int main( void ) {
init_servos();
init_dcmotors( 1 );
/*
* In this case, i is not quite an iterator.
* It counts up from 0 to 255 and then back down.
* The incrementor is used to make this happen.
*/
int8_t i = 0;
int8_t inc = 1;
uint8_t scaled = i;
while( 1 ) {
scaled = i + 128;
update_servos( scaled, scaled, i );
run_dcmotors( i, i );
_delay_ms( 10 );
switch( i ) {
case 127:
inc = -1;
break;
case -127:
inc = 1;
break;
default:
break;
}
i += inc;
}
return 0;
}
int main()
{
int which_to_update = 6; // start greater than 5 so we get data
uint32_t data[5]; // Array to hold ADC data
// Initialize all the things
LED_init();
systick_init(400000); // Timer goes off 10 times per second
USART2_init();
USART3_init();
button_init();
ADC_init();
servo_init();
DMA_init();
/* Enable interrupts */
__asm (" cpsie i \n" );
/* Main program loop */
while(1)
{
// State specific behavior (every time)
switch (mode_state) {
case CONFIGURE_S:
// Don't do anything
break;
case COMMAND_S:
{
/* Send in two cases:
* a) we're not waiting for a packet
* b) the update flag is set (every second, because sometimes packets get dropped
* and we don't want to wait forever)
*
* When we send a byte, we'll send whichever is next in the sequence (the current one
* is stored in the local variable (in main) which_to_update). When it goes over 5,
* we read in all the data for the next round of packets.
*/
if (!waiting_to_recv_packet || send_update_f) {
// if (send_update_f) {
if (which_to_update > 5) { // finished updating
ADC_read(data);
which_to_update = 1;
}
// We will be waiting for a packet back, so set this ahead of time
waiting_to_recv_packet=1;
// A new packet will be inbound, so reset the offset to 0 (in case it got messed up before)
recv_offset = 0;
update_server(which_to_update, data);
which_to_update++;
send_update_f = 0;
}
break;
}
case CLIENT_S:
{
/*
* Update the servos on the high tick of this flag. That is set in systick, and happens 10 times
* per second
*/
if (update_servos_from_server_f) {
// We're about to receive a response packet, so we reset the recv_offset to 0
recv_offset = 0;
waiting_to_recv_packet = 1;
update_servos();
update_servos_from_server_f = 0;
}
break;
}
default:
break;
}
// Every time, regardless of state:
// If we received a packet, print it
if (received_new_packet) {
// switch (recv_msg.pingmsg.type) {
// case TYPE_PING:
// print_string("[PING,id=");
// printUnsignedDecimal(recv_msg.pingmsg.id);
// print_string("]\n");
// break;
// case TYPE_UPDATE:
// print_string("[UPDATE,id=");
// printUnsignedDecimal(recv_msg.respmsg.id);
// print_string(",average=");
// printUnsignedDecimal(recv_msg.respmsg.average);
// print_string(",{");
// for (int i=0; i<CLASS_SIZE_MAX; i++) {
// print_string(" ");
// printUnsignedDecimal(recv_msg.respmsg.values[i]);
// }
// print_string("}]\n\r");
// break;
// default:
// break;
// }
// Reset the flag
received_new_packet = 0;
// If we're in client mode, set the servo values to those from the server
if (mode_state == CLIENT_S) {
if (recv_msg.respmsg.type == TYPE_UPDATE) {
for (int i=1; i<=5; i++)
servo_update(i, recv_msg.respmsg.values[i]);
}
}
}
// After switching states, update leds
if (update_leds_f) {
switch (mode_state) {
case CONFIGURE_S:
LED_update(LED_BLUE_ON|LED_ORANGE_OFF);
// Configuration:
// $$$ (escape sequence)
// set ip dhcp 1 (get IP address with dhcp)
// set ip host 172.16.1.10 (set remote IP)
// set ip remote 8004
// set wlan join 1 (try to connect to stored access point)
// set wlan auth 4 (set to WPA2-PSK)
// set wlan phrase ENGS62wifi
// set wlan ssid ENGS62
// save
// reboot
break;
case CLIENT_S:
LED_update(LED_BLUE_OFF|LED_ORANGE_ON);
break;
case COMMAND_S:
LED_update(LED_BLUE_ON|LED_ORANGE_ON);
waiting_to_recv_packet = 0;
break;
}
update_leds_f = 0;
}
// If in debug mode, print ADC data to the console
if (DEBUG && test_flag)
{
test_flag = 0;
uint32_t data[5];
// Initialize the data array to 0 for clarity
for (int i=0; i<5; i++) {
data[i] = 0;
}
ADC_read(data);
for (int i=0; i<5; i++) {
printUnsignedDecimal((uint16_t)data[i]);
print_string("\n");
print_string("\r");
}
print_string("-----------\n");
}
}
/* We'll never reach this line */
return 0;
}
