void update_puck_angle ()
{
float PT_angles[7] = {-0.96, -0.48, 0, 3.14, 0, 0.48, 0.96};
//{Wide Left, left spike, left front, back, right front, right spike, wide right}
float PT_values[7] = {0,0,0,0,0,0,0};
float PT_weighted[7] = {0,0,0,0,0,0,0};
int total = 0;
int i = 0;
ADC0();
PT_values[0] = ADC;
ADC1();
PT_values[1] = ADC;
ADC4();
PT_values[2] = ADC;
ADC5();
PT_values[3] = ADC;
ADC6();
PT_values[4] = ADC;
ADC7();
PT_values[5] = ADC;
ADC8();
PT_values[6] = ADC;
m_usb_tx_string("\n");
for(i = 2; i<6; i++){
if(PT_values[i]<PT_THRESHOLD){
PT_values[i] = 0;
}
}
puck_angle = 0;
total = 0;
for(i = 0; i<7; i++){
puck_angle += PT_values[i]*PT_angles[i];
total += PT_values[i];
m_usb_tx_int(PT_values[i]);
m_usb_tx_string("\t");
}
puck_angle = puck_angle/total;
m_usb_tx_int(total);
m_usb_tx_string("\t");
m_usb_tx_int((int)(puck_angle * 100));
if(total > 5){
see_puck = 1;
} else {
see_puck = 0;
}
}
main()
{
//make these pins outputs
DDRC|=((1<<DDC2)|(1<<DDC3)|(1<<DDC4)|(1<<DDC5));
DDRD|=(1<<DDD0);
//USART_Init();
//uint8_t data0, data1;
ADC_Init();
while(1)
{
/*
*/
if(PINB&(1<<PB3))//PD0 high****************** manual mode
{
PORTC&=(~((1<<PC2)|(1<<PC3)|(1<<PC4)|(1<<PC5)));
PORTD&=(~(1<<PD0));
if(PINB&(1<<PB4)) //PB4 high
{
PORTC&=(~(1<<PC2));
PORTD&=(~(1<<PD0));
PORTC|=((1<<PC4)|(1<<PC3)|(1<<PC5)); // = ***************open window
_delay_ms(100);
PORTC&=(~((1<<PC2)|(1<<PC3)|(1<<PC4)|(1<<PC5)));
PORTD&=(~(1<<PD0));
}
if(PINB&(1<<PB5)) //PB5 high
{
PORTC&=(~((1<<PC3)|(1<<PC5)));
PORTD|=(1<<PD0);
PORTC|=((1<<PC2)|(1<<PC4));
_delay_ms(100);
PORTC&=(~((1<<PC2)|(1<<PC3)|(1<<PC4)|(1<<PC5)));
PORTD&=(~(1<<PD0));
}
//break;
}
//while(~(PINB&(1<<PB3))) //k****************automatic mode
else
{
//while(1)
//{
/*
_delay_ms(100);
ADMUX=((1<<REFS0)|(1<<ADLAR)|(0<<MUX0));
_delay_ms(40);
data0=ADC_Read();
_delay_ms(100);
ADMUX=((1<<REFS0)|(1<<ADLAR)|(1<<MUX0));
_delay_ms(40);
data1=ADC_Read();
*/
while(ADC0()<(ADC1()-0x15))
{
//USART_putstring("ADC0 low");
//USARTWriteChar();
PORTC&=(~(1<<PC2));
PORTD&=(~(1<<PD0));
PORTC|=((1<<PC4)|(1<<PC3)|(1<<PC5)); // = ***************open window
break;
//
}
while(ADC0()>(ADC1()+0x15)) //CLOSE WINDOW
{
// USART_putstring("ADC0 HIGH\r\n");
PORTC&=(~((1<<PC3)|(1<<PC5)));
PORTD|=(1<<PD0);
PORTC|=((1<<PC2)|(1<<PC4));
break;
}
while(((ADC1()-0X15)<ADC0())&(ADC0()<(ADC1()+0x15)))
{
PORTC&=(~((1<<PC2)|(1<<PC3)|(1<<PC4)|(1<<PC5)));
PORTD&=(~(1<<PD0));
break;
}
// break;
}
}
}