int main(int args, char **argv)
{
int v;
int i;
int first = 1;
int k = 2;
int period = 10000;
long x = get_time();
for(;;){
if(!first){
delay_until(x);
mtfd_end();
}
mtfd_begin(period);
if(!first)
actuating(k);
v = sensing();
x += period;
k = computation(v);
first = 0;
}
// The interesting thing is that the final code
// includes to call to pret_mt
return k;
}
void GAnalogSensor::callback(void)
{
if(sensing()) {
#ifdef CONFIG_GAnalogSensor_DEBUG_AD
result_ad = (float) sum / cnt;
#endif
result = sum * scale;
setFlagBits(GAnalogSensor_FLAG_AVAILABLE);
reset();
}
}
void main(void)
{
sei();
INIT_IO();
INIT_USART();
INIT_TIMER();
DDRB=0xff;
DDRD=0x30;
PORTB=0x06;
PORTC=0xff;
ADMUX=0x60;
ADCSRA=0xcc;
while(1)
{
while(calib_flg)
{
calibration();
}
sensing();
Catch_position();
OCR1A=position_R[position];
OCR1B=position_L[position];
}
}