void DecisionThread::checkBlink(){
if ((blinkCounter > lowerBlink)&&(blinkCounter < upperBlink)){
emit BlinkSignal(true);
}
else {
emit BlinkSignal(false);
}
blinkCounter = 0;
}
int main(void)
{
init();
adc_init();
while (1) {
//Read all sensors
x_sensor = read_adc(0);
y_sensor = read_adc(1);
light_sensor = read_adc(2);
range_sensor = read_adc(3);
// Set Light Sensor Switch
if(light_sensor > Light_Sensor_Threshold){
// Dark
isNightTime = 1;
} else if (light_sensor <= Light_Sensor_Threshold && movement_timer == 0){
isNightTime = 0;
}
// Accelerometer Setting
if ((x_sensor < x_sensor_prev - movement_threshold) || (x_sensor > x_sensor_prev + movement_threshold) ||
(y_sensor < y_sensor_prev - movement_threshold) || (y_sensor > y_sensor_prev + movement_threshold)) {
// movement in x-axis greater than threshold, turn the light on for 3 second
movement_timer = 300;
}
x_sensor_prev = x_sensor;
y_sensor_prev = y_sensor;
// Turn the headlight on if is night time
//HeadLightOn(&movement_timer, isNightTime);
//Brake Light, if y-axis goes negative
if (y_sensor >= 512){
PORTD |= 1 <<PD4;
} else {
PORTD &= ~(1 << PD4);
}
HeadLightOn(&movement_timer, isNightTime);
Detect_Rear_Object();
// Turn Signals
// Right Turn Signal
if ((PIND & (1 << PD2)) && (rightTurnIsOn == 0) && (leftTurnIsOn == 0)) {
//If PD2, the red button is pressed, turn on Right Turn Signal
rightTurnSignalCounter = 250;
rightTurnIsOn = 1;
//PORTD |= (1 << PD3);
}
if ((rightTurnSignalCounter > 0) && rightTurnIsOn) {
rightTurnSignalCounter--;
} else if (rightTurnSignalCounter <= 0) {
rightTurnIsOn = 0;
}
// Left Turn Signal
if ((PIND & (1 << PD7)) && (leftTurnIsOn == 0) && (rightTurnIsOn == 0)) {
// If PD7 is pressed, turn on Left Turn Signal
leftTurnSignalCounter = 250;
leftTurnIsOn = 1;
}
if ((leftTurnSignalCounter > 0) && leftTurnIsOn) {
leftTurnSignalCounter--;
} else if (leftTurnSignalCounter <= 0) {
leftTurnIsOn = 0;
}
// Blink signal
BlinkSignal(rightTurnSignalCounter, leftTurnSignalCounter, (1 << PD3), (1<< PD5));
//Trigger is Port B0
Beep();
_delay_ms(10); // Do not change this 10 ms delay
}
return 0; /* never reached */
}
