//-----------------------------------------------------------------------------
// Main Function
//-----------------------------------------------------------------------------
void main(void)
{
int heading = 0;
// initialize board
Sys_Init();
putchar(' '); //the quotes in this line may not format correctly
Port_Init();
XBR0_Init();
PCA_Init();
SMB0CR = 0x93; // set the frequency of the i2c bus to 95.41 kHz
ENSMB = 1; //enable the SMBus
//print beginning message
//printf("Embedded Control Steering Calibration\n");
//calibrate_steering();
//printf("\rCalibrated\n");
while(1){
//Steering_Servo();
//printf("H = %d\n",h_counts);
if(h_counts%2){
//printf("We are in %d", h_counts);
heading = read_compass();
}
if(!h_counts){
printf("\rThe Heading is: %u\n", heading); //print the heading
}
//else{printf("\rthis is h_coutn %d\n",h_counts);}
}
}
void main(void) {
Sys_Init(); //All init function
putchar(' ');
XBR0_Init();
ADC_Init();
Port_Init();
PCA_Init();
SMB_Init(); //end the init function
lcd_clear();
lcd_print("initializing\r\n");
printf("\n\n\n\rinitalizing");
PCA0CP2 = 0xFFFF - MOTOR_NEUT;//set all to neutural
PCA0CPL0 = 0xFFFF - PW_CENTER;
PCA0CPH0 = (0xFFFF - PW_CENTER) >> 8;
pause(); //pause for a second?
start_run();
while (1) {
while(SS){ // if the slideswitch is off
slide_switch_off();
}///end slide switch off
while(!SS){ //while the slideswitch is on
Heading();
Ranger();
LCD_Print(); //print all values on the lcd
printf("\n\rRange:%d Compass:%d dh: %d, mPW: %d, sPW %d, batt:%d, obst: %d", range, heading, desired_heading, MOTOR_PW_AND_STEER_PW, STEER_PW, battery, near_obstical); //print these on the secure crt for data aquisition
//printf("\n\r Range:%d Compass:%d dh: %d, mPW: %d, sPW %d, obst: %d", range, heading, desired_heading, MOTOR_PW_AND_STEER_PW, STEER_PW, near_obstical); //print these on the secure crt for data aquisition
}//end slide switch on
} //end of the infinite while loop
}//end of the main function
void main(void) {
Sys_Init(); //All init function
putchar(' ');
XBR0_Init();
ADC_Init();
Port_Init();
PCA_Init();
SMB_Init(); //end the init function
lcd_clear();
lcd_print("initializing\r\n");
PCA0CP2 = 0xFFFF - MOTOR_NEUT;
PCA0CPL0 = 0xFFFF - PW_CENTER;
PCA0CPH0 = (0xFFFF - PW_CENTER) >> 8;
while (n_Counts < 50); //pause for a second?
start_run();
while (1) {
while(SS){ // if the slideswitch is off
slide_switch_off();
}///end slide switch off
while(!SS) //while the slideswitch is on
{
Heading();
Ranger();
LCD_Print(); //print all values on the lcd
printf("\n\r Range:%d Compass:%d PW:%d", range, heading, PW); //print these on the secure crt for data aquisition
}
} //end of the infinite while loop
}//end of the main function
void main(void)
{
Sys_Init();
putchar(' ');
XBR0_Init();
SMB_Init();
PCA_Init();
Drive_Init();
Port_Init();
ADC_Init();
ranger_pd_init();
//fan angle initialization code goes here
while(1)
{
voltage_update();
if(SS)
{
Range_Update(); //update the range
Drive_Motor(ranger_pd());
}
else
Drive_Motor(PW_NEUT); //if ss is not flipped, put it in neutral
}
}
//********************************************************************
// Main Functions
//********************************************************************
void main(void) { //Main function
Sys_Init(); // initialize board
putchar(' '); //the quotes in this line may not format correctly
Port_Init();//Init ports
XBR0_Init();//init xbro
PCA_Init();//init pca
SMB_Init();//init smb
printf("\r\n\n\n\nEmbedded Control Electric Compass and Ranger\n"); //print beginning message
Calibration();//Run calibration
comp_cal(); //Compass calibration
Choose_heading(); //Heading choice
printf("\r\nheading error");
while(1) { //inf loop, 40 ms it returns the heading
if (new_heading){ //enough overflows for a new heading COMPASS STUFF
new_heading = 0;//Clear new_heading
heading = ReadCompass(); //get compass heading
Steering_Servo(); //run steer func
}//end if new heading
if (new_range) { //if 80 ms has passed
new_range=0;//Clear new_range
range=ReadRanger();//read ranger
start_ping();//start ping
counts++;//set up text function
Drive_Motor(); //run drive func
}//end if new_range
if (counts == 3){ //prevoudly output prined every 200 ms, now every 180 ms
print_output();//Print data function. Delete this if faster output is desired
}//end if counts
}//end inf while
}//end main
// Initialization function for device,
// Call Init_Device() from your main program
void Init_Device(void)
{
Reset_Sources_Init();
PCA_Init();
Timer_Init();
ADC_Init();
Voltage_Reference_Init();
Port_IO_Init();
Oscillator_Init();
Interrupts_Init();
}
void main(void) {
// initialize board
Sys_Init();
putchar(' '); //the quotes in this line may not format correctly
Port_Init();
PCA_Init();
SMB_Init();
Interrupt_Init();
printf("Starting\n\r");
//print beginning message
printf("Embedded Control Drive Motor Control\r\n");
// Initialize motor in neutral and wait for 1 second
MOTOR_PW = PW_NEUT;
motorPW = 0xFFFF-MOTOR_PW;
PCA0CPL2 = motorPW;
PCA0CPH2 = motorPW>>8;
printf("Pulse Width = %d\r\n",MOTOR_PW);
c = 0;
while (c < 50); //wait 1 second in neutral
printf("end wait \r\n");
//Main Functionality
while (1) {
if (!SS1) { // If the slide switch is active, set PW to center
PW = PWCENTER;
PCA0CP0 = 0xFFFF - PW; // Update comparator with new PW value
while (!SS1); // Wait...
} else if (take_heading) { // Otherwise take a new heading
reading = Read_Compass(); // Get current heading
printf("%d\n\r", reading);
Steering_Servo(reading); // Change PW based on current heading
PCA0CP0 = 0xFFFF - PW; // Update comparator with new PW value
}
if (getRange) {
getRange = 0; // Reset 80 ms flag
range_val = read_ranger(); // Read the distance from the ranger
printf("Range: %d cm \r\n", range_val);
printf("Pulse Width: %d \r\n", MOTOR_PW);
// Start a new ping
Data[0] = 0x51; // write 0x51 to reg 0 of the ranger:
i2c_write_data(addr, 0, Data, 1); // write one byte of data to reg 0 at addr
}
if (SS0) Drive_Motor(range_val);
else Drive_Motor(45); // Hold the motor in neutral if the slide switch is off
}
}
void main(void)
{
Sys_Init();
putchar(' ');
XBR0_Init();
PCA_Init();
i2c_Init();
while(1)
{
if (new_range)
{
new_range = 0;
cmrange = ReadRanger();
Data[0] = 0x51; //write 0x51 to reg 0 of the ranger:
i2c_write_data(ranger_addr, 0, Data, 1) ; // write one byte of data to reg 0 at addr
printf("range = %d\r\n", cmrange);
}
}
}
//------------------------------------------------------------------------------------
// MAIN Routine
//------------------------------------------------------------------------------------
void main (void) {
Intensite=80; // en %
Lum_ON=20;// choisir valeur entre 1 et 100
Lum_OFF=10;// choisir valeur entre 1 et 100
Lum_Nbre=10;
cpt=0;
ON=1;
nbOverflow=Lum_ON*4; // (x*10^-1)/(25*10^-3) rappel: un overflow tt les 25 ms
Init_Device();
PCA_Init();
EA=1; // Autorisation interruptions
Lumiere();
while (1) { // Boucle infinie
}
}
void main(void)
{
/*设置红外输出引脚为推挽输出*/
P1M1 = 0x00;
P1M0 = 0x1C;
/*PCA模块初始化*/
PCA_Init();
/*Timer定时器初始化*/
Timer0_Init();
/*串口初始化*/
Uart1_Init();
/*ADC的初始化*/
ADC_Init();
/*打开全局中断标识位*/
EA = 1;
/*系统上电，管脚初始化*/
Signal_LED_PIN = 0;
Check_Signal_PIN = 0;
// #ifdef DEBUG
// /*启动32HZ和38KHZ方波输出*/
// T38KHZ_Start();
// T32HZ_Start();
// Timer = 0;
//
// System_State = 1;
// #endif
/*输出初始化成功标识*/
printf("%s","INIT DONE \r\n");
while(1)
{
/*软件复位，不断电，自动下载*/
if(System_IAP_REST_PIN == 0) IAP_CONTR = 0x60;
/***************************检查系统电极接触状态******************************/
if(ADC_Timer == 198)
{
ADC_Buffer = Get_ADC_Result();
printf("%d ",ADC_Buffer);
/*清除系统状态*/
System_State = 0;
if((ADC_Buffer > 140) && (ADC_Buffer <250))
{
/*电极接触*/
System_State = 1;
}
if(System_State != System_State_Buffer)
{
if(System_State == 0)
{
T32HZ_Stop();
T38KHZ_Start();
}
else if(System_State == 1)
{
T38KHZ_Stop();
T32HZ_Start();
}
}
System_State_Buffer = System_State;
printf("%d ",System_State_Buffer);
}
else if(ADC_Timer == 200)
{
ADC_Timer = 0;
}
/*****************************************************************************/
/************************系统状态为充电电极未接触状态*************************/
if(System_State == 0)
{
/*****************************指示灯部分代码程序******************************/
/*未接触时，指示灯4S亮一次*/
if(Signal_LED_PIN_Timer < 50)
{
Signal_LED_PIN = 1;
}
else if(Signal_LED_PIN_Timer >= 3999)
{
Signal_LED_PIN_Timer = 0;
Signal_LED_PIN = 0;
}
else
{
Signal_LED_PIN = 0;
}
/*****************************************************************************/
/****************************红外发射部分代码程序*****************************/
if((IR_Timer >= 0) && (IR_Timer < 50))
{
/*全向红外发射序列*/
/*1*/
if((IR_Timer >= 0) && (IR_Timer < 3))
{
LED_FF_PIN = 1;
}
else if(IR_Timer == 3)
{
LED_FF_PIN = 0;
}
/*0*/
else if(IR_Timer == 4)
{
LED_FF_PIN = 1;
}
else if((IR_Timer >= 5) && (IR_Timer < 7))
{
LED_FF_PIN = 0;
}
/*0*/
else if(IR_Timer == 7)
{
LED_FF_PIN = 1;
}
else if((IR_Timer >= 8) && (IR_Timer < 10))
{
LED_FF_PIN = 0;
}
/*1*/
else if((IR_Timer >= 10) && (IR_Timer < 13))
{
LED_FF_PIN = 1;
}
else if(IR_Timer == 13)
{
LED_FF_PIN = 0;
}
/*0*/
else if(IR_Timer == 14)
{
LED_FF_PIN = 1;
}
else if((IR_Timer >= 15) && (IR_Timer < 17))
{
LED_FF_PIN = 0;
}
/*1*/
else if((IR_Timer >= 17) && (IR_Timer < 20))
{
LED_FF_PIN = 1;
}
else if(IR_Timer == 20)
{
LED_FF_PIN = 0;
}
/*0*/
else if(IR_Timer == 21)
{
LED_FF_PIN = 1;
}
else if((IR_Timer >= 22) && (IR_Timer < 24))
{
LED_FF_PIN = 0;
}
/*1*/
else if((IR_Timer >= 24) && (IR_Timer < 27))
{
LED_FF_PIN = 1;
}
else
{
LED_FF_PIN = 0;
}
}
else if((IR_Timer >= 50) && (IR_Timer < 100))
{
/*左右侧红外发送序列*/
/*L:0 R:0*/
if(IR_Timer == 50)
{
LED_L_PIN = 1;
LED_R_PIN = 1;
}
else if((IR_Timer >= 51) && (IR_Timer < 53))
{
LED_L_PIN = 0;
LED_R_PIN = 0;
}
/*L:0 R:0*/
else if(IR_Timer == 53)
{
LED_L_PIN = 1;
LED_R_PIN = 1;
}
else if((IR_Timer >= 54) && (IR_Timer < 56))
{
LED_L_PIN = 0;
LED_R_PIN = 0;
}
/*L:1 R:0*/
/*L:0 R:1*/
else if(IR_Timer == 56)
{
LED_L_PIN = 1;
LED_R_PIN = 1;
}
else if((IR_Timer >= 57) && (IR_Timer < 59))
{
LED_L_PIN = 1;
LED_R_PIN = 0;
}
else if(IR_Timer == 59)
{
LED_L_PIN = 0;
LED_R_PIN = 1;
}
else if(IR_Timer == 60)
{
LED_L_PIN = 1;
LED_R_PIN = 1;
}
else if(IR_Timer == 61)
{
LED_L_PIN = 0;
LED_R_PIN = 1;
}
else if(IR_Timer == 62)
{
LED_L_PIN = 0;
LED_R_PIN = 0;
}
/*L:0 R:0*/
else if(IR_Timer == 63)
{
LED_L_PIN = 1;
LED_R_PIN = 1;
}
else if((IR_Timer >= 64) && (IR_Timer < 66))
{
LED_L_PIN = 0;
LED_R_PIN = 0;
}
/*L:1 R:1*/
else if((IR_Timer >= 66) && (IR_Timer < 69))
{
LED_L_PIN = 1;
LED_R_PIN = 1;
}
else if(IR_Timer == 69)
{
LED_L_PIN = 0;
LED_R_PIN = 0;
}
/*L:0 R:0*/
else if(IR_Timer == 70)
{
LED_L_PIN = 1;
LED_R_PIN = 1;
}
else if((IR_Timer >= 71) && (IR_Timer < 73))
{
LED_L_PIN = 0;
LED_R_PIN = 0;
}
/*L:1 R:1*/
else if((IR_Timer >= 73) && (IR_Timer < 76))
{
LED_L_PIN = 1;
LED_R_PIN = 1;
}
else
{
LED_L_PIN = 0;
LED_R_PIN = 0;
}
}
else if((IR_Timer >= 100))
{
IR_Timer = 0;
LED_FF_PIN = 0;
LED_L_PIN = 0;
LED_R_PIN = 0;
}
/*****************************************************************************/
}
/**************************统状态为充电电极接触状态***************************/
else if(System_State == 1)
{
/*****************************指示灯部分代码程序******************************/
/*接触时，指示灯常量*/
Signal_LED_PIN = 1;
Signal_LED_PIN_Timer = 0;
/*****************************************************************************/
/************************发射检测信号部分代码程序*****************************/
if(Check_Signal_Timer < 190)
{
Check_Signal_PIN = 1;
}
else if((Check_Signal_Timer >= 197) && (Check_Signal_Timer < 200 ))
{
Check_Signal_PIN = 0;
}
else if(Check_Signal_Timer >= 200)
{
Check_Signal_Timer = 0;
Check_Signal_PIN = 1;
}
/*****************************************************************************/
}
}
}
//-----------------------------------------------------------------------------
// Main Function
//-----------------------------------------------------------------------------
void main(void)
{
// initialize board
Sys_Init();
putchar(' '); //the quotes in this line may not format correctly
Port_Init();
XBR0_Init();
PCA_Init();
ADC_Init();
SMB_Init();
//drive motor config
printf("\rBegin Speed Controller Initialization\n");
PCA0CPL2 = 0xFFFF - PW_SC;
PCA0CPH2 = (0xFFFF - PW_SC) >> 8;
counts = 0;
while(counts < 100); //wait 1 second
printf("\rSC init finished\n");
//start_ping();
// set the PCA output to a neutral setting
PW_SS = PW_CENTER_SS;
PCA0CPL0 = 0xFFFF - PW_SS;
PCA0CPH0 = (0xFFFF - PW_SS)>>8;
/*
//print beginning message
printf("Embedded Control Steering Calibration\n");
printf ("\n\rr or l for direction, space for center, then right, then left\n\r");
while (flag < 3)
{
Steering_Config();
}
*/
//select heading/gain
desired_heading = pick_heading();
gain_SS = pick_gain();
while(1)
{
//steering servo
//ultrasonic ranger
if(!SS1){ //switch is on
Steering_Servo();
Ultrasonic_Ranger();
run_stop = 1;
}
else if(run_stop) {
PW_SC = PW_NEUTRAL_SC; //drive motor stop
PCA0CPL2 = 0xFFFF - PW_SC;
PCA0CPH2 = (0xFFFF - PW_SC) >> 8;
desired_heading = pick_heading();
gain_SS = pick_gain();
run_stop = 0;
}
if(new_display)
{
new_display = 0;
Print_LCD();
}
}
}
//-----------------------------------------------------------------------------
// Main Function
//-----------------------------------------------------------------------------
void main(void)
{
desired_range = 150;
// initialize board
Sys_Init();
putchar(' '); //the quotes in this line may not format correctly
PCA_Init();
ADC_Init();
Interrupt_Init();
Port_Init();
XBR0_Init();
SMB_Init();
putchar('\r');
//print beginning message
printf("En taro Adun, Executor!\r\n");
// set the PCA output to a neutral setting
steering_neutral();
ranger_neutral();
wait(); /* Let stuff warm up */
// Get the PD constants and target heading from the keypad
compass_kp = read_gain()/10.;
desired_heading = read_heading();
compass_kd = read_gain_high();
ranger_kp = read_gain_thrust()/10.;
ranger_kd = read_gain_thrust_high();
//Write the settings to the record
printf ( "Compass KP = %d, Compass KD = %d, Desired Heading = %d, Ranger KP = %d, Ranger KD = %d, Desired Range = %d\r\n",
compass_kp,
compass_kd,
desired_heading,
ranger_kp,
ranger_kd,
desired_range );
printf ( "Time, heading, range\r\n ");
PCA0CPL1 = 0xFFFF - 3200;
PCA0CPH1 = ( 0xFFFF - 3200 ) >> 8 ;
// Start at time 0.
time = 0;
while(1) /* Infinite loop is go */
{
if ( nCounts == 50 )
{
// Update the LCD loop
lcd_clear();
lcd_print( "Batt level: %d\n", get_battery_voltage() );
lcd_print("Heading :%d\n", heading/10);
lcd_print("Alt: %d", range );
if (SS)
lcd_print("PAUSED\n");
else
lcd_print("\n");
lcd_print("# forHead, * forGain");
}
if ( read_keypad() != -1 )
{
// Check the keypad
pause();
if ( getKey() == '#' )
{
// If # was pressed, get a new heading
steering_neutral();
ranger_neutral();
desired_heading = read_heading();
time = 0;
printf ( "Compass KP = %d, Compass KD = %d, Desired Heading = %d, Ranger KP = %d, Ranger KD = %d, Desired Range = %d\r\n",
compass_kp,
compass_kd,
desired_heading,
ranger_kp,
ranger_kd,
desired_range );
printf ( "Time, heading, range\r\n ");
}
else if( getKey() == '*' )
{
// If * was pressed, get new gain contants
steering_neutral();
ranger_neutral();
compass_kp = read_gain()/10.;
compass_kd = read_gain_high();
ranger_kp = read_gain_thrust()/10.;
ranger_kd = read_gain_thrust_high();
time = 0;
printf ( "Compass KP = %d, Compass KD = %d, Desired Heading = %d, Ranger KP = %d, Ranger KD = %d, Desired Range = %d\r\n",
compass_kp,
compass_kd,
desired_heading,
ranger_kp,
ranger_kd,
desired_range );
printf ( "Time, heading, range\r\n ");
}
}
else
pause();
if(SS) //while the SS is off
{
//printf("The slide switch is OFF \r\n");
steering_neutral();
ranger_neutral();
}
if(!SS) //SS is On
{
//printf("The Slide switch is On \r\n");
if ( new_heading )
printf("%lu,%d,%d\r\n",
time,
compass_old_error,
ranger_old_error );
if (new_heading) //wait for 40ms
{
heading=read_compass();
//printf("The heading result is %d\r\n", heading);
new_heading=0;
Steering_Servo( );
}
if (new_range)
{
ReadRanger( );
Speed_Cont( ); //adjust motor speed
new_range=0; //reset ranger flag
}
}
}
}
int main(int argc, char* argv[])
{
#ifdef __linux__
struct sigaction sig_struct;
sig_struct.sa_handler = sig_handler;
sig_struct.sa_flags = 0;
sigemptyset(&sig_struct.sa_mask);
if (sigaction(SIGINT, &sig_struct, NULL) == -1)
{
cout << "Problem with sigaction" << endl;
exit(1);
}
#endif // __linux__
/// === File read needed if moving something from PC to here
// myFP = fopen(netname, "a+");
// if(myFP == NULL)
// {
// cout<<"ERROR opening"<<endl;
// exit(1);
// }
// fread(read_buf, 1, 100, myFP);
// int buffersize = strlen(read_buf);
// fclose(myFP);
// cout<<"read the file: "<<read_buf<<endl;
// =============================================================
int lcdp=lcd_open();
int adcp=ADS1015_Init("/dev/i2c-1");
PCA9685 myPCA={0x40, 0, 69, 0, 0, 0x11, 0x4, 50, 0x79,}; // control structure
myPCA.file=PCA_Init("/dev/i2c-1");
PCA9685_start(myPCA.file);
//adcresult=read_convert_register(adcp);
//sprintf(dis_buf, "ADC: %6.3f V", adcresult);
//lcd_write(dis_buf);
lcd_write("Hello from Steve's\nLCD stuff");
lcd_clear();
get_NIST();
mcp23s17_enable_interrupts(GPIO_INTERRUPT_PIN);
//mcp23s17_enable_interrupts(SW_GPIO_INTERRUPT_PIN);
cout.setf(ios::fixed);
//=== SET CURRENT TIME ==========================
struct tm *newtime; //--- for time now
time_t long_time; //--- Get time as long integer.
double DeltaT=0.0; //--- time since is in minutes
Observer PLACENTIA={"Yorba Linda",Rad(33.909),Rad(-117.782),30.0,0};
//Observer PHILLY={"Philly",Rad(40.0),Rad(-75.0),0.0,0};
double sdctime;
SATELSET Eset;
SATPOS satpos;
//ELLIPSE myEllipse;
//double SP,JDG,E2JD,JDN;
double JDG,E2JD,JDN;
VectorIJK test,test1; //ptest;
//VectLook testlook;
SATSUB SB;
clock_t goal;
clock_t wait=(clock_t)2 * CLOCKS_PER_SEC; // change the 2 for update rate, 2= about 2 seconds
Read_TLE(argv[1], Eset); // read the 2 line data
do
{
time( &long_time );
newtime=gmtime( &long_time ); // time, expressed as a UTC time, GMT timezone
JDN=JD_Now(newtime); //--- JD based on system clock as GMT
JDG=ThetaG_JD(JDN); //--- in radians
E2JD=Epoch2JD(Eset.iEpochYear,Eset.dEpochDay); //--- JD based on TLE epoch
double local_time=0.0;
double test_time=0.0;
local_time=newtime->tm_yday+1+(newtime->tm_hour+(newtime->tm_min+newtime->tm_sec/60.0)/60.0)/24.0;
test_time=local_time-Eset.dEpochDay;
//cout<<"test_time delta days "<<test_time<<endl;
test_time*=1440.0;
//cout<<"test_time delta minutes "<<test_time<<endl;
/**************************************
local_time minus Eset.dEpochDay matches JDN-E2JD.
And is easier to check and calculate and no need for
all the JD and JD0 code.
*************************************/
sdctime=JDN-E2JD; //--- delta days
sdctime*=1440.0; // delta minutes
//sdctime=fmod(sdctime,60);
//cout<<"Current sdctime "<<sdctime<<endl;
DeltaT=sdctime;
//satpos=SatPos(DeltaT, &Eset); //--- get satellite position
satpos=clean_SatPos(DeltaT, &Eset);
cout<<"=====Satellite ECI position============================\n"<<satpos;
test=Obs_Position(PLACENTIA,JDG); //--- get observer position
//test1=Obs_to_ECI(PHILLY,JDG); //-- test data from TS Kelso
test1=Obs_to_ECI(PLACENTIA,JDG);
testlook=LookAngles(satpos, PLACENTIA,JDG); //--- get look angles
SB= SatSubPoint(satpos,JDG);
cout<<"=====Observer ECI====================\n"<<test1;
cout<<"=====Observer Look angles============\n"<<testlook; // for antenna tracker
cout<<"=====Sat Sub Point===================\n"<<SB;
/// used before
//int s_count=read_convert_register_count(adcp);
//set_count(myPCA.file, 0, 5, s_count); // file channel, start count, end count
/// LCD setup and stuff
adcresult=read_convert_register_volts(adcp);
sprintf(dis_buf, "ADC: %6.3f V", adcresult);
lcd_write(dis_buf);
/// aztovolts is the target reference position
double aztovolts = (Deg(testlook.AZ)) * (3.2/360.0);
/// wtf is the difference of the pot input, adcresults, and reference
double wtf = aztovolts - adcresult; /// double - float
printf("\nVOLTS ADC: %6.3f V\n",adcresult);
printf("AZ Degrees: %6.3f \n",Deg(testlook.AZ));
printf("AZ to volts: %6.3f V\n",aztovolts);
printf("DELTA: %6.3f \n",wtf);
/**
volts 0 1.6 3.2
count 200 320 450
max left no motion max right
1 ms 1.5 ms 2ms
50 hz timing
**/
/// for applying delta Vin
//float PCAcount = (wtf*80)+320; ///this is for 0 - 3.2 Vin
float PCAcount = (wtf*80)+300; ///this is for 0 - 3.2 Vin, 340 from measurements
if(wtf< -1.25)
PCAcount = 240;
else if(wtf> 1.25)
PCAcount = 425;
//set_count(myPCA.file, 0, 5, PCAcount); // file channel, start count, end count
set_count(myPCA.file, 0, 1, PCAcount); // file channel, start count, end count
//set_count(myPCA.file, 1, 1, PCAcount); // file channel, start count, end count
printf("MOTOR count: %6.3f \n",PCAcount);
//#define TRACK 0
//#define LOCATION 1
//#define SATDATA 2
//#define NIST 3
if(display_count < 5)
{
display_control(TRACK, PLACENTIA, SB, Eset, testlook);
display_count++;
LED_off(GPIO_INTERRUPT_PIN);
}
else
{
display_control(LOCATION, PLACENTIA, SB, Eset, testlook);
display_count++;
LED_on(GPIO_INTERRUPT_PIN);
}
if(display_count > 10)
{
display_count = 0;
}
/**
====================
Look angles:visible
AZ:123456 EL:123456
Sat LAT/LONG
LT:123456 LG:123456
====================
Location Yorba Linda
LT:123456 LG:123456
Range: 123456
====================
Tracking:ISS (ZARYA)
Incl:12345
MM: 123456
MA: 123456
**/
/// LCD done
goal = wait + clock();
while( goal > clock() );
#ifdef __linux__
if(ctrl_c_pressed)
{
cout << "Ctrl^C Pressed" << endl;
cout << "unexporting pins" << endl;
//gpio26->unexport_gpio();
//gpio16->unexport_gpio();
mcp23s17_disable_interrupts(GPIO_INTERRUPT_PIN);
//mcp23s17_disable_interrupts(SW_GPIO_INTERRUPT_PIN);
cout << "deallocating GPIO Objects" << endl;
//delete gpio26;
//gpio26 = 0;
//delete gpio16;
//gpio16 =0;
break;
}
#endif // __linux__
}
#ifdef __linux__
while(1);
#elif _WIN32
while(!(_kbhit()));
#else
#endif
//while(1);
//while(!(_kbhit()));
//pthread_exit(NULL);
set_all(myPCA.file, 0, 0); /// kill the servos
lcd_close(); /// kill the LCD
return 0;
}