int main (void) {
passedCenterFlag = 0;
configClock ();
PORTE.DIR = 0b11000000;
PORTF.DIR = 0b00001111;
PMIC.CTRL |= PMIC_HILVLEN_bm;
PMIC.CTRL |= PMIC_LOLVLEN_bm;
TCF0.CCABUF = STARTUP_PWM;
TCF0.CCBBUF = STARTUP_PWM;
TCF0.CCCBUF = STARTUP_PWM;
TCF0.CCDBUF = STARTUP_PWM;
TCE0.CCABUF = STARTUP_PWM/2;
TCE0.CCBBUF = STARTUP_PWM/2;
TCE0.CCCBUF = STARTUP_PWM/2;
TCE0.CCDBUF = STARTUP_PWM/2;
configPWM (&TCF0, &HIRESF, 5000);
configHalfPWMTimer (&TCE0, &HIRESE, 5000);
TCF0.CNT = 0;
TCE0.CNT = 0;
configDelayTimer (&TCC0);
initAdc (&ADCA);
initAdc (&ADCB);
sei();
startup();
//~ autoCommutationFlag = 1;
// float everything
//~ SET_phaseOutputsEHigh(0);
//~ SET_phaseOutputsEHigh(0);
//~
//~ SET_phaseOutputsELow(0);
//~ SET_phaseOutputsELow(0);
//~
//~ SET_phaseOutputsFHigh(0);
//~ SET_phaseOutputsFHigh(0);
//~
//~ SET_phaseOutputsFLow(0);
//~ SET_phaseOutputsFLow(0);
//~
//~ PORTE.OUT = 0;
//~ PORTF.OUT = 0;
_delay_ms(1000);
_delay_ms(1000);
TCF0.CCBBUF = 1600;
TCE0.CCBBUF = 1600/2;
spiInit ();
while (1) {}
}
int main(void)
{
//Calibração do sensor
/*configPWM();
setServoAngle(0);
while(1){
}*/
double dt = 0.0;
double curr_err = 0;
float PID_Input = 0;
float PID_Output = 0;
int i_PID_Input = 0;
int i_Output = 0;
char c_PID_Input[4];
char c_Output[4];
char c_adc_value[4];
float gain = -20.0;
ADC_config();
ADC_Start();
USART_config();
configPWM();
setServoAngle(0);
ConfigSerie_BT();
pid_start();
pid_timer_config();
configMotorPWM(500);
setMotorDirection(1);
duty_cycle = 10;
while(1)
{
if(mode == 1)
{
if(all_read == 1)
{
PID_Input = Centroid_Algorithm();
curr_err = (3.5 - PID_Input);
dt = TCNT5;
dt = (dt*16)/1000000;
pid_update(ptr, curr_err,dt);
PID_Output = PID.control;
itoa(i_Output, c_Output, 10);
SendString((char*)"\n-------------------\n");
SendString((char*)"\nSaída_PID 1: ");
SendString(c_Output);
PID_Output = PID_Output*gain;
if(PID_Output > 75)
PID_Output = 75;
if(PID_Output < -75)
PID_Output = -75;
setServoAngle(PID_Output);
i_PID_Input = (int) PID_Input;
i_Output = (int) PID_Output;
itoa(i_PID_Input, c_PID_Input ,10);
itoa(i_Output, c_Output, 10);
SendString((char*)"\nLeituras: ");
for(int i = 0; i < 8; i++)
{
itoa(adc_value[i], c_adc_value, 10);
SendString(c_adc_value);
UsartSendByte(' ');
}
SendString((char*)"\nEntrada PID: ");
SendString(c_PID_Input);
SendString((char*)"\nSaída_PID 2: ");
SendString(c_Output);
all_read = 0;
ADMUX &= 0XE0; //Limpa ADMUX
ADMUX |= channel; //Selecciona o canal 0
ADCSRA |= (1<<ADSC); //Inicia conversão
}
}
if(mode == 0)
{
//
}
}
}
