char* ttoa(const time_t time, char* buf) {
itoat(time_get_h(time), buf+0);
itoat(time_get_m(time), buf+3);
itoat(time_get_s(time), buf+6);
buf[2] = ':';
buf[5] = ':';
return buf;
}
int main(void)
{
time_init(128);
DDRB=0xFF;
while(1)
{
PORTB=(uint8_t)time_get_s();
}
return 0;
}
//////////////////////////////////////
// Main
/////////////////////////////////////
int main(void)
{
//int a = 0;
/////////////////////////////////////
///TODO//////////////////////////////
/////////////////////////////////////
//
//participer a la coupe
/////////////////////////////////////
/////////////////////////////////////
//Initialisations////////////////////
/////////////////////////////////////
uart_init();
time_init(128);
printf("fdevopen \n");
fdevopen(uart0_send,uart0_recv, 1);
// Affichage uart: tip -s 9600 -l /dev/ttyS0
// prog usb :
// avarice -j /dev/ttyUSB0 --erase --program -f ./main.hex
adc_init();
DDRE |= 0x00;
PORTE |= 0x10;//active le pull up
//initialisation du fpga
sbi(XMCRA,SRW11);
sbi(XMCRA,SRW00);
sbi(MCUCR,SRE);
wait_ms(1000);
//on reset le fpga
U_RESET = 0x42;
sbi(PORTB,0);
wait_ms(100);
//on relache le reset
cbi(PORTB,0);
sbi(PORTE,3);
wait_ms(100);
//printf("stack begin :%d \n", &a);
//init des interruptions
printf("init i2c \n");
scheduler_init();
position_init(&pos);
asserv_init(&asserv,&pos);
trajectory_init(&traj,&pos,&asserv);
i2cm_init();
//autorise les interruptions
sei();
//infinite loop!!!
//get_enc_value();
//init communication
#ifdef ENABLE_MECA
printf("init com \n");
initCom();
printf("end init com \n");
#endif
//init A*
initObstacle();
//init méca
#ifdef ENABLE_MECA
mecaCom(TIROIR_FERMER);
mecaCom(PEIGNE_FERMER);
#endif
team = getTeam();
while(MAXIME);//boucle anti_maxime
// while(1)
// {
// printf("gp2r = %d ,gp2l = %d ,gp2m = %d \n",adc_get_value(ADC_REF_AVCC | MUX_ADC0),adc_get_value(ADC_REF_AVCC | MUX_ADC1),adc_get_value(ADC_REF_AVCC | MUX_ADC2));
// }
//avoidance_init();
//antipatinage_init();
// homologation();
// while(1);
// test_evitement();
// while(1);
if(team == RED)
{
disableSpinning();
findPosition(team);
enableSpinning();
trajectory_goto_d(&traj, END, 20);
trajectory_goto_a(&traj, END, 55);
while(!trajectory_is_ended(&traj));
//
// trajectory_goto_a(&traj, END, 90);
//
// trajectory_goto_a(&traj, END, 0);
// while(!trajectory_is_ended(&traj));
asserv_set_vitesse_normal(&asserv);
initTaskManager(&tkm);
//addTask(&tkm, &returnFire, LOW_PRIORITY, R1);
addTask(&tkm, &throwSpears, LOW_PRIORITY, RED);
addTask(&tkm, &putPaint, HIGH_PRIORITY, team);
// addTask(&tkm, &returnFire, LOW_PRIORITY, R3);
// addTask(&tkm, &returnFire, HIGH_PRIORITY, R2);
addTask(&tkm, &takeFruitRed, HIGH_PRIORITY, team);
// addTask(&tkm, &takeFruitYellow, HIGH_PRIORITY, team);
// addTask(&tkm, &findPosition, HIGH_PRIORITY, REDPAINT);
// addTask(&tkm, &returnFire, HIGH_PRIORITY, Y1);
//addTask(&tkm, &throwSpears, HIGH_PRIORITY, YELLOW);
addTask(&tkm, &putFruit, HIGH_PRIORITY, team);
// addTask(&tkm, &returnFire, HIGH_PRIORITY, Y3);
// addTask(&tkm, &takeFruitYellow, HIGH_PRIORITY, team);
// addTask(&tkm, &putFruit, HIGH_PRIORITY, team);
// addTask(&tkm, &returnFire, HIGH_PRIORITY, Y2);
while (TIRETTE);
printf("begin match \n");
avoidance_init();
while(doNextTask(&tkm));
printf("finish \n");
}
else // Team jaune
{
disableSpinning();
findPosition(team);
enableSpinning();
trajectory_goto_d(&traj, END, 20);
trajectory_goto_a(&traj, END, -55);
while(!trajectory_is_ended(&traj));
// addTask(&tkm, &returnFire, LOW_PRIORITY, R1);
addTask(&tkm, &returnFire, LOW_PRIORITY, Y2);
addTask(&tkm, &throwSpears, LOW_PRIORITY, YELLOW);
addTask(&tkm, &putPaint, HIGH_PRIORITY, team);
// addTask(&tkm, &returnFire, HIGH_PRIORITY, Y3);
// addTask(&tkm, &takeFruitRed, HIGH_PRIORITY, team);
addTask(&tkm, &takeFruitYellow, HIGH_PRIORITY, team);
// addTask(&tkm, &returnFire, LOW_PRIORITY, R1);
addTask(&tkm, &putFruit, HIGH_PRIORITY, team);
// addTask(&tkm, &findPosition, HIGH_PRIORITY, YELLOWPAINT);
//addTask(&tkm, &returnFire, HIGH_PRIORITY, R1);
//addTask(&tkm, &throwSpears, HIGH_PRIORITY, RED);
// addTask(&tkm, &returnFire, HIGH_PRIORITY, R3);
// addTask(&tkm, &takeFruitRed, HIGH_PRIORITY, team);
// addTask(&tkm, &putFruit, HIGH_PRIORITY, team);
// addTask(&tkm, &returnFire, HIGH_PRIORITY, R2);
while (TIRETTE);
printf("begin match \n");
avoidance_init();
while(doNextTask(&tkm));
printf("finish \n");
// // attend que la tirette soit retirée
// printf("begin match \n");
// printf("start pos: x %lf pos y %lf \n",position_get_x_cm(&pos),position_get_y_cm(&pos));
}
printf("time: %ld \n",time_get_s());
while(1);//attention boucle infinie
}
// begin production parsers
static void parse_set_time(void) {
checked(time_t t = parse_time());
ds1307_settime(time_get_h(t), time_get_m(t), time_get_s(t));
}
/* called every 5 ms */
static void do_cs(void *dummy)
{
static uint16_t cpt = 0;
static int32_t old_a = 0, old_d = 0;
wheel_update_value();
/* robot system, conversion to angle,distance */
if (mainboard.flags & DO_RS) {
int16_t a,d;
rs_update(&mainboard.rs); /* takes about 0.5 ms */
/* process and store current speed */
a = rs_get_angle(&mainboard.rs);
d = rs_get_distance(&mainboard.rs);
mainboard.speed_a = a - old_a;
mainboard.speed_d = d - old_d;
old_a = a;
old_d = d;
}
/* control system */
if (mainboard.flags & DO_CS) {
if (mainboard.angle.on)
cs_manage(&mainboard.angle.cs);
if (mainboard.distance.on)
cs_manage(&mainboard.distance.cs);
if (mainboard.fessor.on) {
cs_manage(&mainboard.fessor.cs);
fessor_manage();
}
if (mainboard.wheel.on)
cs_manage(&mainboard.wheel.cs);
if (mainboard.elevator.on) {
cs_manage(&mainboard.elevator.cs);
elevator_manage();
}
}
if ((cpt & 1) && (mainboard.flags & DO_POS)) {
/* about 1.5ms (worst case without centrifugal force
* compensation) */
position_manage(&mainboard.pos);
}
if (mainboard.flags & DO_BD) {
bd_manage_from_cs(&mainboard.angle.bd, &mainboard.angle.cs);
bd_manage_from_cs(&mainboard.distance.bd, &mainboard.distance.cs);
}
if (mainboard.flags & DO_TIMER) {
uint8_t second;
/* the robot should stop correctly in the strat, but
* in some cases, we must force the stop from an
* interrupt */
second = time_get_s();
if (second >= MATCH_TIME + 2) {
pwm_ng_set(LEFT_PWM, 0);
pwm_ng_set(RIGHT_PWM, 0);
printf_P(PSTR("END OF TIME\r\n"));
while(1);
}
}
/* brakes */
if (mainboard.flags & DO_POWER)
BRAKE_OFF();
else
BRAKE_ON();
cpt++;
}
