void main(void)
{
//initialize portc
PORTC = 0x00;
TRISC = 0x00;
//initialize pwm
PWM_Init(5000); //initialize pwm at 5khz
PWM1_Duty(0); //set initial duty cycle at 0 on pin RC2
PWM2_Duty(0);
//start pwm
PWM1_Start();
PWM2_Start();
while (1)
{
for (int i=0; i<1023; i+=4)
{
PWM1_duty();
PWM2_Duty(1023-i);
__delay_ms(2);
}
}
}
void main() {
InitMain();
current_duty = 200; // initial value for current_duty
current_duty1 = 200; // initial value for current_duty1
TRISA = 0xFF; // PORTA is input
TRISB = 0xFF; // Set PORTB as input
//PORTB = 0x00;
PWM1_Start(); // start PWM1
PWM2_Start(); // start PWM2
PWM1_Set_Duty(0); // Set current duty for PWM1
PWM2_Set_Duty(0); // Set current duty for PWM2
adcon1 = 0b1000010;
while (1) { // endless loop
temp_res = ADC_Read(0);
temp_res=temp_res*255.0/1024.0;
newduty=temp_res;
if(RB0_bit==1 && RB1_bit==0){
PWM1_Set_Duty(newduty);
PWM2_Set_Duty(0);
}else if(RB0_bit==0 && RB1_bit==1){
PWM1_Set_Duty(0);
PWM2_Set_Duty(newduty);
}
else{
PWM1_Set_Duty(0);
PWM2_Set_Duty(0);
}
Delay_ms(5); // slow down change pace a little
}
}
void custom_start_flashlight(kal_uint8 red_level, kal_uint8 green_level, kal_uint8 blue_level, kal_uint8 duty)
{
custom_cfg_gpio_set_level(GPIO_DEV_LED_STATUS_1, ((red_level>0) ? LED_LIGHT_LEVEL5 : LED_LIGHT_LEVEL0));
custom_cfg_gpio_set_level(GPIO_DEV_LED_STATUS_2, ((green_level>0) ? LED_LIGHT_LEVEL5 : LED_LIGHT_LEVEL0));
custom_cfg_gpio_set_level(GPIO_DEV_LED_STATUS_3, ((blue_level>0) ? LED_LIGHT_LEVEL5 : LED_LIGHT_LEVEL0));
PWM2_Configure(PWM2_Level_Info[0][0], duty);
PWM2_Start();
}
void PWM2_level(kal_uint8 level)
{
if (level > 5)
ASSERT(0);
PWM2_LEVEL_SAVE = level;
if (level)
{
PWM2_Configure(PWM2_Level_Info[level-1][0],PWM2_Level_Info[level-1][1]);
PWM2_Start();
}
else
{
PWM2_Stop();
}
}
void main(void)
{
// Enable Global Interrupt
M8C_EnableGInt;
// Clear the flags
FlagsElevator = 0;
FlagsAileron = 0;// new for motorcontroll2
FlagUltrasoon = 0;
// Start timers and enable interrupt
Timer1_Start();
Timer1_EnableInt();
Timer2_Start();// new for motorcontroll2
Timer2_EnableInt();// new for motorcontroll2
Timer3_Start();
Timer3_EnableInt();
TriggerUltrasoon();
// Init motors
PWM1_Start();
PWM2_Start();
#if (DEBUG_LCD)
LCD_Start();
#endif
while (TRUE)
{
float aileronNormalized,
elevatorNormalized;
float distance;
float speed, direction;
float motorLeft, motorRight;
BOOL forward;
aileronNormalized = EvaluateAileron(PulseWidthAileron);
direction = fabs(aileronNormalized);
elevatorNormalized = EvaluateElevator(PulseWidthElevator);
speed = fabs(elevatorNormalized);
forward = (elevatorNormalized >= 0);
distance = EvaluateUltrasoonSensor();
if (distance < MIN_SAFE_DISTANCE)
{
if (forward)
speed = 0;
}
motorLeft = speed; // default is straight forward
motorRight = speed;
if (aileronNormalized < 0) // turning left
{
motorRight = speed;
motorLeft = speed * (1 - direction);
}
else if (aileronNormalized > 0) // turning right
{
motorLeft = speed;
motorRight = speed * (1 - direction);
}
if (forward)
{
// ccw
PRT1DR |= 0x08; // AIN1
PRT1DR &= ~0x02; // AIN2
PRT1DR |= 0x20; // BIN1
PRT1DR &= ~0x80; // BIN2
}
else
{
//cw
PRT1DR &= ~0x08; // AIN1
PRT1DR |= 0x02; // AIN2
PRT1DR &= ~0x20; // BIN1
PRT1DR |= 0x80; // BIN2
}
// Denormalize to Engine
motorLeft *= (MAX_POWER - MIN_POWER);
motorLeft += MIN_POWER;
motorRight *= (MAX_POWER - MIN_POWER);
motorRight += MIN_POWER;
PWM1_WritePulseWidth(motorLeft);
PWM2_WritePulseWidth(motorRight);
#if (DEBUG_LCD)
LCD_Position(0,7);
LCD_PrHexInt(motorLeft);
LCD_Position(1,7);
LCD_PrHexInt(motorRight);
LCD_Position(0,12);
LCD_PrCString(forward ? "F" : "B");
#endif
}
}
