int main(void) {
initialize();
//initialize_ADC_Offset();
//initialize_UART();
//TOPMAG=1;
unsigned char c=0;
motoron = 1;
direction = CW;
kick();
write_duty(512);
//write_duty(0);
//timer1_on();
printf("hello world!\n");
while (1) {
c = read_UART();
if (c=='o'){
TOPMAG=1;
}
else if (c=='f'){
TOPMAG=0;
}
else if(c == 'g') {
//Turn on Bottom Magnet
write_UART2('1');
} else if(c =='h') {
//Turn off Bottom Magnet
write_UART2('2');
}
else if (c=='u'){
// inc duty
// for now, increase the duty by 10% of max duty
write_duty(read_duty()+100);
c = 'x';
}
else if (c=='d'){
// dec duty
write_duty(read_duty()+100);
c = 'x';
}
else if (c=='m'){
// motor off
motoron = 0;
}
else if (c=='x'){
// make sure duty is only updated once per call
continue;
}
}
return 0;
}
void check_autosave(void)
{
set_crash();
syspp->autosave+=amsys->heartbeat;
if (syspp->autosave>=(syspp->auto_save*60)) {
force_save(NULL);
write_duty(GOD, "Automatic saved user's details\n", NULL, NULL, 0);
syspp->autosave=0;
}
}
int main(void) {
initialize();
initialize_ADC_Offset();
printf("hello world!\n");
last_state = -1;
motoron = 0;
do {
if(!motoron) {
__delay_ms(1000);
printf("ready when you are...press USER button\n");
while (!USER);
printf("running\n");
__delay_ms(1000);
motoron = 1;
write_duty(60);
kick();
}
} while (1);
while(1);
while (1){
/*
if(USER){
LED1 = !LED1;
LED2 = !LED2;
LED3 = !LED3;
LED4 = !LED4;
//TOPMAG = !TOPMAG;
//commutate(7);
}
*/
//test_MayDay();
}
return 0;
}
int main(void) {
int duty = 500;
initialize();
write_duty(duty); //apply duty cycle change
motoron = 1;//turn motor on
kick();//kick start commutation
while (1){
commutate(2);
__delay32(40000000);
commutate(4);
__delay32(40000000);
commutate(3);
__delay32(40000000);
if(USER){
motoron=0;
}
LED1 = !S3;
LED2 = !S2;
LED3 = !S1;
//test_MayDay();
}
return 0;
}
int main(void) {
initialize();
unsigned char b = 'x';
write_duty(0);
motoron=0;
direction = CW;
LED1 = 1;
LED2 = 1;
LED3 = 1;
LED4 = 1;
printf("%s %s\rHi! Welcome to the current control menu. Please press the number corresponding to your choice.\r1 = Idle\r2 = PWM Select\r3 = Tuning\r4 = Activate PI controller\r\n", __DATE__, __TIME__);
while(1) { //The actual running menu portion is currently commented out to test the controller output.
test_output();
delay_ms(10000);
LED1=!LED1;
//MENU
/*if (USER){
motoron=0;
LED1=!LED1;
}
b = read_UART(); //read command from UART
if (b=='1'){
printf("Motor is in Idle mode.\r\n");
write_duty(0);
b='x';
}
if (b=='2'){
printf("PWM mode selected. the motor is running at 10 percent duty.\rpress 'u' to increase it by 10, or press 'd' to decrease it by 10.\rpress'q' to quit.\r\n");
motoron=1;
write_duty(100);
kick();
while (b=='2'){
int x = read_UART();
if (x=='u'){
write_duty(read_duty()+100);
}
else if (x=='d'){
write_duty(read_duty()-100);
}
else if (x=='q'){
write_duty(0);
motoron=0;
b='x';
printf("PWM mode exited.\r\n");
}
}
}
if (b=='3'){
printf("Tuning mode selected.");
tune='1';
track_wave(refcurrent);
motoron=1;
write_duty(10);
kick();
timer1_on();
while(1);
}
if (b=='4'){
printf("PI controller activated.");
run='1';
motoron=1;
write_duty(10);
kick();
timer1_on();
while(1);
}
else if (b=='x'){
LED4=!LED4;
continue;
}*/
}
}
