/*
* The printTime() function takes a time value in milliseconds and a header value
* and prints the time and the header to the LCD.
*/
void printTime(int totalTime, char header){
int mins = totalTime/60000;
int mins_tens = mins/10;
int secs = 0;
int secs_tens = 0;
int ms = 0;
int ms_tens = 0;
totalTime = totalTime - mins*60000;
secs = totalTime/1000;
secs_tens = secs/10;
totalTime = totalTime - secs*1000;
ms = totalTime/10;
ms_tens = ms/10;
if(header == RUNNING_CONST) {
moveCursorLCD(0, 4);
printStringLCD("Running:");
}
else {
moveCursorLCD(0, 4);
printStringLCD("Stopped:");
}
moveCursorLCD(1,4);
printCharLCD(mins_tens|(0b00110000));
printCharLCD((mins%10)|(0b00110000));
printCharLCD(':');
printCharLCD(secs_tens|(0b00110000));
printCharLCD((secs%10)|(0b00110000));
printCharLCD(':');
printCharLCD(ms_tens|(0b00110000));
printCharLCD((ms%10)|(0b00110000));
}
void testLCD(){
clearLCD();
moveCursorLCD(0,0);
printStringLCD(" DUNCAN JULIAN ");
moveCursorLCD(0,1);
printStringLCD(" KYLE SULTAN ");
}
int main(void) {
SYSTEMConfigPerformance(40000000);
initKeypad();
enableEnterruptKeypad();
initTimer2();
initLCD();
enableInterrupts();
moveCursorLCD(0,0);
state = Wait;
while (1) {
switch (state) {
case Wait:
break;
case Scan:
key = scanKeypad();
state = MoveCursor;
break;
case MoveCursor:
if(count == 0) moveCursorLCD(0,0);
else if (count == 9) moveCursorLCD(1,0);
state = Print;
break;
case debounce1:
delayUs(500);
state = Scan;
break;
case debounce2:
delayUs(500);
state = MoveCursor;
break;
case Print:
delayUs(100);
if(key == 0) printCharLCD('0');
else if(key == 1) printCharLCD('1');
else if(key == 2) printCharLCD('2');
else if(key == 3) printCharLCD('3');
else if(key == 4) printCharLCD('4');
else if(key == 5) printCharLCD('5');
else if(key == 6) printCharLCD('6');
else if(key == 7) printCharLCD('7');
else if(key == 8) printCharLCD('8');
else if(key == 9) printCharLCD('9');
else if(key == 10) printCharLCD('*');
else if(key == 11) printCharLCD('#');
state = Wait;
break;
}
}
return 0;
}
int main(void)
{
initLCD();
initKeypad();
enableInterrupts();
int counter = 1;
char output = 'a';
while(1)
{
switch(state)
{
case Read_Keypad:
if(ROW1 == PRESSED || ROW2 == PRESSED || ROW3 == PRESSED || ROW4 == PRESSED)
{
output = scanKeypad();
}
if(ROW1 == RELEASED || ROW2 == RELEASED || ROW3 == RELEASED || ROW4 == RELEASED)
{
state = Print_LCD;
}
break;
case Print_LCD:
if( counter < 8)
{
printCharLCD(output);
counter++;
}
else if (counter == 8)
{
printCharLCD(output);
counter++;
moveCursorLCD(1, 2);
}
else if (counter > 8 && counter < 16)
{
printCharLCD(output);
counter++;
}
else if(counter == 16)
{
printCharLCD(output);
counter = 0;
moveCursorLCD(1, 1);
}
state = Read_Keypad;
break;
}
}
return 0;
}
void addChar(char c){
if (column == 8)
{
column = 0;
row++;
}
if (row == 2)
row = 0;
moveCursorLCD(row, column);
printCharLCD(c);
column++;
return;
if(column != 8){ //end of the columns
if(row != 2){ //end of the rows
}
else{
row = 0;
column = 0;
}
}
else{
++row;
column = 0;
printCharLCD(c);
++column;
}
}
//**************REMOVE?****************
void testIR() {
#ifdef use_digital_ir
printIR();
#endif
moveCursorLCD(1, 2);
printStringLCD("testing");
}
void printTimeLCD(int time){
char timeString[9] = {"\0"};
int mm = time/6000; // integer division for the win
int ss = (time%6000)/100;
int nn = time%100;
moveCursorLCD(0,1);
sprintf(timeString, "%02d:%02d:%02d", mm,ss,nn);
printStringLCD(timeString);
}
void analogPrintIR(int irData) {
// gather data from ports
// may need to swap port1-2-3-4 function inupts with global definitions...
//////// printIRStateCode(lastTrackLineState);
//////// printCharLCD(' ');
////////
//////// printCharLCD(((irData & 128) >> 7) + '0');
//////// printCharLCD(((irData & 64) >> 6) + '0');
//////// printCharLCD(((irData & 32) >> 5) + '0');
////////
//////// moveCursorLCD(1, 1);
//////// printStringLCD(" ");
//////// printCharLCD(((irData & 16) >> 4) + '0');
////////
//////// printCharLCD(((irData & 4) >> 2) + '0');
//////// printCharLCD(((irData & 2) >> 1) + '0');
//////// printCharLCD(((irData & 1) >> 0) + '0');
////////
//////// printCharLCD(((irData & 8) >> 3) + '0');
clearLCD();
printIRStateCode(lastTrackLineState);
printCharLCD(' ');
//////// printCharLCD(((irData % 100000000) / 10000000) + '0'); // print eight digit
//////// printCharLCD(((irData % 10000000) / 1000000) + '0'); // print seventh digit
//////// printCharLCD(((irData % 1000000) / 100000) + '0'); // print sixth digit
//////// moveCursorLCD(1, 1);
//////// printStringLCD(" ");
////////
////////
//////// printCharLCD(((irData % 100000) / 10000) + '0'); // print fifth digit
//////// printCharLCD(((irData % 10000) / 1000) + '0'); // print fourth digit
//////// printCharLCD(((irData % 100) / 10) + '0'); // print second digit
//////// printCharLCD((irData % 10) + '0'); // print first digit
//////// printCharLCD(((irData % 1000) / 100) + '0'); // print fourth digit
////////
printCharLCD(((irData % 100) / 10) + '0'); // print second digit
printCharLCD(((irData % 100000000) / 10000000) + '0'); // print eight digit
printCharLCD(((irData % 100000) / 10000) + '0'); // print fifth digit
moveCursorLCD(1, 1);
printStringLCD(" ");
printCharLCD(((irData % 10000) / 1000) + '0'); // print fourth digit
printCharLCD(((irData % 1000000) / 100000) + '0'); // print sixth digit
printCharLCD((irData % 10) + '0'); // print first digit
printCharLCD(((irData % 10000000) / 1000000) + '0'); // print seventh digit
printCharLCD(((irData % 1000) / 100) + '0'); // print fourth digit
return;
}
void __ISR(_CHANGE_NOTICE_VECTOR, IPL7SRS) _CNInterrupt(void) {
//TODO: Implement the interrupt to capture the press of the button
//char key;
dummyVariable = PORTDbits.RD6; // change the value
dummyVariable2 = PORTGbits.RG12;
//dummyVariable2 = PORTDbits.RD5;
dummyVariable3 = PORTDbits.RD9;
IFS1bits.CNDIF = 0;
// IFS1bits.CNBIF = 0;
IFS1bits.CNGIF = 0;
if (PORTDbits.RD6 == DISABLED) {
Col = 1;}
if (PORTGbits.RG12 == DISABLED) {
Col = 3;}
if (PORTDbits.RD9 == DISABLED) {
Col = 2;}
if ((state == ROW1) || (state == ROW2) || (state == ROW3) || (state == ROW4)) {
state = DebouncePress;
}
if (state == WaitRelease) {
state = DebounceRelease;
}
if (i == 16) {
moveCursorLCD(0, 2);
}
if (i >= 32) {
moveCursorLCD(0, 0);
i = 0;
}
i++;
}
/*
* This function is called in lab1p2.c for testing purposes.
* If everything is working properly, you should get this to look like the video on D2L
* However, it is suggested that you test more than just this one function.
*/
void testLCD(){
initLCD();
int i = 0;
printCharLCD('c');
for(i = 0; i < 1000; i++) delayUs(1000);
clearLCD();
printStringLCD("Hello!");
moveCursorLCD(1, 2);
for(i = 0; i < 1000; i++) delayUs(1000);
printStringLCD("Hello!");
for(i = 0; i < 1000; i++) delayUs(1000);
}
// Displays the currently selectable keys on a single row. Row can be set to values
// 1 - 5.
void displayKeyboard(int rowToBeDisplayed)
{
int i = 0, j = 0;
moveCursorLCD(0,rowToBeDisplayed);
for(j = 0; j < strlen(KeyBoard.Characters[i]); j++)
{
if(KeyBoard.CursorPosition == j)
{
writeInvertedCharLCD(KeyBoard.Characters[KeyBoard.ArrayRow][j]);
}
else
{
writeCharLCD(KeyBoard.Characters[KeyBoard.ArrayRow][j]);
}
}
highlightChar();
}
void initMainMenuText()
{
int i = 0, j = 0;
for(i = 0; i <= mainMenuChoices; i++)
{
moveCursorLCD(0,i);
for(j = 0; j < strlen(mainMenuOptions[i]); j++)
{
if(cursorHighlightMainMenu == i)
{
writeInvertedCharLCD(mainMenuOptions[i][j]);
}
else
{
writeCharLCD(mainMenuOptions[i][j]);
}
}
}
}
int main() {
SYSTEMConfigPerformance(10000000); //Does something with assembly to set clock speed
enableInterrupts(); //Make interrupt work
//initLEDs();
//initTimer1();
initTimer2();
//initSW1();
initLCD();
delay(500);
//printCharLCD(0);
testLCD();
moveCursorLCD(0,0);
while (1) {
printCharLCD('K');
}
return 0;
}
void testMotorAndIR() {
int data = 0;
data = readIR();
clearLCD();
if (data == 0b1111) {
setMotorsBackward(100);
printStringLCD("backward");
//setMotorsSweepForward(1023);
} else if (data == 0) {
setMotorsForward(100);
printStringLCD("forward");
}
moveCursorLCD(1, 1);
printCharLCD((((data & 8) >> 3) + '0'));
printCharLCD((((data & 4) >> 2) + '0'));
printCharLCD((((data & 2) >> 1) + '0'));
printCharLCD((((data & 1) >> 0) + '0'));
}
int main(void)
{
initLCD();
initKeypad();
enableInterrupts();
int counter = 1;
char output = 'a';
int count = 0;
char p1[4]={'1','3','3','7'};//PRESET PASSWORD 1
char p2[4];//PASSWORD 2
char p3[4];//PASSWORD 3
char p4[4];//PASSWORD 4
char UserInput[4]; //USER INPUT ARRAY
int i=0; //USER INPUT ARRAY ELEMENT
int InSet = TURNOFF;
int InEnter = TURNON;
int GUESS1;
int GUESS2;
int GUESS3;
int GUESS4;
int StarCount=0;
int PASSWORD2 = EMPTY;
int PASSWORD3 = EMPTY;
int PASSWORD4 = EMPTY;
int USERINPUT= VALID; //for checking * or
while(1)
{
switch(state)
{
case Enter_Mode:
InSet = TURNOFF;
InEnter = TURNON;
clearLCD();
printStringLCD("Enter Code:");
moveCursorLCD(0,2); //COL ROW
count=0;
StarCount=0;
if(count == 4)
{
count = 0;
for(i=0;i<4;i++)
{
if(p1[i]!=UserInput[i])
{
GUESS1=BAD;
break;
}
else
{
GUESS1=GOOD;
}
}
for(i=0;i<4;i++)
{
if(p2[i]!=UserInput[i])
{
GUESS2=BAD;
break;
}
else
{
GUESS2=GOOD;
}
}
for(i=0;i<4;i++)
{
if(p3[i]!=UserInput[i])
{
GUESS3=BAD;
break;
}
else
{
GUESS3=GOOD;
}
}
for(i=0;i<4;i++)
{
if(p4[i]!=UserInput[i])
{
GUESS4=BAD;
break;
}
else
{
GUESS4=GOOD;
}
}
if(GUESS1==GOOD || GUESS2==GOOD || GUESS3==GOOD || GUESS4==GOOD)
{
clearLCD();
printStringLCD("GOOD");
for(i=0;i<500;i++)
{
delayUs(1000);
}
}
else if(GUESS1==BAD && GUESS2==BAD && GUESS3==BAD && GUESS4==BAD)
{
clearLCD();
printStringLCD("BAD");
for(i=0;i<500;i++)
{
delayUs(1000);
}
}
}
if(StarCount==1)
{
USERINPUT=VALID; //ASSUME
InSet = TURNOFF;
InEnter = TURNON;
StarCount=0;
count=0;
for(i=0;i<4;i++)//RESET USER INPUT
{
UserInput[i]='0';
}
state = Set_Mode;
}
break;
case Read_Keypad:
if(ROW1 == PRESSED || ROW2 == PRESSED || ROW3 == PRESSED || ROW4 == PRESSED)
{
output = scanKeypad();
}
if(ROW1 == RELEASED || ROW2 == RELEASED || ROW3 == RELEASED || ROW4 == RELEASED)
{
state = Print_LCD;
}
break;
case Print_LCD:
if( counter < 8)
{
printCharLCD(output);
counter++;
}
else if (counter == 8)
{
printCharLCD(output);
counter++;
moveCursorLCD(1, 2);
}
else if (counter > 8 && counter < 16)
{
printCharLCD(output);
counter++;
}
else if(counter == 16)
{
printCharLCD(output);
counter = 0;
moveCursorLCD(1, 1);
}
count++;
break;
case Set_Mode:
InSet = TURNON;
InEnter = TURNOFF;
clearLCD();
printStringLCD("Set Mode:");
moveCursorLCD(0,2); //COL ROW
USERINPUT=VALID;
for(i=0;i<4;i++)//Check UserInput values UI[0]->UI[4]
{
if(UserInput[i]=='*' || UserInput[i]=='#')//Check for * or #
{
USERINPUT=NOTVALID; //SET USERINPUT to NOTVALID
}
}
if(USERINPUT==VALID)// No * or # in USERINPUT VALUES
{
if(PASSWORD2==EMPTY)
{
for(i=0;i<4;i++)
{
p2[i]=UserInput[i];
}
PASSWORD2 = FULL;
clearLCD();
printStringLCD("PW2 STORED");
for(i=0;i<500;i++)
{
delayUs(1000);
}
}
else if(PASSWORD2==FULL && PASSWORD3==EMPTY)
{
for(i=0;i<4;i++)
{
p3[i]=UserInput[i];
}
PASSWORD3 = FULL;
clearLCD();
printStringLCD("PW3 STORED");
for(i=0;i<500;i++)
{
delayUs(1000);
}
}
else if(PASSWORD2==FULL && PASSWORD3==FULL && PASSWORD4==EMPTY)
{
for(i=0;i<4;i++)
{
p4[i]=UserInput[i];
}
PASSWORD4 = FULL;
clearLCD();
printStringLCD("PW4 STORED");
for(i=0;i<500;i++)
{
delayUs(1000);
}
clearLCD();
printStringLCD("VALID"); //PW4 IS THE LAST PASSWORD ENTERED
for(i=0;i<500;i++)
{
delayUs(1000);
}
}
if (PASSWORD2==FULL && PASSWORD3==FULL && PASSWORD4==FULL) //ALL PASSWORDS ARE FULL
{
clearLCD();
printStringLCD("STORAGE FULL");
for(i=0;i<500;i++)
{
delayUs(1000);
}
}
else if (PASSWORD2==EMPTY || PASSWORD3==EMPTY || PASSWORD4==EMPTY) //At LEAST ONE PASSWORD IS EMPTY
{
clearLCD();
printStringLCD("VALID");
for(i=0;i<500;i++)
{
delayUs(1000);
}
}
}
else if(USERINPUT==NOTVALID)// * or # is in USERINPUT VALUES
{
clearLCD();
printStringLCD("NOT VALID");
for(i=0;i<500;i++)
{
delayUs(1000);
}
}
break;
}
}
return 0;
}
int main() {
SYSTEMConfigPerformance(10000000); //Does something with assembly to set clock speed
enableInterrupts(); //Make interrupt work
initLEDs();
initTimer1();
initTimer2();
initTimer3();
initTimer4();
initSwitch();
porta = PORTA;
portd = PORTD;
initLCD();
delay(500);
//printCharLCD(0);
testLCD();
state = InitState;
nextState = InitState;
while (1) {
switch (state) {
case RUN:
#ifdef _DEBUG_
LATDbits.LATD0=0;
LATDbits.LATD1=0;
LATDbits.LATD2=1;
#endif
LATGbits.LATG14=LedOFF; //TRD1
LATGbits.LATG12=LedON; //TRD2
moveCursorLCD(0,0);
printStringLCD("Running...");
if(counterCN==1){ // If the counter changed...
printTimeLCD(counter);
counterCN = 0;
}
if(AllowChange == 0){
delay(5000);
delay(5000);
delay(5000);
delay(5000);
AllowChange = 1;
}
if((ReqChange==1) && (AllowChange==1)){
state=WAIT1;
ReqChange=0;
AllowChange=0;
// CNCONAbits.ON = 1;
}
break;
case STOP:
#ifdef _DEBUG_
LATDbits.LATD0=1;
LATDbits.LATD1=0;
LATDbits.LATD2=0;
#endif
LATGbits.LATG14=LedON;
LATGbits.LATG12=LedOFF;
moveCursorLCD(0,0);
printStringLCD("Stopped");
if(AllowChange == 0){
delay(5000);
delay(5000);
delay(5000);
delay(5000);
AllowChange = 1;
}
if(AllowReset == 0){
delay(5000);
delay(5000);
delay(5000);
delay(5000);
AllowReset = 1;
}
if((ReqReset==1) && (AllowReset==1)){
AllowReset = 0;
ReqReset = 0;
counter = 0;
printTimeLCD(counter);
}
if((ReqChange==1) && (AllowChange==1)){
state=WAIT2;
ReqChange=0;
AllowChange=0;
// CNCONAbits.ON = 1;
}
break;
case WAIT1:
#ifdef _DEBUG_
LATDbits.LATD0=0;
LATDbits.LATD1=1;
LATDbits.LATD2=1;
#endif
T1CONbits.ON = 0; // Turn off counter
if(AllowChange == 0){
delay(5000);
delay(5000);
delay(5000);
delay(5000);
AllowChange = 1;
}
if((ReqChange==1) && (AllowChange==1)){
state=STOP;
ReqChange=0;
AllowChange=0;
ReqReset = 0; // So we don't reset as soon as we stop...
AllowReset = 0; // See previous line
// CNCONAbits.ON = 1;
}
break;
case WAIT2:
#ifdef _DEBUG_
LATDbits.LATD0=1;
LATDbits.LATD1=1;
LATDbits.LATD2=0;
#endif
T1CONbits.ON = 1; // Turn on counter
if(AllowChange == 0){
delay(5000);// The sad part is this didn't even work.
delay(5000);
delay(5000);
delay(5000);
AllowChange = 1;
}
if((ReqChange==1) && (AllowChange==1)){ // Button Changed and De-bouncing period is done
state=RUN;
ReqChange=0;
AllowChange=0;
//CNCONAbits.ON = 1;
}
break;
case InitState:// Only happens once
state=STOP;
clearLCD();
counter = 0;
printTimeLCD(counter);
T1CONbits.ON = 0;
TMR1 = 0;
break;
default:// Should never happen. How did you get here?
state=InitState;
ReqChange = 0;
AllowChange=0;
break;
}
}
return 0;
}
int main(void)
{
SYSTEMConfigPerformance(40000000);
initLCD(); //initialize the LCD
enableInterrupts();
initADC(); //initialize the ADC
initPWM(); //initialize the PWM
initTimer3(); //initialize the timer
TRISDbits.TRISD0 = 0;
LATDbits.LATD0 = 0;
initUART(); //initialize UART
sendByte('M');
while(1)
{
if(U2STAbits.URXDA)
{
input = U2RXREG; //saves RX reg buffer
sendByte(input); //echos pressed key back to prompt
sendByte(':'); //sends : to terminal prompt
}
switch(input) {
case 'w': //forward
LEFTMOTORDIRECTION1 = 0;
LEFTMOTORDIRECTION2 = 1;
RIGHTMOTORDIRECTION1 = 0;
RIGHTMOTORDIRECTION2 = 1;
RW = 700;
LW = 700;
break;
case 'a': //left
LEFTMOTORDIRECTION1 = 0;
LEFTMOTORDIRECTION2 = 1;
RIGHTMOTORDIRECTION1 = 0;
RIGHTMOTORDIRECTION2 = 1;
RW = 700;
LW = 100;
break;
case 's': //backward
LEFTMOTORDIRECTION1 = 1;
LEFTMOTORDIRECTION2 = 0;
RIGHTMOTORDIRECTION1 = 1;
RIGHTMOTORDIRECTION2 = 0;
RW = 700;
LW = 700;
break;
case 'd': //right
LEFTMOTORDIRECTION1 = 0;
LEFTMOTORDIRECTION2 = 1;
RIGHTMOTORDIRECTION1 = 0;
RIGHTMOTORDIRECTION2 = 1;
RW = 100;
LW = 700;
break;
case 'p':
LEFTMOTORDIRECTION1 = 0;
LEFTMOTORDIRECTION2 = 1;
RIGHTMOTORDIRECTION1 = 0;
RIGHTMOTORDIRECTION2 = 1;
RW = 0;
LW = 0;
break;
}
startRead(0); //starts reading from ADC (POT)
adcVal0 = waitToFinish0(); //save digital value of pot
startRead(1); //starts reading from ADC (Leftmost)
adcVal1 = waitToFinish1(); //save digital value of leftmost phototransistor
startRead(2); //starts reading from ADC (Middle)
adcVal2 = waitToFinish2(); //save digital value of middle phototransistor
startRead(3); //starts reading from ADC (Rightmost)
adcVal3 = waitToFinish3(); //save digital value of rightmost phototransistor
moveCursorLCD(0,2);
sprintf(str, "%d,%d,%d", adcVal1/10, adcVal2/10, adcVal3/10);
printStringLCD(str);
scan(); //scan three transistors
moveCursorLCD(0,1);
sprintf(str, "%d, %d, %d", L1, L2, L3);
printStringLCD(str);
determineState();
switch(jason)
{
case followLine_detectEnd:
followLine();
detectEnd();
break;
case turnAroundJason:
turnAround();
break;
}
}
return 0;
}
void printRunning(){
moveCursorLCD(0,0);
printStringLCD("RUNNING");
}
void printStopped(){
moveCursorLCD(0,0);
printStringLCD("STOPPED");
}
void printTime(char* time){
moveCursorLCD(1,0);
printStringLCD(time);
}
int main(void)
{
SYSTEMConfigPerformance(SYS_CLOCK);
enableInterrupts();
initADC();
initTimer2(); //for PWM
initPWM();
initLCD();
initTimer4(); //for pwm
initSW();
int track = 1;
int SpeedR = 0;
int SpeedL = 0;
int ones = 0;
int dec = 0;
float voltage = 0;
//Actual main state machine loop
while(1)
{
Speed = ADC1BUF0;
moveCursorLCD(0,0);
voltage = Speed * ((double)3.3/1023);
ones = floor(voltage);
dec = (voltage - ones) * 10;
printCharLCD('0'+ones);
printCharLCD('.');
printCharLCD('0'+dec);
printCharLCD('V');
delayUs(10000); //10ms - Just to help the LCD not strobe too much
switch(state)
{
case wait_Press: //handled by ISR
break;
case debouncePress:
state = wait_Release;
break;
case wait_Release: //handled by ISR
break;
case debounceRelease:
if (track == 1){
state = forward;
}
if (track == 2){
state = idle2;
}
if (track == 3){
state = reverse;
}
if (track == 4){
state = idle1;
}
break;
case idle1:
track = 1;
motorsOff();
state = wait_Press;
break;
case forward:
track = 2;
if(Speed == 511){
SpeedR = 1023;
SpeedL = 1023;
}
else if(Speed < 511){
SpeedR = 1023;
SpeedL = (2*Speed);
}
else if(Speed > 511){
SpeedR = 2*(1023 - Speed);
SpeedL = 1023;
}
else if (Speed == 1023){
SpeedR = 0;
SpeedL = 1023;
}
else if (Speed == 0){
SpeedR = 1023;
SpeedL = 0;
}
RightMotor_Write(SpeedR);
LeftMotor_Write(SpeedL);
break;
case idle2:
track = 3;
motorsOff();
state = wait_Press;
break;
case reverse:
track = 4;
if(Speed == 511){
SpeedR = 1023;
SpeedL = 1023;
}
else if(Speed < 511){
SpeedR = 1023;
SpeedL = 2*Speed;
}
else if(Speed > 511){
SpeedR = 2*(1023 - Speed);
SpeedL = 1023;
}
else if (Speed == 1023){
SpeedR = 1023;
SpeedL = 0;
}
else if (Speed == 0){
SpeedR = 0;
SpeedL = 1023;
}
RightMotor_Write(0-SpeedR); //maybe it needs the zero to be interpreted as negative?
LeftMotor_Write(0-SpeedL);
break;
}
}
return 0;
}
int main(void)
{
SYSTEMConfigPerformance(10000000);
enableInterrupts();
initTimer2();
initKeypad();
initLCD();
char password1[5] = {'a','a','a','a','\0'}; //2D array of passwords
char password2[5] = {'a','a','a','a','\0'};
char password3[5] = {'a','a','a','a','\0'};
char password4[5] = {'a','a','a','a','\0'};
char tempPassword[5] = {'\0','\0','\0','\0','\0'}; //password being entered
char keyPressed = 'f';
int row = 1;
int position = 0;
int counter = 1;
int numPasswords = 0; //number of passwords
int i =0;
int j =0;
int set = 0;
//TRISA.RA7
TRISAbits.TRISA7 = 0;
//TRISCbits.TRISC4 = 0;
while(1)
{
switch(state){
case Wait:
if( set == 1){
// moveCursorLCD(1,1); //first line
// printStringLCD("Set Mode");
}
else {
moveCursorLCD(1,1); //first line
printStringLCD("Enter");
}
break;
case Wait2:
if((PORTBbits.RB10 == 1) && (PORTBbits.RB12 == 1) && (PORTBbits.RB14 == 1) ) { //waits for button release
state = DeBounceRelease;
break;
}
else state = Wait2;
break;
case DeBounce:
//moveCursorLCD(1,1); //first line
//printStringLCD("DeBounce State");
delayUs(500);
state = SearchKeypad;
break;
case DeBounceRelease:
//moveCursorLCD(1,1); //first line
//printStringLCD("DeBounce State");
delayUs(500);
// moveCursorLCD(1,2); //first line
// printStringLCD("Button Released");
state = EnterPassword;
//IEC1bits.CNBIE = ON;
break;
case Set:
moveCursorLCD(1,1); //first line
printStringLCD("Set Mode");
moveCursorLCD(1,2); // clears second line
clearLCD;
set = 1;
state = Wait;
break;
case EnterPassword:
if(i == 4){
i = 0;
}
tempPassword[i] = keyPressed;
i = i + 1;
if( i == 2){
//if((passwords[0][numPasswords] == '*') && (passwords[1][numPasswords] == '*')) {
if((tempPassword[0] == '*') && (tempPassword[1] == '*')) {
i = 0;
state = Set;
}
}
state = WriteLCD;
break;
case CheckNewPassword:
for(j = 0; j < 4; j++){ //checks all stored passwords
if ((tempPassword[j] == '*') || (tempPassword[j] == '#')){
moveCursorLCD(1,1); //first line
printStringLCD("Invalid"); //print valid
delayUs(2000000);
moveCursorLCD(1,2); // clears second line
clearLCD;
set = 0;
state = Wait;
}
}
moveCursorLCD(1,1); //first line
printStringLCD("Valid"); //print invalid
delayUs(2000000);
moveCursorLCD(1,2); // clears second line
clearLCD;
numPasswords = numPasswords +1;
if(numPasswords == 4){
numPasswords = 0;
}
if(numPasswords == 0){
for(j =0; j < 5; j++){
password1[j] = tempPassword[j];
}
}
else if(numPasswords == 1){
for(j =0; j < 5; j++){
password2[j] = tempPassword[j];
}
}
else if(numPasswords == 2){
for(j =0; j < 5; j++){
password3[j] = tempPassword[j];
}
}
else if(numPasswords = 3){
for(j =0; j < 5; j++){
password4[j] = tempPassword[j];
}
}
set = 0;
state = Wait;
break;
case CheckPassword:
if (strcmp(password1, tempPassword) == 0){
moveCursorLCD(1,1); //first line
printStringLCD("Good"); //print valid
delayUs(20000);
moveCursorLCD(1,2); // clears second line
clearLCD;
state = Wait;
}
if (strcmp(password2, tempPassword) == 0){
moveCursorLCD(1,1); //first line
printStringLCD("Good"); //print valid
delayUs(20000);
moveCursorLCD(1,2); // clears second line
clearLCD;
state = Wait;
}
if (strcmp(password3, tempPassword) == 0){
moveCursorLCD(1,1); //first line
printStringLCD("Good"); //print valid
delayUs(20000);
moveCursorLCD(1,2); // clears second line
clearLCD;
state = Wait;
}
if (strcmp(password4, tempPassword) == 0){
moveCursorLCD(1,1); //first line
printStringLCD("Good"); //print valid
delayUs(20000);
moveCursorLCD(1,2); // clears second line
clearLCD;
state = Wait;
}
moveCursorLCD(1,1); //first line
printStringLCD("Bad"); //print invalid
delayUs(20000);
moveCursorLCD(1,2); // clears second line
clearLCD;
state = Wait;
break;
case SearchKeypad:
//moveCursorLCD(1,1); //first line
//printStringLCD("Search Keypad");
//delayUs(5000);
// IEC1bits.CNBIE = OFF;// turn off ISR
CNCONBbits.ON = 0; //turn change notifications off
LATEbits.LATE0 = 1;// open drain collector for outputs
LATEbits.LATE2 = 1;
LATEbits.LATE4 = 1;
LATEbits.LATE6 = 1;
keyPressed = scanKeypad();
LATEbits.LATE0 = 0;// open drain collector for outputs
LATEbits.LATE2 = 0;
LATEbits.LATE4 = 0;
LATEbits.LATE6 = 0;
CNCONBbits.ON = 1; // CN on
state = Wait2;
//state = WriteLCD;
break;
case WriteLCD:
if (counter == 9){
// row = ~row;
counter = 1;
}
moveCursorLCD(counter,2);
delayUs(2000);
printCharLCD(keyPressed);
delayUs(200);
counter = counter + 1;
if(i == 3){
if(set == 1){
state = CheckNewPassword;
}
state = CheckPassword;
}
state = Wait;
//IEC1bits.CNBIE = ON;
break;
}
}
return 0;
}
int main(void) {
SYSTEMConfigPerformance(10000000);
enableInterrupts();
initTimerDebounce();
initTimerDelay();
initLCD();
initKeypad();
int runQATests = NTEST; //test keypad software functions if TEST, don't if NTEST
if(runQATests == TEST) {
test_clearString();
delayUs(2000000);
clearLCD();
test_checkPass();
delayUs(2000000);
clearLCD();
test_updatePass();
return -1;
}
char key = NULL;
char passStringa[5] = "";
char passStringb[5] = "";
char passStringc[5] = "";
char passStringd[5] = "";
int PassCount = 0;
int correct = NOTMATCH;
char tempPass[5] = "";
char guessString[5] = "";
moveCursorLCD(0,0);
while(1) {
switch(state) {
case enter:
if(mode != ENTER || prevState != enter) {
clearLCD();
printStringLCD("Enter");
moveCursorLCD(1,0);
mode = ENTER;
}
prevState = enter;
break;
case debounce:
break;
case update:
if(row != -1) {
key = scanKeypad(row);
}
else {
break;
}
if(key != -1) {
printCharLCD(key);
if(mode == ENTER) {
guessString[keyPresses] = key;//append key to guessString
state = enter;
}
else if(mode == SET) {
tempPass[keyPresses] = key;//append key to passString
state = set_mode;
}
keyPresses = keyPresses + 1;
if(mode == ENTER) {
correct = NOTMATCH;
correct = checkPass(guessString, passStringa, passStringb, passStringc, passStringd);
if(keyPresses == 4 && (correct == NOTMATCH)) {
state = bad;
}
else if(key == '#') {
state = bad;
}
else if((keyPresses > 1) && (keyPresses < 4) && (key == '*') && (strcmp(guessString, "**")!=0)) {
state = bad;
}
else if((keyPresses==2)&&(strcmp(guessString,"**")==0)) {
state = set_mode;
}
else if((keyPresses==2) && (key!='*')&&(guessString[0]=='*')) {
state = bad;
}
else if((keyPresses==4)&&(correct == 0)) {
state = good;
}
}
else if((keyPresses<4)&&(mode==SET)&&(key!='#')&&(key!='*')) {
state = set_mode;
}
else if(((key=='#')||(key=='*'))&&(mode==SET)) {
state = invalid;
}
else if((mode==SET)&&(keyPresses==4)&&(key!='#')&&(key!='*')) {
state = valid;
}
else if(keyPresses < 4 && mode == ENTER && key != '#') state = enter;
}
else {
printCharLCD(' ');
moveCursorLCD(1, keyPresses);
if(mode == ENTER) state = enter;
else if(mode == SET) state = set_mode;
}
key = NULL;
break;
case set_mode:
if(mode != SET || prevState != set_mode) {
clearLCD();
printStringLCD("Set Mode");
moveCursorLCD(1,0);
keyPresses = 0;
strcpy(guessString, "");
clearString(guessString);
mode = SET;
}
prevState = set_mode;
break;
case good:
clearLCD();
printStringLCD("Good");
keyPresses = 0;
clearString(guessString);
state = enter;
prevState = good;
delayUs(2000000);
break;
case bad:
clearLCD();
printStringLCD("Bad");
keyPresses = 0;
clearString(guessString);
state = enter;
prevState = bad;
delayUs(2000000);
break;
case valid:
clearLCD();
if(PassCount == 3) {
PassCount = 0;
}
else PassCount = PassCount + 1;
updatePass(tempPass, passStringa, passStringb, passStringc, passStringd, PassCount);
printStringLCD("Valid");
keyPresses = 0;
clearString(tempPass);
mode = ENTER;
state = enter;
prevState = valid;
delayUs(2000000);
break;
case invalid:
clearLCD();
printStringLCD("Invalid");
keyPresses = 0;
clearString(tempPass);
mode = ENTER;
state = enter;
prevState = invalid;
delayUs(2000000);
break;
}
}
return 0;
}
void resetCursorLCD() {
moveCursorLCD((unsigned char) 1, (unsigned char) 1);
}
int trackLine(int i) {
irStateType nextState = maintainSetting;
//increased motor speed from 85 to 100
int motorSpeed = 90; // full speed ahead!!
int secondMotorSpeed = 515;
char str[6] = {0, 0, 0, 0, 0, 0};
int irData = 0;
// possible irData values 0-15
switch (trackLineState) {
// motor movement definitions are in pwm .h and .c files
case findLine: // turn in circles until line is found
motorFindLine(motorSpeed);
lastTrackLineState = findLine;
trackLineState = maintainSetting;
break;
case turnLeft: // turn left
setMotorsLeft(motorSpeed);
lastTrackLineState = turnLeft;
trackLineState = maintainSetting;
break;
case turnRight: // turn right
setMotorsRight(motorSpeed);
lastTrackLineState = turnRight;
trackLineState = maintainSetting;
break;
case goFwd: // go forward
setMotorsForward(motorSpeed);
lastTrackLineState = goFwd;
trackLineState = maintainSetting;
break;
case goBck: // go backward
setMotorsBackward(motorSpeed);
lastTrackLineState = goBck;
trackLineState = maintainSetting;
break;
case stop: // stop!
setMotorsIdle();
lastTrackLineState = stop;
trackLineState = maintainSetting;
break;
case maintainSetting:
// check the ir data
#ifdef use_digital_ir
irData = readNewIR(); // changed from readIR()
nextState = parseIRData(irData);
#endif
#ifdef use_analog_ir
irData = analogReadIR();
// nextState = parseNewIRData(irData);
if(i == 0){
nextState = turnLeft;
delayUs(1000000);
}
else{
nextState = turnRight;
delayUs(5000000);
}
#endif
// only change states if necessary
if (nextState != lastTrackLineState) {
trackLineState = nextState;
lastTrackLineState = maintainSetting;
} else {
trackLineState = maintainSetting;
}
break;
}
//****************REMOVE?***************
#ifdef debug_ir
//clearLCD();
// the following print Char statments output the state name as a 3 char
// code ### and code info ( as shown below )
// ### 000
// 00000
#ifdef use_digital_ir
printIRStateCode(lastTrackLineState);
printCharLCD(' ');
printCharLCD(((irData & 128) >> 7) + '0');
printCharLCD(((irData & 64) >> 6) + '0');
printCharLCD(((irData & 32) >> 5) + '0');
moveCursorLCD(1, 1);
printStringLCD(" ");
printCharLCD(((irData & 16) >> 4) + '0');
printCharLCD(((irData & 4) >> 2) + '0');
printCharLCD(((irData & 2) >> 1) + '0');
printCharLCD(((irData & 1) >> 0) + '0');
printCharLCD(((irData & 8) >> 3) + '0');
// printCharLCD(((trackLineState & 8) >> 3) + '0');
// printCharLCD(((trackLineState & 4) >> 2) + '0');
// printCharLCD(((trackLineState & 2) >> 1) + '0');
// printCharLCD(((trackLineState & 1) >> 0) + '0');
// printIR();
// printCharLCD(((lastTrackLineState & 8) >> 3) + '0');
// printCharLCD(((lastTrackLineState & 4) >> 2) + '0');
// printCharLCD(((lastTrackLineState & 2) >> 1) + '0');
// printCharLCD(((lastTrackLineState & 1) >> 0) + '0');
#endif
#endif
}
int main(void) {
char passWord[passwords][wordLen]; //[nump][lenp];
char temp[wordLen]; //string to hold characters as they are typed in
int pwItt = 0; //index of the password being typed in by user
int pwStoreIndex = 0; //index for string# in passWord[][] array
//index is used to add pws to passWord[][]
int numCharsPrinted = 0; // counter to keep things tidy on the display
int modeStateEnable = 0; // enables the second state machine
int i = 0, j = 0;
int match = 0;
int count = 0;
ANSELE = 0;
SYSTEMConfigPerformance(40000000);
initLCD();
clearLCD();
writeLCD(0b00001111, 0, 50);
initTimer1();
initKeypad();
enableInterrupts();
clearBuff(wordLen, temp);
//initialize temp to NULL
for (i = 0; i < wordLen; i++) {
temp [i] = NULL;
}
//initialize passcode array to NULL
for (i = 0; i < passwords; i++) {
for (j = 0; j < wordLen; j++) {
passWord[i][j] = NULL;
}
}
#ifdef TEST2
int flag = 0;
//Precode 2 passwords into password array and test if working
for (i = 0; i < 2; i++) {
for (j = 0; j < wordLen-3; j++) {
if (flag == 0) {
passWord[i][j] = '0'+j;
} else {
passWord[i][j] = '0'+j + 1;
}
}
flag++;
passWord[i][j] = '\0';
}
#endif
// initialize the state machine output
printStringLCD("Enter");
#ifdef run
while (1) {
//<><><><> button de bounce stuff <><><><><><><><><><><><><><><><><><><><><><>
switch (state) {
case printKey:
modeStateEnable = 1;
temp[pwItt] = keyScanned;
pwItt++;
state = waitForRelease;
break;
case scanKey:
keyScanned = scanKeypad();
state = printKey;
break;
case dbPress:
delayUs(DBDelayTime);
state = scanKey;
break;
case dbRelease:
delayUs(DBDelayTime);
state = waitForPress;
break;
case waitForPress:
//enableInterrupts();
break;
case waitForRelease:
// enableInterrupts();
break;
}
//<><><><> END button de bounce stuff <><><><><><><><><><><><><><><><><><><><><><>
//!!! TODO !!! every exit branch of the state machine WILL:
// enable/disable interrupts
// set the next state (even if it does not change)
// set modeStateEnable to 1 or 0
// THIS will help with debugging
//<><><><> Mode setting state machine <><><><><><><><><><><><><><><><><><><><><><>
if (modeStateEnable == 1) { // need to ensure this is correct...
disableInterrupts(); //messing with printing?
modeStateEnable = 0; //wait for key input
// the newKeyPressed variable gets changed to 1 everytime a key press is detected
switch (modeState) {
case firstStar: //interrupts are ENABLED DELETEME
if (temp[1] == '*') {
modeState = set; // the state that allows you to add pws
modeStateEnable = 0; //wait for new key to be pressed
clearLCD();
printStringLCD("Set Mode");
moveCursorLCD(2, 1);
enableInterrupts();
} else {
modeState = dispBad;
modeStateEnable = 1; //goto state
disableInterrupts();
}
break;
case dispGood: //interrupts are DISABLED DELETEME
printOutput("Good");
clearLCD();
printStringLCD("Enter"); //prompt enter state
clearBuff(wordLen, temp); // clear the temp string
pwItt = 0; // reset the pw itterator
modeState = dispEnter; //switch state
modeStateEnable = 0; //wait for new key to be pressed
enableInterrupts();
break;
case dispBad: //interrupts are DISABLED DELETEME
printOutput("Bad");
clearLCD();
printStringLCD("Enter"); // prompt enter state
modeState = dispEnter; // switch state
clearBuff(wordLen, temp); // clear the temp string
pwItt = 0; // reset the pw itterator
modeStateEnable = 0; // wait for new key to be pressed
enableInterrupts();
break;
case dispEnter: //interrupts are DISABLED DELETEME
clearLCD();
printStringLCD("Enter");
moveCursorLCD(2, 1);
printStringLCD(temp); // print the characters as they are entered
if (pwItt == 4) {
if (checkValid(temp, passWord) == 0) {
//if( match == 0){
modeState = dispBad; // 0 means invalid pw
modeStateEnable = 1; //goto state
disableInterrupts();
} else {
modeState = dispGood; //1 means valid pw
modeStateEnable = 1; //goto state
disableInterrupts();
printCharLCD('&');
}
} else if (temp[0] == '*') {
modeState = firstStar;
modeStateEnable = 0; //wait for new key to be pressed
enableInterrupts();
} else if (temp[0] == '#') {
modeState = dispBad;
modeStateEnable = 1; //continue
disableInterrupts();
} else {
modeState = dispEnter;
modeStateEnable = 0; //wait for new key to be pressed
enableInterrupts();
}
break;
case dispValid://-
printOutput("Valid ");
clearLCD();
printStringLCD("Enter");
if (addNewPw(temp, passWord) == 0) { // if password is not in list
//if(match == 0){ // if password is not in list
strcpy(passWord[pwStoreIndex], temp); // add it
pwStoreIndex++; // increment itterator
}
modeState = dispEnter;
clearBuff(wordLen, temp); // clear the temp string
pwItt = 0; // reset the pw itterator
modeStateEnable = 0; //wait for new key to be pressed
enableInterrupts();
break;
case dispInvalid://-
printOutput("Invalid ");
clearLCD();
printStringLCD("Enter");
modeState = dispEnter;
clearBuff(wordLen, temp); // clear the temp string
pwItt = 0; // reset the pw itterator
modeStateEnable = 0; //wait for new key to be pressed
enableInterrupts();
break;
case set:
printCharLCD(keyScanned); // might work better to press key pressed
if (keyScanned == '*' || keyScanned == '#') { // if an invalid key was entered
modeState = dispInvalid; // if new pw is not valid
modeStateEnable = 1; //next state needs to be executed
disableInterrupts();
} else if (pwItt == 6) { // pw == "**xxxx"...
temp[0] = temp[2];
temp[1] = temp[3]; // remove leading "**"
temp[2] = temp[4];
temp[3] = temp[5];
temp[4] = NULL;
temp[5] = NULL;
modeState = dispValid;
modeStateEnable = 1; //next state needs to be executed
disableInterrupts();
} else {
modeStateEnable = 0; //next state needs to be executed
enableInterrupts();
}
break;
}
}
//<><><><> END Mode setting state machine <><><><><><><><><><><><><><><><><><><><><><>
}
return 0;
}
int main(void){
SYSTEMConfigPerformance(10000000);
enableInterrupts();
initTimer1();
initTimer2();
initTimer45();
initSW1();
initLCD();
initPWM();
initADC();
setMotorDirection(M1, 1);
setMotorDirection(M2, 1);
while(1){ //Lab3 Part1
switch(state){
case forward:
prevstate = forward;
ADCbuffer = getADCbuffer();
if((dispVolt < ADCbuffer) && ((dispVolt + 1) <= ADCbuffer)){//to reduce excessive LCD updates
printVoltage(ADCbuffer);
dispVolt = ADCbuffer;
}
else if((dispVolt > ADCbuffer) && ((dispVolt - 1) >= ADCbuffer)){
printVoltage(ADCbuffer);
dispVolt = ADCbuffer;
}
moveCursorLCD(1,0);
printStringLCD("forward ");
if(remap == 1){
setMotorDirection(M1,1);
setMotorDirection(M2,1);
delayUs(1000);
remap = 0;
}
setMotorSpeed(ADCbuffer, direction);
break;
case backward:
prevstate = backward;
ADCbuffer = getADCbuffer();
if((dispVolt < ADCbuffer) && ((dispVolt + 1) <= ADCbuffer)){//to reduce excessive LCD updates
printVoltage(ADCbuffer);
dispVolt = ADCbuffer;
}
else if((dispVolt > ADCbuffer) && ((dispVolt - 1) >= ADCbuffer)){
printVoltage(ADCbuffer);
dispVolt = ADCbuffer;
}
moveCursorLCD(1,0);
printStringLCD("backward");
if(remap == 1){
setMotorDirection(M1,0);
setMotorDirection(M2,0);
delayUs(1000);
remap = 0;
}
setMotorSpeed(ADCbuffer, direction);
break;
case idle:
unmapPins();
ADCbuffer = getADCbuffer();
if((dispVolt < ADCbuffer) && ((dispVolt + 1) <= ADCbuffer)){//to reduce excessive LCD updates
printVoltage(ADCbuffer);
dispVolt = ADCbuffer;
}
else if((dispVolt > ADCbuffer) && ((dispVolt - 1) >= ADCbuffer)){
printVoltage(ADCbuffer);
dispVolt = ADCbuffer;
}
moveCursorLCD(1,0);
printStringLCD("Idle ");
delayUs(1000);
break;
}
}
return 0;
}
