int16_t main(void)
{
unsigned int buttonCounter = 20000;
int i;
/* Configure the oscillator for the device */
ConfigureOscillator();
/* Initialize IO ports and peripherals */
InitApp();
//initSerial();
initSPI1();
initSPI2();
InitI2C();
__delay32(1600000); // allow for POR for all devices
initnRF();
ControlByte = 0x00D0; // mpu6050 address
InitMPU6050(ControlByte);
// InitHMC5883L();
__delay_ms(500);
/** Init control loop *****************************************************/
readSensorData();
accXangle = (atan2(accel[0], accel[2])*RAD_TO_DEG);
accYangle = (atan2(accel[1], accel[2])*RAD_TO_DEG);
gyroXangle = accXangle;
gyroYangle = accYangle;
compAngleX = accXangle;
compAngleY = accYangle;
AngleOffset[0] = accXangle;
AngleOffset[1] = accYangle;
CalibrateGyro(); // Finding the gyro zero-offset
SetupInterrupts();
////// int serStringN = 14;
////// char nRFstatus = 0;
//////// int i;
////// delaytime = 1;
////// bool mode = 0;
while(1)
{
/** Read Button RB7 for enable steppers *******************************/
if (buttonState == 0 && PORTBbits.RB7 && !buttonCounter)
{
buttonState = 1;
buttonCounter = 20000;
enableSteppers = 0;
}
if (buttonState == 1 && !PORTBbits.RB7 && !buttonCounter)
{
enableSteppers = 2;
__delay32(40000000);
buttonState = 2;
buttonCounter = 20000;
enableSteppers = 1;
}
if (buttonState == 2 && PORTBbits.RB7 && !buttonCounter)
{
buttonState = 3;
buttonCounter = 20000;
enableSteppers = 0;
}
if (buttonState == 3 && !PORTBbits.RB7 && !buttonCounter)
{
buttonState = 0;
buttonCounter = 20000;
enableSteppers = 0;
}
if (buttonCounter)
{
buttonCounter--;
}
for (i=0;i<100;i++)
{
i=i;
}
// __delay32(100);
}
}
int main(void)
{
int pwm;
int adc_on;
int adc_off;
uint16_t i;
element elem;
robot.rotation_target = 0;
robot.right_motor_pos =0;
robot.left_motor_pos =0;
robot.right_motor_target =0;
robot.left_motor_target =0;
SysTick_Config(168000000/8/1000000); // interrupr 1000000 per secound
initTimer3(1);
initMotors();
initEncoders();
initUsart3();
// enableUSART3RXNEInterrupt();
initADC();
initIRSensors();
initLED();
initSPI2();
LED_OFF;
waitMs(1000);
LED_ON;
initPIDStructures();
stopMotors();
resetEncoders();
updateRobotState();
robot.left_ir_sensor_target = measures.left_ir_sensor;
robot.right_ir_sensor_target = measures.right_ir_sensor;
initQueue(&robot_queue);
//addMove(&robot_queue,FORWARD,2000);
addMove(&robot_queue,ROTATE,20000);
// addMove(&robot_queue,FORWARD,9000);
// addMove(&robot_queue,ROTATE,0);
// addMove(&robot_queue,ROTATE,6000);
// addMove(&robot_queue,FORWARD,9000);
// addMove(&robot_queue,ROTATE,6000);
// addMove(&robot_queue,ROTATE,12000);
// addMove(&robot_queue,FORWARD,9000);
// addMove(&robot_queue,ROTATE,12000);
// addMove(&robot_queue,ROTATE,3000);
// nextMove();
LED_ON;
while(1)
{
if ( isBatteryWeak() ){
stopMotors();
blinkLed();
}
if (flags.update_robot == 1){
moveRobot();
updateRobotState();
flags.update_robot =0;
}
if (flags.usart_custom == 1){
USART3_transmitString(itoa((int) robot.rotation, buf,10));
USART3_transmitString(" ");
USART3_transmitString(itoa((int) robot.rotation_target, buf,10));
USART3_transmitString("\n");
}
}
// flags.usart_custom == 0;
// USART3_transmitString("lewe_kolo_diff ");
// USART3_transmitString(itoa((int) robot.left_motor_target - robot.left_motor_pos , buf,10));
// USART3_transmitByte('\n');
// USART3_transmitString("lewe kolo pwm ");
// USART3_transmitString(itoa((int) getTranslation(LEFT_MOTOR) , buf,10));
// USART3_transmitByte('\n');
//
// USART3_transmitString("prawe kolo diff ");
// USART3_transmitString(itoa((int) robot.right_motor_target - robot.right_motor_pos , buf,10));
// USART3_transmitByte('\n');
// USART3_transmitString("prawe kolo pwm ");
// USART3_transmitString(itoa((int) getTranslation(RIGHT_MOTOR) , buf,10));
// USART3_transmitByte('\n');
// }
//
// if (flags.usart_graph == 1){
// static uint8_t usart_start = 1;
// if (usart_start ){
// usart_start=0;
// USART3_transmitString("\n");
// USART3_transmitString("\n");
// USART3_transmitString("\n");
// USART3_transmitString("__start__\n");
// USART3_transmitString("lewe_kolo_pozycja ");
// USART3_transmitString("lewe_kolo_cel ");
// USART3_transmitString("lewe_kolo_diff ");
// USART3_transmitString("lewe_kolo_pwm_T ");
// USART3_transmitString("prawe_kolo_pozycja ");
// USART3_transmitString("prawe_kolo_cel ");
// USART3_transmitString("prawe_kolo_diff ");
// USART3_transmitString("prawe_kolo_pwm_T \n");
// USART3_transmitString(" \n");
// }
//
// USART3_transmitString(itoa((int) robot.right_motor_pos , buf,10));
// USART3_transmitString(" ");
// USART3_transmitString(itoa((int) robot.right_motor_target , buf,10));
// USART3_transmitString(" ");
// USART3_transmitString(itoa((int) robot.right_motor_target - robot.right_motor_pos , buf,10));
// USART3_transmitString(" ");
// USART3_transmitString(itoa((int) getTranslation(RIGHT_MOTOR) , buf,10));
// USART3_transmitString(" ");
// USART3_transmitString(itoa((int) robot.left_motor_pos , buf,10));
// USART3_transmitString(" ");
// USART3_transmitString(itoa((int) robot.left_motor_target , buf,10));
// USART3_transmitString(" ");
// USART3_transmitString(itoa((int) robot.left_motor_target - robot.left_motor_pos , buf,10));
// USART3_transmitString(" ");
// USART3_transmitString(itoa((int) getTranslation(LEFT_MOTOR) , buf,10));
// USART3_transmitByte('\n');
// flags.usart_graph = 0;
// }
// }
//
return 0;
}
