void cmd_interpreter( void *xBoard,int pressed_key) {
// ================================================
//printf("I am inside cmd_interpreter() before switch. \n");
switch (pressed_key) {
case 117:
// pressed_key char = u or int = 117
// DRIVE CNC ALONG Y-AXIS
printf("u \tdrive_up (500) y-axis (12,8 CW)\t==> Y-axis PINS = (0)(0) (1/0)(1) (0)(0) running ... ");
drive_up(xBoard, 500); // DRIVE (12,8 CW)
printf("done.\n");
break;
case 100:
// pressed_key char = d or int = 100
// DRIVE CNC ALONG Y-AXIS
printf("d \tdrive_down (500) y-axis (4,0 CCW)\t==> Y-axis PINS = (0)(0) (1)(0) (0)(0) running ... ");
drive_down(xBoard, 500); // DRIVE (4,0 CCW)
printf("done.\n");
break;
case 114:
// pressed_key char = r or int = 114
// DRIVE CNC ALONG X-AXIS
printf("r \tdrive_right (500) x-axis (3,2 CW)\t==> X-axis PINS = (1/0)(1) (0)(0) (0)(0) running ... ");
drive_right(xBoard, 500); // DRIVE (3,2 CW)
printf("done.\n");
break;
case 108:
// pressed_key char = l or int = 108
// DRIVE CNC ALONG X-AXIS
printf("l \tdrive_left (500) x-axis (1,0 CCW)\t==> X-axis PINS = (1)(0) (0)(0) (0)(0) running ... ");
drive_left(xBoard, 500); // DRIVE (1,0 CCW)
printf("done.\n");
break;
case 122:
// pressed_key char = z or int = 122
// DRIVE CNC ALONG Z-AXIS
printf("z \tdrivepen_up (500) z-axis (16,0 CW)\t==> Z-axis PINS = (0)(0) (0)(0) (1)(0) running ... ");
pen_up(xBoard, 500); // DRIVE (16,0 CW)
printf("done.\n");
break;
case 115:
// pressed_key char = s or int = 115
// DRIVE CNC ALONG Z-AXIS
printf("s \tdrivepen_down(500) z-axis (48,32 CCW)\t==> Z-axis PINS = (0)(0) (0)(0) (1/0)(1) running ... ");
pen_down(xBoard, 500); // DRIVE (48,32 CCW)
printf("done.\n");
break;
//===========
case 113:
// pressed_key char = q or int = 113
// QUIT AND EXIT PROGRAM
printf("q \tQuit and exit. \t\t==> Alhamdulillah. Done. \n\n");
// reset_CNC();
// RELEASE IO_PORTADDRESS WITH VALUE 0
printf("Alhamdulillah. Parallel port successfully released. \n\n");
close_keyboard();
exit(0);
default:
printf("%c \tERROR: Invalid command: ==> char %c or int %d \n", pressed_key, pressed_key, pressed_key);
}
//printf("I am exiting cmd_interpreter() after switch. \n");
}
int main(void) {
//setting PWM-Ports as output
DDRB = 0xFF; //set port B as output
DDRD = 0b11111101; //set port D as output with pin D1 input
//setup the pwm for the servo
TCCR1A = _BV(COM1A1) // set OC1A/B at TOP
| _BV(COM1B1) // clear OC1A/B when match
| _BV(WGM11); //(fast PWM, clear TCNT1 on match ICR1)
TCCR1B = _BV(WGM13)
| _BV(WGM12)
| _BV(CS11); // timer uses main system clock with 1/8 prescale
ICR1 = 20000; // used for TOP, makes for 50 hz PWM
OCR1A = 1500; // servo at center
//set up pwm for the motors
TCCR0A = _BV(COM0A1) // set OC1A/B at TOP
| _BV(COM0B1) // clear OC1A/B when match
| _BV(WGM00) // fast PWM mode
| _BV(WGM01);
TCCR0B = _BV(CS01)
| _BV(CS00);
drive_stop(0); //motors stopped
servo_position(servo_center, 50); //servo center
//variables to hold the distances;
uint16_t forward_dist;
uint16_t left_dist;
uint16_t right_dist;
uint8_t fwd_count;
servo_position(servo_center, 50);
while(1)
{
forward_dist = sensor_distance();
_delay_ms(50);
if (forward_dist <= forward_buffer)
{
drive_stop(0);
beep_meow();
servo_position(servo_left, 400);
left_dist = sensor_distance();
servo_position(servo_right,400);
right_dist = sensor_distance();
servo_position(servo_center,200);
while ((left_dist > right_dist) && (forward_dist <= (forward_buffer + now_clear)))
{
drive_left(speed_80p);
forward_dist = sensor_distance();
_delay_ms(50);
}
while ((left_dist <= right_dist) && (forward_dist <= (forward_buffer + now_clear)))
{
drive_right(speed_80p);
forward_dist = sensor_distance();
_delay_ms(50);
}
}
drive_forward(speed_80p);
fwd_count++;
if (fwd_count == 20)
{
fwd_count = 0;
servo_position(servo_left, 150);
left_dist = sensor_distance();
if (left_dist <= sides_buffer)
{
drive_stop(0);
beep_meow();
while (left_dist <= (sides_buffer + now_clear))
{
drive_right(speed_80p);
left_dist = sensor_distance();
_delay_ms(100);
}
}
servo_position(servo_center,100);
servo_position(servo_right, 150);
right_dist = sensor_distance();
if (right_dist <= sides_buffer)
{
drive_stop(0);
beep_meow();
while (right_dist <= (sides_buffer + now_clear))
{
drive_left(speed_80p);
right_dist = sensor_distance();
_delay_ms(100);
}
}
servo_position(servo_center,100);
}
}
return 0;
}
