//--------------------------------------------------------------------------------
// start the main function here
//--------------------------------------------------------------------------------
int main(void)
{
float battery_low = 0;
init_devices();
packet_valid = 0;// initialise valid packet variable to 0
// initially calculate the battery voltage
UCSRB = 0x00;
ADMUX = 0x26; //select ADC input 6
battery_voltage = ADC_conversion();
UCSRB = 0x98;
flag2 = 0;
while(1)
{
// flag2 will rise once in 10sec and calculates the Battery voltage
// and enables the UART communication
if(flag2 == 1)
{
ADMUX = 0x26; //select ADC input 6
battery_voltage = ADC_conversion();
UCSRB = 0x98;
flag2 = 0;
}
// if battery voltage is less then battery threshold value ,buzzer beeps
battery_low = (battery_voltage * 0.041) + 0.7; // battery voltage caluculation
if(battery_low < BATTERY_TRHRESHOLD)
{ buzzer_on(); _delay_ms(200); buzzer_off();_delay_ms(200);}
// following function beeps the buzzer twice after sucessfully reciving 10 packets
// from the master(FireBird-V Hexapod robot)
if(flag1 == 0)
{
if(communication_proper_count > 10)
{
flag1 = 1;
buzzer_on(); _delay_ms(400); buzzer_off();_delay_ms(400);
buzzer_on(); _delay_ms(400); buzzer_off();_delay_ms(400);
}
}
}
}
/*
* Function Name: main
* Input: None
* Output: int to inform the caller that the program exited correctly or
* incorrectly (C code standard)
* Logic: constantly monitors the sensor value and blows buzzer above a defined threshold value.
* Example Call: Called automatically by the Operating System
*
*/
void main()
{
unsigned int sensor2_value=0; //variable to store proximity sensor2 value
unsigned int sensor3_value=0; //variable to store proximity sensor3 value
unsigned int sensor4_value=0; //variable to store proximity sensor4 value
unsigned char i=0;
output_enable = 0;
start_conv = 0; //de-assert all control signals to ADC
buzzer = 1; //buzzer off
lcd_init(); //Initialize LCD
pca_init(); //initialize PCA for velocity control
lcd_clear(); //clears LCD
forward();
left_motor_velocity(0x2F);
right_motor_velocity(0x2F);
while(1)
{
sensor2_value=ADC_conversion(3);
sensor3_value=ADC_conversion(0);
sensor4_value=ADC_conversion(7);
lcd_print(1,1,sensor2_value,3);
lcd_print(1,5,sensor3_value,3);
lcd_print(1,9,sensor4_value,3);
if(sensor2_value<50 || sensor3_value<50 || sensor4_value<50) //obstacle detected
{
stop();
delay_ms(1000);
buzzer=0; //buzzer on
delay_ms(2000);
buzzer=1; //buzzer off
break;
}
}
} //main ends here
void main()
{
unsigned char i=0;
output_enable = 0;
start_conv = 0; //de-assert all control signals to ADC
buzzer = 1; //buzzer off
lcd_init(); //Initialize LCD
pca_init(); //Initialize PCA to genarate PWM
forward();
left_motor_velocity(0x4F); //0x00 will give full (100% duty cycle) velocity, while 0xFF will give zero (0% duty cycle) velocity. Any value in between 0x00 and 0xFF will give intermediate velocity.
right_motor_velocity(0x4F); //0x00 will give full (100% duty cycle) velocity, while 0xFF will give zero (0% duty cycle) velocity. Any value in between 0x00 and 0xFF will give intermediate velocity.
while(1)
{
for(i=0;i<8;i++) //Doing ADC conversion
{
data_array[i] = ADC_conversion(i);
}
left_whiteline = data_array[4];
center_whiteline = data_array[5];
right_whiteline = data_array[6];
front_sharp_sensor = data_array[2];
flag = 0; //reset the flag to 0
//check if robot's center white line sensor is on the white line
if(center_whiteline < 25)
{
flag = 1; //set the flag to 0 so that further white line sensor comparision is disabled
left_motor_velocity(0x4F); //left and right motor is at same velocity
right_motor_velocity(0x4F);
}
//robot is drifting towards left side, increase velocity of the left wheel and decrease velocity of the right wheel
if ((left_whiteline > 25) && (flag == 0))
{
flag = 1; //set the flag to 0 so that further white line sensor comparision is disabled
left_motor_velocity(0x3F); //increase left motor velocity
right_motor_velocity(0x5F); //decrease right motor velocity
}
//robot is drifting towards right side, decrease velocity of the left wheel and increase velocity of the right wheel
if ((right_whiteline > 25) && (flag == 0))
{
flag = 1; //set the flag to 0 so that further white line sensor comparision is disabled
left_motor_velocity(0x5F); //decrease right motor velocity
right_motor_velocity(0x3F); //increase left motor velocity
}
if(front_sharp_sensor >= 110) // obstacle is near the robot, stop and turn on the buzzer
{
stop();
buzzer = 0; //buzzer on
}
else
{
forward();
buzzer = 1; //buzzer off
}
if((left_whiteline > 25) && (center_whiteline > 25) && (right_whiteline > 25)) // no whiteline is detected, stop (buzzer will not turn on)
{
stop();
}
lcdprint(data_array);//call this function to print the array onto the screen
delay_ms(250);
}
}
