void main(){
char period = 0xAA;
Initialize_ADC();
OpenPWM1(period); //PWM on pin 17
SetDCPWM1(Get_ADC()); //ADC on pin 2
}
/*******************************************************************************
*
* FUNCTION: Initialization()
*
* PURPOSE: This function is called once when the robot controller
* is cold or warm booted. You should initialize your code
* here.
*
* CALLED FROM: main() in ifi_frc.c
*
* PARAMETERS: None
*
* RETURNS: Nothing
*
* COMMENTS:
*
*******************************************************************************/
void Initialization(void)
{
// Setup the digital I/O pins. Use "INPUT" to setup the pin
// as an input and "OUTPUT" to setup the pin as an output.
digital_io_01 = INPUT;
digital_io_02 = INPUT;
digital_io_03 = INPUT;
digital_io_04 = INPUT;
digital_io_05 = INPUT;
digital_io_06 = INPUT;
digital_io_07 = INPUT;
digital_io_08 = INPUT;
digital_io_09 = INPUT;
digital_io_10 = INPUT;
digital_io_11 = INPUT;
digital_io_12 = INPUT;
digital_io_13 = INPUT;
digital_io_14 = INPUT;
digital_io_15 = INPUT;
digital_io_16 = INPUT;
digital_io_17 = INPUT;
digital_io_18 = INPUT;
// Initialize the digital outputs. If the pin is configured
// as an input above, it doesn't matter what state you
// initialize it to here.
rc_dig_out01 = 0;
rc_dig_out02 = 0;
rc_dig_out03 = 0;
rc_dig_out04 = 0;
rc_dig_out05 = 0;
rc_dig_out06 = 0;
rc_dig_out07 = 0;
rc_dig_out08 = 0;
rc_dig_out09 = 0;
rc_dig_out10 = 0;
rc_dig_out11 = 0;
rc_dig_out12 = 0;
rc_dig_out13 = 0;
rc_dig_out14 = 0;
rc_dig_out15 = 0;
rc_dig_out16 = 0;
rc_dig_out17 = 0;
rc_dig_out18 = 0;
// Initialize timers and interrupts here
printf("Before ADC!\r\n");
// Remove the // below to initialize the analog to digital converter (ADC) code
Initialize_ADC();
// Remove the // below to initialize the gyro code (ADC code must be enabled too)
// Initialize_Gyro();
// Remove the // below to initialize encoder #1
// Initialize_Encoder_1();
// Remove the // below to initialize encoder #2
// Initialize_Encoder_2();
// Remove the // below to initialize encoders #3 through #6
// Initialize_Encoder_3_6();
printf("IFI User Processor Initialized ...\r\n");
}
/*******************************************************************************
* FUNCTION NAME: User_Initialization
* PURPOSE: This routine is called first (and only once) in the Main function.
* You may modify and add to this function.
* CALLED FROM: main.c
* ARGUMENTS: none
* RETURNS: void
*******************************************************************************/
void User_Initialization (void)
{
Set_Number_of_Analog_Channels(SIXTEEN_ANALOG); /* DO NOT CHANGE! */
/* FIRST: Set up the I/O pins you want to use as digital INPUTS. */
digital_io_01 = digital_io_02 = digital_io_03 = digital_io_04 = INPUT;
digital_io_05 = digital_io_06 = digital_io_07 = digital_io_08 = INPUT;
digital_io_09 = digital_io_10 = digital_io_11 = digital_io_12 = INPUT;
digital_io_13 = digital_io_14 = digital_io_15 = digital_io_16 = INPUT;
digital_io_18 = INPUT; /* Used for pneumatic pressure switch. */
/*
Note: digital_io_01 = digital_io_02 = ... digital_io_04 = INPUT;
is the same as the following:
digital_io_01 = INPUT;
digital_io_02 = INPUT;
...
digital_io_04 = INPUT;
*/
/* SECOND: Set up the I/O pins you want to use as digital OUTPUTS. */
digital_io_17 = INPUT; /* Example - Not used in Default Code. */
/* THIRD: Initialize the values on the digital outputs. */
// rc_dig_out17 = 0;
/* FOURTH: Set your initial PWM values. Neutral is 127. */
pwm01 = pwm02 = pwm03 = pwm04 = pwm05 = pwm06 = pwm07 = pwm08 = 127;
pwm09 = pwm10 = pwm11 = pwm12 = pwm13 = pwm14 = pwm15 = pwm16 = 127;
/* FIFTH: Set your PWM output types for PWM OUTPUTS 13-16.
/* Choose from these parameters for PWM 13-16 respectively: */
/* IFI_PWM - Standard IFI PWM output generated with Generate_Pwms(...) */
/* USER_CCP - User can use PWM pin as digital I/O or CCP pin. */
Setup_PWM_Output_Type(IFI_PWM,IFI_PWM,IFI_PWM,IFI_PWM);
/*
Example: The following would generate a 40KHz PWM with a 50% duty cycle on the CCP2 pin:
CCP2CON = 0x3C;
PR2 = 0xF9;
CCPR2L = 0x7F;
T2CON = 0;
T2CONbits.TMR2ON = 1;
Setup_PWM_Output_Type(USER_CCP,IFI_PWM,IFI_PWM,IFI_PWM);
*/
/* Add any other initialization code here. */
Init_Serial_Port_One();
Init_Serial_Port_Two();
#ifdef TERMINAL_SERIAL_PORT_1
stdout_serial_port = SERIAL_PORT_ONE;
#endif
#ifdef TERMINAL_SERIAL_PORT_2
stdout_serial_port = SERIAL_PORT_TWO;
#endif
Initialize_Encoders();
//I EXPECT INITIALIZATION VALUES
Reset_Encoder_1_Count(-153);
Reset_Encoder_2_Count(-415);
//start comment
Initialize_Gyro();
Initialize_ADC();
//end comment
init_pid(&arm, 100, 0, 0, 120, 35); // 275 0 0
init_pid(&wrist, 33, 0, 0, 20, 80); //45 30 0
init_pid(&Mr_Roboto, 55, 0 , 0, 100, 25);
init_pid(&robot_dist, 95, 0, 0, 100, 8);
init_pid(&gyro_c, 20, 0, 0, 100, 8);
Putdata(&txdata); /* DO NOT CHANGE! */
// *** IFI Code Starts Here ***
//
// Serial_Driver_Initialize();
printf("IFI 2006 User Processor Initialized ...\r"); /* Optional - Print initialization message. */
User_Proc_Is_Ready(); /* DO NOT CHANGE! - last line of User_Initialization */
}
