void initialization() { motion_pin_config(); left_encoder_pin_config(); right_encoder_pin_config(); left_position_encoder_interrupt_init(); right_position_encoder_interrupt_init(); }
//Function to initialize all the devices void init_devices() { cli(); //Clears the global interrupt port_init(); //Initializes all the ports left_position_encoder_interrupt_init(); right_position_encoder_interrupt_init(); sei(); // Enables the global interrupt }
void init_devices (void) { cli(); //Clears the global interrupts port_init(); left_position_encoder_interrupt_init(); right_position_encoder_interrupt_init(); adc_init(); sei(); //Enables the global interrupts }
void init_devices (void) { cli(); //Clears the global interrupt port_init(); //Initializes all the ports uart0_init(); lcd_set_4bit(); lcd_init(); servo_init(); left_position_encoder_interrupt_init(); right_position_encoder_interrupt_init(); sei(); // Enables the global interrupt }
//Function to initialize all the devices void init_devices() { cli(); //Clears the global interrupt port_init(); //Initializes all the ports left_position_encoder_interrupt_init(); right_position_encoder_interrupt_init(); timer5_init(); uart0_init(); //Initailize UART1 for serial communiaction sei(); // Enables the global interrupt }
//Function to initialize all the devices void init_encoders() { cli(); //Clears the global interrupt left_encoder_pin_config(); right_encoder_pin_config(); left_position_encoder_interrupt_init(); right_position_encoder_interrupt_init(); sei(); // Enables the global interrupt }
void init_devices (void) { cli(); //Clears the global interrupts port_init(); adc_init(); timer5_init(); left_position_encoder_interrupt_init(); right_position_encoder_interrupt_init(); sei(); //Enables the global interrupts // To initialize the direction of the bot to north init_location(); }
void init_devices(void) { cli(); //Clears the global interrupt port_init_poz(); //Initializes all the ports left_position_encoder_interrupt_init(); right_position_encoder_interrupt_init(); port_init(); //Initializes all the ports color_sensor_pin_interrupt_init(); adc_init(); motion_pin_config(); timer5_init(); timer1_init(); sei(); // Enables the global interrupt }
//Function to initialize all the devices void init_devices() { cli(); //Clears the global interrupt port_init(); //Initializes all the ports left_position_encoder_interrupt_init(); right_position_encoder_interrupt_init(); timer4_init(); adc_init(); timer5_init(); store_init(); uart2_init(); TIMSK4 = 0x01; sei(); // Enables the global interrupt }
void init_devices (void) { cli(); //Clears the global interrupts port_init(); adc_init(); timer5_init(); left_position_encoder_interrupt_init(); right_position_encoder_interrupt_init(); uart0_init(); //Initailize UART1 for serial communiaction c2_position_encoder_interrupt_init(); //Slider_position_encoder_interrupt_init(); timer1_init(); sei(); //Enables the global interrupts }
void init_devices2 (void) { DDRA=0x00; DDRB&=~_BV(4); DDRD&=~_BV(6); PORTA=0xFF; PORTB|=_BV(4); PORTD|=_BV(6); cli(); //Clears the global interrupts DDRA |= (1 << PA7); // making servo contol pins as output DDRD |= (1 << PD7); uart0_init(); port_init(); left_position_encoder_interrupt_init(); right_position_encoder_interrupt_init(); timer2_init(); adc_init(); sei(); //Enables the global interrupts }
//------------------------------------------------------------------------------- //call this routine to initialize all peripherals void init_devices(void) { //stop errant interrupts until set up cli(); //disable all interrupts port_init(); uart2_init(); adc_init(); timer1_init(); timer5_init(); lcd_set_4bit(); lcd_init(); spi_init(); // below for lines are important for Encoder init left_position_encoder_interrupt_init(); right_position_encoder_interrupt_init(); EICRB = 0x0A; //pin change int edge 4:7 EIMSK = 0x30; sei(); //re-enable interrupts //all peripherals are now initialized }
void main() { unsigned int value,value1; int a=0,b=0; cli(); INIT_PORTS(); //Initialize ports uart0_init(); //Initialize UART0 for xbee communication timer5_init(); sei(); INIT_PORTS_ROTATE(); //Initialize ports right_position_encoder_interrupt_init(); //Initialize control registers for wheel left_position_encoder_interrupt_init(); // encoders. init_devices(); lcd_set_4bit(); //LCD initialization functions. lcd_init(); unsigned char angle = 0; init_devices_servo(); //Initialize servo motors. data='0'; sharp = ADC_Conversion(11); //Stores the Analog value of front sharp connected to ADC channel 11 into variable "sharp" value = Sharp_GP2D12_estimation(sharp); //Stores Distance calsulated in a variable "value". // lcd_print(1,1,value,3); // sharp1 = ADC_Conversion(10); //Stores the Analog value of front sharp connected to ADC channel 11 into variable "sharp" // value1 = Sharp_GP2D12_estimation(sharp1); //Stores Distance calsulated in a variable "value". // lcd_print(1,5,value1,3); // set servo for camera to ground zero servo_1(0); // code to bring the camera to ground state _delay_ms(1000); // set servo for incline to ground zero servo_2(90); // align camera _delay_ms(500); // the bot rotating slowly trying to find the bot int terminate = 0; while(data=='0' && terminate < 150) { velocity(150,150); //If no ball is detected the rotate and scan angle_rotate_left(3); // for ball in the arena. _delay_ms(500); stop(); _delay_ms(500); sharp = ADC_Conversion(11); //Stores the Analog value of front sharp connected to ADC channel 11 into variable "sharp" value = Sharp_GP2D12_estimation(sharp); //Stores Distance calsulated in a variable "value". terminate++; // lcd_print(1,1,value,3); } if(terminate == 60) { buzzer_on(); return; } /*If a ball(red colour) is detected then matlab code sends a '5' signal through zigbee.If a '5' is received then the robot stops rotating and moves towards the ball*/ value2 = 100; if(atoi(data) > 5) { lcd_print(1,5,value2,2); } velocity(160,184); // change value while(value>140) { sharp = ADC_Conversion(11); //Stores the Analog value of front sharp connected to ADC channel 11 into variable "sharp" value = Sharp_GP2D12_estimation(sharp); //Stores Distance calsulated in a variable "value". lcd_print(1,1,value,3); forward(); } stop(); _delay_ms(2000); /* the servo_1 is for the camera and the servo_2 is for the inclined plane */ // rotate 90 at left left90_at_place(); _delay_ms(1000); // rotate the camera 90 degrees to the right servo_1(90); _delay_ms(1000); //rotate in circle rotate_in_circle(); int perceived_height; perceived_height = atoi(data); lcd_print(1,5,perceived_height,5); // rotate 90 degrees to the right to face the ball again right90_at_place(); stop(); _delay_ms(2000); // rotate camera also to ground state to face the ball again servo_1(0); // code to bring the camera to ground state _delay_ms(1000); // set servo for incline int angle_of_inclination = get_angle(perceived_height); lcd_print(1,2,angle_of_inclination,5); servo_2(angle_of_inclination); _delay_ms(1000); while(1); }
//The main invoker routine. It takes as argument the next command to execute and does what is necessary //Self-explanatory code! void my_invoker (unsigned char command) { if(command == BUZZER_ON){ buzzer_on(); return; } else if(command == BUZZER_OFF){ buzzer_off(); return; } else if(command == MOVE_FORWARD) { forward(); //forward return; } else if(command == MOVE_BACKWARD) { back(); //back return; } else if(command == MOVE_LEFT) { left(); //left return; } else if(command == MOVE_RIGHT) { right(); //right return; } else if(command == STOP) { stop(); //stop return; } else if(command == SET_VELOCITY) { int numargs; unsigned char * ch = recieve_args(&numargs); //assert(numargs == 1); int velleft = (int)*(ch); int velright = (int)*(ch+1); velocity(velleft,velright); return; } else if(command == MOVE_BY) { int numargs; unsigned char * ch = recieve_args(&numargs); int pos_a = (int)*(ch); int pos_b = (int)*(ch+1); //int pos = 10; //while (pos_b--) pos *= 10; //pos *= pos_a; //forward_mm(pos); pos_a += (pos_b << 8); forward(); velocity(120,120); while (pos_a--) { //delay on 5 ms stop_on_timer4_overflow = 1; start_timer4(); while (stop_on_timer4_overflow != 0) {;} } stop(); send_char(SUCCESS); leftInt = 0; rightInt = 0; return; } else if(command == MOVE_BACK_BY) { int numargs; unsigned char * ch = recieve_args(&numargs); int pos_a = (int)*(ch); int pos_b = (int)*(ch+1); //int pos = 10; //while (pos_b--) pos *= 10; //pos *= pos_a; //forward_mm(pos); pos_a += (pos_b << 8); back(); velocity(120,120); while (pos_a--) { //delay on 5 ms stop_on_timer4_overflow = 1; start_timer4(); while (stop_on_timer4_overflow != 0) {;} } stop(); send_char(SUCCESS); leftInt = 0; rightInt = 0; return; } else if(command == TURN_LEFT_BY) { int numargs; unsigned char * ch = recieve_args(&numargs); already_stopped = 0; int pos_a = (int)*(ch); int pos_b = (int)*(ch+1); pos_a += (pos_b << 8); _delay_ms(500); left(); velocity(200,200); while (pos_a--) { //delay on 5 ms stop_on_timer4_overflow = 1; start_timer4(); while (stop_on_timer4_overflow != 0) {;} } stop(); send_char(SUCCESS); leftInt = 0; rightInt = 0; already_modified_stopped = 0; return; } else if(command == TURN_RIGHT_BY) { int numargs; unsigned char * ch = recieve_args(&numargs); //assert(numargs == 2); int pos_a = (int)*(ch); int pos_b = (int)*(ch+1); pos_a += (pos_b << 8); _delay_ms(500); right(); velocity(200,200); while (pos_a--) { //delay on 5 ms stop_on_timer4_overflow = 1; start_timer4(); while (stop_on_timer4_overflow != 0) {;} } stop(); send_char(SUCCESS); leftInt = 0; rightInt = 0; already_modified_stopped = 0; return; } else if(command == LCD_SET_STRING) { int numargs; unsigned char * ch = recieve_args(&numargs); int i =0; lcd_clear(); for(;i<numargs;i++) { lcd_wr_char(*(ch+i)); } return; } else if (command == SET_PORT){ int numargs; unsigned char * ch = recieve_args(&numargs); ; if (numargs != 2){ } int portnum = (int) *(ch); unsigned char value = (unsigned char) *(ch+1); setPort(portnum,value); } else if(command == GET_SENSOR_VALUE) { int numargs; unsigned char * ch = recieve_args(&numargs); ; if (numargs != 1){ } int sensornum = (int) *(ch); //setPort(portnum,value); getSensorValue(sensornum); } else if(command == GET_PORT) { int numargs; unsigned char * ch = recieve_args(&numargs); ; if (numargs != 1){ } int portnum = (int) *(ch); getPort(portnum); } else if (command == WHITELINE_FOLLOW_START) { whiteline_follow_start(); } else if(command == PRINT_STATE){ buzzer_on(); lcd_num(state); _delay_ms(1000); buzzer_off(); } else if (command == WHITELINE_FOLLOW_END) { whiteline_follow_end(); } else if (command == WHITELINE_STOP_INTERSECTION) { whiteline_stop_intersection_flag = 1; } else if(command == ACC_START) { acc_flag = 1; } else if(command == ACC_STOP) { acc_flag = 0; acc_modified_flag = 0; buzzer_off(); } else if(command == ACC_MODIFIED){ acc_modified_flag = 1; already_modified_stopped = 0; } else if(command == ACC_CHECK){ if (acc_modified_flag == 1 && already_modified_stopped == 1){ send_char((char)1); } else { char value = PORTA; if (value == 0) send_char((char)2); else send_char((char)0); } } else if (command == ENABLE_LEFT_WHEEL_INTERRUPT) { leftInt = 0; left_position_encoder_interrupt_init(); } else if (command == ENABLE_RIGHT_WHEEL_INTERRUPT) { rightInt = 0; right_position_encoder_interrupt_init(); } else if (command == GET_LEFT_WHEEL_INTERRUPT_COUNT) { send_int (leftInt); leftInt = 0; } else if (command == GET_RIGHT_WHEEL_INTERRUPT_COUNT) { send_int (rightInt); rightInt = 0; } else if (command == SET_TIMER) { int numargs; unsigned char * ch = recieve_args(&numargs); ; if (numargs != 1){ } int time = (int) *(ch); timer4_init2(time); } else if (command == DISCONNECT) { disconnect(); } else { //Error!!! Unrecognized Command buzzer_on(); _delay_ms(1000); buzzer_off(); } }