < -30)
albh1 = 0;
else if (pow2 > 30)
blah1 = 0;
else {
albh1 = 1;
blah1 = 0;
}
temp = pow1 > 0 ? pow1 * 2 : (-pow1) * 2;
if (temp > 255)
temp = 255;
data_E[1] = temp * pwm_max / 100;
temp = pow2 > 0 ? pow2 * 2 : (-pow2) * 2;
if (temp > 255)
temp = 255;
data_E[2] = temp * pwm_max / 100;
} else {
if (pow2 > 30)
albh2 = 0; //ok
else if (pow2 < -30)
blah2 = 0; //ok
else {
albh2 = 1;
blah2 = 0;
}
if (pow1 > 30)
albh1 = 0;
else if (pow1 < -30)
blah1 = 0;
else {
albh1 = 1;
blah1 = 0;
}
temp = pow1 > 0 ? pow1 * 2 : (-pow1) * 2;
if (temp > 255)
temp = 255;
data_E[2] = temp * pwm_max / 100;
temp = pow2 > 0 ? pow2 * 2 : (-pow2) * 2;
if (temp > 255)
temp = 255;
data_E[1] = temp * pwm_max / 100;
}
//if (data_E[1] > 20 || data_E[2] > 20) enable = 1;
char data_0 = (mode & 1);
char data_1 = ((mode >> 1) & 1);
// data_E[3] = data_E[3] | (blah1 << BLAH1) | (blah2 << BLAH2)
// | (albh1 << ALBH1) | (albh2 << ALBH2) | (enable << ENABLE)
// | (buzina << BUZINA);
data_E[3] = data_E[3] | (blah1 << BLAH1) | (blah2 << BLAH2)
| (albh1 << ALBH1) | (albh2 << ALBH2) | (data_1 << ENABLE)
| (data_0 << BUZINA);
data_E[4] = result.Result >> 4; //Resultado tem precisao de 12bits, divide por 16 para obter 8 bits = 1 byte
last_value_left = data_E[1];
last_value_right = data_E[2];
write_E();
updateButtonStates();
}
return 0;
}
