void main(void){
PWM_motor_setup();
Inputs_motor_setup();
ADC_setup();
for(;;){
// while(INTCONbits.TMR0IF==0){} // busy loop
// ADCON0bits.GO=1;
// while(PIR1bits.ADIF==0){} // busy loop wait for conversion to finish
// vel = ADRESH;
turn(); // does the 8 bit to unsigned int work?
}
}
int main(void)
{
m_disableJTAG();
m_red(ON);
m_clockdivide(0); // clock speed 16 MHz
sei(); // enable global interrups
// initialize m_bus communications
// start wireless communications
// and open wii camera
m_bus_init();
m_wii_open();
m_usb_init();
m_rf_open(CHANNEL, RXADDRESS, PACKET_LENGTH);
setup(); // motor setup
ADC_setup();
int position[3]; // array for robot position
int x_curr;
int y_curr;
int theta_curr;
int i;
int a;
int x_pos[11];
int y_pos[11];
int theta[11];
// main LOOP
while(1)
{
// for (i=0; i < 11; i++)
// {
// current_location(position);
// x_pos[i] = position[0];
// y_pos[i] = position[1];
// theta[i] = position[2];
// }
// // calculate positions
// filter(x_pos,y_pos,theta);
// x_curr = x_pos[11];
// y_curr = y_pos[11];
// theta_curr = theta[11];
// Read in values
// ADC0();
// int D6 = ADC;
//
// ADC1();
// int F1 = ADC;
//
// ADC4();
// int F4 = ADC;
//
// ADC5();
// int F5 = ADC;
//
// ADC6();
// int F6 = ADC;
//
// ADC7();
// int F7 = ADC;
//
// ADC8();
// int D7 = ADC;
//
follow_puck();
m_green(TOGGLE);
// // usb prinitng
// m_usb_tx_string("D6: ");
// m_usb_tx_int(D6);
// m_usb_tx_string(" ");
// m_usb_tx_string("F1: ");
// m_usb_tx_int(F1);
// m_usb_tx_string(" ");
// m_usb_tx_string("F4: ");
// m_usb_tx_int(F4);
// m_usb_tx_string(" ");
// m_usb_tx_string("F5: ");
// m_usb_tx_int(F5);
// m_usb_tx_string(" ");
// m_usb_tx_string("F6: ");
// m_usb_tx_int(F6);
// m_usb_tx_string(" ");
// m_usb_tx_string("F7: ");
// m_usb_tx_int(F7);
// m_usb_tx_string(" ");
// m_usb_tx_string("D7: ");
// m_usb_tx_int(D7);
// m_usb_tx_string(" ");
// m_usb_tx_string("\n");
a = state(buffer1);
a = 2;
// COMM TEST
if (a == 1)
{
// ADD CODE
}
// PLAY
if (a == 2) {
}
// PAUSE, HALF TIME, GAME OVER
if (a == 5 || a == 6 || a == 7)
{
// STOP ROBOT
turn_robot(0,0,0,0);
m_red(OFF);
}
else
{}
}
}
//#pragma code highPriorityInterruptAddress=0x0008
//void high_interrupt(void)
//{
// _asm GOTO highPriorityIsr _endasm
//}
//
//#pragma code
void main(void){
//Default
TRISD = 0x00; //set port D signals to output
menu_ref_1=1;
menu_ref_2=0;
/*zone of disgust*/
values[MAXSPEED]=100; //Max speed
values[PIDGAINS]=100; //PID Gains
values[MAXYAW]=100; //Max Yaw
values[IRSAMPE]=10; //ir_samp_e;
values[IRSAMPR]=20; //ir_samp_r;
values[IRRAW]=60; //ir_raw
values[IRAVG]=10; //ir_avg;
/*****************/
setupSerial();
Lcd_Init();
ADC_setup();
Button_Setup();
welcome();
LCD_disp(menu_ref_1, menu_ref_2);
RUN=0;
while(1){
//NORMAL OPERATION
while(RUN==0){
if(PORTDbits.RD0 == 0)
{
mode_button = 1;
}
if(PORTDbits.RD1 == 0)
{
motor_button = 1;
}
if (mode_button==1){ //Mode change sequence
checkMode(menu);
menu_ref_2=0; //Default menu ref, should only be SPEED
delayms(200);
mode_button=0;
LCD_disp(menu_ref_1, menu_ref_2);
}
delayms(200); //Used to prevent double tapping
//possibly new function
switchChannels(0);
joy_x = doADC();
switchChannels(1);
joy_y = doADC();
if(menu_ref_1==MANUAL) //IF IN MANUAL
{
if(joy_x<=LEFT){ //User pushes right joystick left
if(values[menu_ref_2]>0){
values[menu_ref_2]=values[menu_ref_2]-5; //decrement value by 5%
GLOBAL_MAX_SPEED = values[menu_ref_2];
sendMaxSpeed();
}
LCD_disp(menu_ref_1, menu_ref_2);
delayms(200); //Delay to prevent flickering, and also to prevent 100-0 increments
}
else if (joy_x>=RIGHT){ //User pushes right joystick right
if(values[menu_ref_2]<100){
values[menu_ref_2]=values[menu_ref_2]+5; //increment value by 5%
GLOBAL_MAX_SPEED = values[menu_ref_2];
sendMaxSpeed();
}
LCD_disp(menu_ref_1, menu_ref_2);
delayms(200);
}
}
else if(menu_ref_1==FACTORY){ //IF IN FACTORY MODE
if (joy_y>=UP){ //User pushes left joystick UP
//Circular selection
if(menu_ref_2==0){
menu_ref_2=4;
}
else{
menu_ref_2--; //switched the order of this to prevent overflow
}
LCD_disp(menu_ref_1, menu_ref_2);
delayms(250); //Arbitrary delay of 250 milliseconds
}
else if (joy_y<=DOWN){ //User pushes left joystick DOWN
menu_ref_2++;
//Circular selection
if(menu_ref_2>=7){
menu_ref_2=1;
}
LCD_disp(menu_ref_1, menu_ref_2);
delayms(250);
}
else if (joy_x<=LEFT){ //User pushes right joystick left
if(values[menu_ref_2]>0){
values[menu_ref_2]=values[menu_ref_2]-5; //decrement value by 5%
}
LCD_disp(menu_ref_1, menu_ref_2);
delayms(255);
delayms(200);
}
else if (joy_x>=RIGHT){ //User pushes right joystick right
if(values[menu_ref_2]<100){
values[menu_ref_2]=values[menu_ref_2]+5; //decrement value by 5%
}
LCD_disp(menu_ref_1, menu_ref_2);
delayms(255);
delayms(200);
}
}
//All other menu_ref_1's do not have values displayed
if (motor_button==1){
motor_button=0;
RUN=1;
}
//send here
}
/*Menu on setup*/
if (RUN==1){
on_setup();
GLOBAL_RUN = RUN;
sendRun();
//MOTOR ON GOES AFTER
motor_button=0;
}
/*MOTOR ON BEHAVIOUR*/
while(RUN==1){
if(PORTDbits.RD1 == 0)
{
motor_button = 1;
}
if (motor_button==1){ //At interrupt, stop motor and return to menu
motor_button=0;
RUN=0;
GLOBAL_RUN = RUN;
sendRun();
}
switchChannels(0);
//GLOBAL_VELOCITY = doADC(); GLOBAL_VELOCITY = doADC() //Get joystick values
joy_y = doADC();
GLOBAL_VELOCITY = joy_y;
switchChannels(1);
joy_x = doADC();
GLOBAL_OMEGA = joy_x;
sendVelocity();
sendOmega();
//send command here
}
/*MOTOR OFF MESSAGE*/
RUN=0;
//MOTOR OFF FUNCTION GOES BEFORE MESSAGE
LCD_title(t5); //"Whoa!"
delays(2); //safety delay
LCD_disp(menu_ref_1, menu_ref_2); //Return to normal display
}
}
void main(void)
{
PWM_motor_setup();
ADC_setup();
setupSerial();
IR_Setup();
TMR2_INT_setup();
while(1)
{
while(GLOBAL_MODE == MANUAL)
{
//turn(GLOBAL_VELOCITY,GLOBAL_OMEGA);
noob_turn(GLOBAL_VELOCITY,GLOBAL_OMEGA);
}
while(GLOBAL_MODE == ASSIST)
{
IR_Calculate();
if(dist_count == 2)
{
new_turn(5, Get_dist_diff());
newdistance = 0;
}
}
while(GLOBAL_MODE == AUTO)
{
IR_Calculate();
if(newstate == 1)
{
if(Get_S_IR_state() == IR_TOO_CLOSE)
{
// turn(AUTO_VEL, AUTO_OMEGA);
CCPR1L = 40;
CCPR2L = 50;
}
else if(Get_S_IR_state() == IR_TOO_FAR)
{
// turn(AUTO_VEL,255 -AUTO_OMEGA);
CCPR1L = 50;
CCPR2L = 40;
}
else if(Get_S_IR_state() == IR_ERROR)
{
turn(128,128);
}
newstate = 0;
}
}
}
}
//c7 red
/// e6 blue
int main(void)
{
m_disableJTAG(); // Turn off JTAG
//m_red(ON); // check code runs
m_clockdivide(0); // clock speed 16 MHz
m_bus_init(); // initialize m_bus communications
m_usb_init(); // USB COM
setup(); // motor setup
ADC_setup(); // setup anlog conversions
// start wireless communications
m_rf_open(CHANNEL, RXADDRESS, PACKET_LENGTH);
m_wii_open(); // and open wii camera
sei(); // enable global interrups
set(DDRC,7);
set(DDRB,7);
int position[3]; // array for robot position
int x_curr; // current x position
int y_curr; // current y position
int theta_curr; // current angle
int i;
int a;
// x, y and theta values
int x_pos[11];
int y_pos[11];
int theta[11];
char send[10];
int side;
int x1;
// calculate initial positions
int status;
// int x;
// int y;
// int theta1;
int hasPuck = 0;
// main LOOP
while(1)
{
if (flag)
{
m_rf_read(buffer1, PACKET_LENGTH);
testing = (unsigned char)buffer1[0];
a = state(testing);
// m_rf_read(buffer, PACKET_LENGTH);
// x = (unsigned char)buffer[0];
// y = (unsigned char)buffer[1];
// theta1 = (unsigned char)buffer[2];
if (flag1){
for(i = 0; i<10; i++)
{
current_location(position);
x1 = position[0];
}
// figure out what side robot starts on
if (x1 > 0)
{
side = -1;
}
else
{
side = 1;
}
}
flag = 0;
}
// m_rf_open(CHANNEL, RXADDRESS, PACKET_LENGTH);
// store 10 most recent position readings
for (i=0; i < 11; i++)
{
current_location(position);
x_pos[i] = position[0];
y_pos[i] = position[1];
theta[i] = position[2];
}
// filter position
filter(x_pos,y_pos,theta);
// current position
x_curr = x_pos[11];
y_curr = y_pos[11];
theta_curr = theta[11];
if (x_curr > 0)
{
m_red(ON);
}
else if (x_curr<0)
{
m_red(OFF);
}
if (y_curr > 0)
{
m_green(ON);
}
else if (y_curr<0)
{
m_green(OFF);
}
// send[0] = x_curr;//(char) x_curr;
// send[1] = y_curr;//(char) y_curr;
// send[2] = theta_curr;//(char) theta_curr;
// status = m_rf_send(TXaddress, send, PACKET_LENGTH);
// if (status){m_red(TOGGLE)};
// m_usb_tx_string("X Pos: ");
// m_usb_tx_int(x);
// m_usb_tx_string(" ");
// m_usb_tx_string("Y POSITION: ");
// m_usb_tx_int(y);
// m_usb_tx_string(" ");
// m_usb_tx_string("ANGLE: ");
// m_usb_tx_int(theta1);
// m_usb_tx_string(" ");
// m_usb_tx_string("\n");
a = 2;
// COMM TEST
if (a == 1)
{
// ADD CODE
// m_red(ON);
if (side == 1)
{
set(PORTC,7);
}
else {
set(PORTB,7);
}
}
// PLAY GAME
else if (a == 2) {
// m_red(OFF);
//int hasPuck = follow_puck();
//hasPuck = 1;
// goalie(x_curr, y_curr, theta_curr, side);
if(hasPuck)
{
//score_goal(x_curr, y_curr, theta_curr, side);
//turn_robot(0,0,0,0);
}
}
// GOAL R
else if (a == 3)
{
//side = 1;
//m_green(TOGGLE);
}
// GOAL B
else if ( a == 4)
{
//side = -1;
//m_green(TOGGLE);
}
else if(a == 5)
{
turn_robot(0,0,0,0);
// m_red(ON);
}
// PAUSE, HALF TIME, GAME OVER
if (a == 6 || a == 7)
{
// STOP ROBOT
turn_robot(0,0,0,0);
m_red(ON);
}
else
{}
// // COMM PROTOCOL INSTRUCTIONS
// m_usb_tx_string("STATE: ");
// m_usb_tx_int(a);
// m_usb_tx_string(" ");
// m_usb_tx_string("FLAG: ");
// m_usb_tx_int(flag);
// m_usb_tx_string(" ");
// m_usb_tx_string("TESTING: ");
// m_usb_tx_int(testing);
// m_usb_tx_string(" ");
// m_usb_tx_string("\n");
}
}
