void main()
{
systemInit();
//Among other things, allocates byte arrays for sending commands.
dynamixel_init();
// Oooh. what's this?
setDigitalOutput(param_arduino_DTR_pin, LOW);
ioTxSignals(0);
//usbInit();
uart1Init();
uart1SetBaudRate(param_baud_rate);
// Initial setting of serial mode
updateSerialMode();
// Set up P1_5 to be the radio's TX debug signal.
// P1DIR |= (1<<5);
// IOCFG0 = 0b011011; // P1_5 = PA_PD (TX mode)
// P1DIR |= 0x20; //Enable pin P1_5
while(1)
{
uint32 ms;
uint16 now;
uint16 speed;
updateSerialMode();
boardService();
updateLeds();
errorService();
// Code for oscillating a servo back and forth
ms = getMs(); // Get current time in ms
now = ms % (uint32)10000; // 10 sec for a full swing
if(now >= (uint16)5000){ // Goes from 0ms...5000ms
now = (uint16)10000 - now; // then 5000ms...0ms
}
speed = interpolate(now, 0, 5000, 100, 900); // speed is really the position.
ax12SetGOAL_POSITION(32, speed);
delayMs(30);
}
}
void main()
{
systemInit();
setDigitalOutput(param_arduino_DTR_pin, LOW);
ioTxSignals(0);
usbInit();
uart1Init();
uart1SetBaudRate(param_baud_rate);
if (param_serial_mode != SERIAL_MODE_USB_UART)
{
radioComRxEnforceOrdering = 1;
radioComInit();
}
// Set up P1_5 to be the radio's TX debug signal.
P1DIR |= (1<<5);
IOCFG0 = 0b011011; // P1_5 = PA_PD (TX mode)
while(1)
{
updateSerialMode();
boardService();
updateLeds();
errorService();
/* toggle_led();*/
if (param_serial_mode != SERIAL_MODE_USB_UART)
{
radioComTxService();
}
usbComService();
switch(currentSerialMode)
{
case SERIAL_MODE_USB_RADIO: usbToRadioService(); break;
case SERIAL_MODE_UART_RADIO: uartToRadioService(); break;
case SERIAL_MODE_USB_UART: usbToUartService(); break;
}
}
}
void main()
{
// uint32 ms;
// uint32 now;
//
uint8 cmdrAlive = 0;
// Here we define what pins we will be using for PWM.
// uint8 CODE pwmPins[] = {ptrGunMotor->pwmpin};
uint8 CODE pwmPins[] = {11};
MOTOR gunMotor = MAKE_MOTOR_3_PIN(pwmPins[0], 12, 13); //(PWM, B, A)
MOTOR *ptrGunMotor = &gunMotor;
// setDigitalOutput(param_arduino_DTR_pin, LOW);
// ioTxSignals(0);
// Initialize UARTs
uart0Init();
uart0SetBaudRate(param_baud_rate_UART);
uart1Init();
uart1SetBaudRate(param_baud_rate_XBEE);
pwmStart((uint8 XDATA *)pwmPins, sizeof(pwmPins), 10000);
guns_firing_duration = 125; // time in ms
gunbutton = zFALSE;
solenoid_on_duration = 80; // time in ms
solenoidbutton = zFALSE;
laserbutton = zFALSE;
systemInit();
// Initialize other stuff
index_cmdr = -1;
/// MAIN LOOP ///
while(1)
{
// updateSerialMode();
boardService();
updateLeds();
errorService();
// cmdr counts down from CMDR_ALIVE_CNT by -1 whenever no packets are received?
cmdrAlive = (uint8) CLAMP(cmdrAlive + CmdrReadMsgs(), 0, CMDR_ALIVE_CNT);
// ms = getMs(); // Get current time in ms
// now = getMs();
// now = ms % (uint32)10000; // 10 sec for a full swing
// if(now >= (uint16)5000){ // Goes from 0ms...5000ms
// now = (uint16)10000 - now; // then 5000ms...0ms
// }
// speed = interpolate(now, 0, 5000, 100, 900);
if (laserbutton == zTRUE && cmdrAlive > 0){
// uart0TxSendByte('L');
setDigitalOutput(param_laser_pin, HIGH);
}
else {setDigitalOutput(param_laser_pin, LOW);}
//FIRE THE GUNS!!!!!
//Resets timer while gunbutton is held down.
if (gunbutton == zTRUE){
// uart0TxSendByte('Z');
guns_firing = zTRUE;
setMotorSpeed(ptrGunMotor, -60); //NOTE: (7.2 / 12.6) * 127 = 72.5714286
guns_firing_start_time = getMs();
}
//Check whether to stop firing guns
if (guns_firing && clockHasElapsed(guns_firing_start_time, guns_firing_duration)){
// uart0TxSendByte('X');
guns_firing = zFALSE;
setMotorSpeed(ptrGunMotor, 0); //NOTE: (7.2 / 12.6) * 127 = 72.5714286
guns_firing_start_time = getMs();
}
//Activate solenoid for hopup feed unjammer
if (solenoidbutton == zTRUE){
// uart0TxSendByte('Z');
solenoid_on = zTRUE;
setDigitalOutput(10, HIGH);
solenoid_on_start_time = getMs();
}
//Check whether to disable solenoid
if (solenoid_on && clockHasElapsed(solenoid_on_start_time, solenoid_on_duration)){
// uart0TxSendByte('X');
solenoid_on = zFALSE;
setDigitalOutput(10, LOW);
solenoid_on_start_time = getMs();
}
delayMs(5);
}
}
