void RIT_init(int interval)
{
RIT_Init(LPC_RIT);
RIT_TimerConfig(LPC_RIT, interval);
RIT_Cmd(LPC_RIT, ENABLE);
NVIC_EnableIRQ(RIT_IRQn);
}
int _RIT_Cmd(uint8_t * args)
{
uint8_t * arg_ptr;
LPC_RIT_TypeDef* RITx;
FunctionalState NewState;
if ((arg_ptr = (uint8_t *) strtok(NULL, " ")) == NULL) return 1;
RITx = (LPC_RIT_TypeDef*) strtoul((char *) arg_ptr, NULL, 16);
if ((arg_ptr = (uint8_t *) strtok(NULL, " ")) == NULL) return 1;
NewState = (FunctionalState) strtoul((char *) arg_ptr, NULL, 16);
RIT_Cmd(RITx, NewState);
return 0;
}
int main() {
//Main demonstration execution order
Init();
//Short course:
// - FW 2 meters (using mouse)
// - Follow wall for 2 meters (wall following algorithm)
// - FW until line reached
// - Follow line until dock detected (line following algorithm)
if(1) {
currentState = TRAVEL;
Play(BEEP);
Init_RIT(INTERVAL);
while(!go);
MoveDistance(200.0f,0);
RIT_Cmd(LPC_RIT, DISABLE);
currentState = WALLF;
Play(BEEP);
FollowWall(30.0f, LEFT);
currentState = LINEF;
Play(BEEP);
StartLineFollowing();
}
//Long course:
// - FW 2 meters (using mouse)
// - Follow wall for 2 meters (wall following algorithm)
// - Turn 90 degrees right (using mouse)
// - FW 2 meters (using mouse)
// - Turn 90 degrees left (using mouse)
// - FW 2 meters (using mouse)
// - Follow wall for 2 meters (wall following algorithm)
// - FW until line reached
// - Follow line until dock detected (line following algorithm)
if(0) {
currentState = TRAVEL;
Play(BEEP);
Init_RIT(INTERVAL);
while(!go);
MoveDistance(200.0f,0);
RIT_Cmd(LPC_RIT, DISABLE);
currentState = WALLF;
Play(BEEP);
FollowWall(30.0f, LEFT);
currentState = TRAVEL;
Play(BEEP);
Init_RIT(INTERVAL);
TurnAngle(90.0f);
RoughMoveDistance(120.0f);
TurnAngle(-90.0f);
RoughMoveDistance(200.0f);
RIT_Cmd(LPC_RIT, DISABLE);
currentState = WALLF;
Play(BEEP);
FollowWall(28.0f, RIGHT);
currentState = LINEF;
Play(BEEP);
StartLineFollowing();
}
if(0) {
Calibrate();
dockNotFound = true;
WriteByte((char) 0xBB); // Start PID
WriteByte((char)((int)127.0f*0.4f)); // Max motor speed
char parameters[4] = {0x02, 0x01, 0x03, 0x02};
Write(parameters, 4); // Parameters to adjust motor speed differences
while (dockNotFound);
}
//After the run the Pololu will halt here until it is reset.
Stop();
while(1);
}
