void InitBot(void) {
//Call initialization functions.
LockoutProtection();
InitializeMCU();
initUART();
InitializeEncoders(true,false);
PresetEncoderCounts(0,0);
InitializeMotors(true,true);
InitializeServos();
InitializeLineSensor();
SetDischargeTime(350);
//Modified for 4 ADC Ports (assuming all are IR).
initADCPorts();
//Initialize state variables.
angle = 90;
shooting = false;
rotate = rotate_time;
move = move_time;
IRtrig = false;
lose_obj = false;
//Pin PA3 is James. 0xff is off; 0x00 is on.
GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_3);
GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_3, 0xff);
//Pin PA2 is the trigger; set the pin to perform weak pull-up (not open-drain).
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
GPIOPinTypeGPIOInput(GPIO_PORTA_BASE, GPIO_PIN_2);
GPIOPadConfigSet(GPIO_PORTA_BASE, GPIO_PIN_2,GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPU);
//Setup an interrupt on pin PA2 (flipPancake).
IntEnable(INT_GPIOA);
GPIOIntTypeSet(GPIO_PORTA_BASE, GPIO_PIN_2,GPIO_FALLING_EDGE);
GPIOPinIntEnable(GPIO_PORTA_BASE, GPIO_PIN_2);
}
void initLineSensor(void) {
tI2C *bus = InitializeI2C(PIN_B3, PIN_B2);
ls = InitializeLineSensor(bus, 0);
}
