int main()
{
// unsigned char onechar = 'a';
PLL_Init();
PortA_Init();
PortC_Init();
SysTick_Init();
Nokia5110_Init();
// Зеленый светодиод выкл, PC9. Синий сетодиод вкл, PC8. Положительная логика
GPIOC_BSRR = 0x2000100;
Nokia5110_Clear();
while(1){
if((GPIOA_IDR & 0x1)){ // Проверяем нажатие кнопки, PA0. Положительная логика
GPIOC_BSRR = 0x1000200; // Синий LED off. Зеленый LED on
SysTick_Wait10ms(20); // задержка 200 мс
GPIOC_BSRR = 0x3000000; // Синий LED off. Зеленый LED off
SysTick_Wait10ms(20); // задержка 200 мс
Nokia5110_OutString("Hello,World!");
}
else
GPIOC_BSRR = 0x2000100; // Синий светодиод вкл. Зеленый сетодиод выкл
}
}
void GPIOPortF_Handler(void) {
unsigned int i;
// SW1(PF4) -> Green
if(GPIO_PORTF_RIS_R & 0x10) {
GPIO_PORTF_ICR_R |= 0x10;
for(i = 0; i < 3; i++) {
GPIO_PF3_Data |= 0x08;
// Delay 300ms
SysTick_Wait10ms(30);
GPIO_PF3_Data &= ~0x08;
// Delay 300ms
SysTick_Wait10ms(30);
}
}
// SW2(PF0) -> Red
if(GPIO_PORTF_RIS_R & 0x01) {
GPIO_PORTF_ICR_R |= 0x01;
for(i = 0; i < 3; i++) {
GPIO_PF1_Data |= 0x02;
// Delay 300ms
SysTick_Wait10ms(30);
GPIO_PF1_Data &= ~0x02;
// Delay 300ms
SysTick_Wait10ms(30);
}
}
}
void followWall(void){ // includes avoiding other robots
////get sensor values
frontSensor = ADCRead(adc[0])*1000;
rightSensor = ADCRead(adc[1])*1000;
leftSensor = ADCRead(adc[2])*1000;
if (rightSensor>300 && rightSensor>leftSensor) { ///follow whichever wall is closer
//////if right wall is closer
if(frontSensor > 900){ ////back up and turn if wall ahead
SetMotor(leftMotor, -1);
SetMotor(rightMotor, -1);
SysTick_Wait10ms(70); //reverse for 3 seconds
turn90Degrees(LEFT);
wasRightWall = true;
wasLeftWall = false;
}
else if(rightSensor > 650){
SetMotor(leftMotor, -.25);
SetMotor(rightMotor, .8);
}
else{
SetMotor(leftMotor, 1);
SetMotor(rightMotor, .25);
}
}
/////////if left wall is closer
else if(leftSensor>300 && leftSensor>rightSensor){
if(frontSensor > 900){ ////back up and turn if wall ahead
SetMotor(leftMotor, -1);
SetMotor(rightMotor, -1);
SysTick_Wait10ms(70); //reverse
turn90Degrees(RIGHT);
wasLeftWall = true;
wasRightWall = false;
}
else if(leftSensor > 650){
SetMotor(leftMotor, .8);
SetMotor(rightMotor, -.25);
}
else{
SetMotor(leftMotor, .25);
SetMotor(rightMotor, 1);
}
}
else {
if (wasLeftWall) {
SetMotor(leftMotor, 1);
SetMotor(rightMotor, .7);
}
else {
SetMotor(leftMotor, .7);
SetMotor(rightMotor, 1);
}
}
}
void squareDance(void){
int turns = 0;
bool postTurn = true;
bool clockWise;
float sensor;
rightSensor = ADCRead(adc[1])*1000;
leftSensor = ADCRead(adc[2])*1000;
if (rightSensor>leftSensor){
clockWise = true;
}else{
clockWise = false;
}
while(turns < 4) {
if (clockWise) {sensor = ADCRead(adc[1])*1000;}else{sensor = ADCRead(adc[2])*1000;}
if (postTurn){
//////after we make a turn
SetMotor(leftMotor, 1);
SetMotor(rightMotor, 1);
SysTick_Wait10ms(250); // go straight for a short time to get back by object
do {
if (clockWise) {sensor = ADCRead(adc[1])*1000;}else{sensor = ADCRead(adc[2])*1000;}
}while(sensor > 400);
postTurn = false;
}
else {
SetMotor(leftMotor, 1);
SetMotor(rightMotor, 1);
/////keep going straight while no wall is close
do {
if (clockWise) {sensor = ADCRead(adc[1])*1000;}else{sensor = ADCRead(adc[2])*1000;}
}while(sensor < 400);
/////now that we have encountered a wall
/////keep going straight until we have passed the wall so we can make turn
do {
if (clockWise) {sensor = ADCRead(adc[1])*1000;}else{sensor = ADCRead(adc[2])*1000;}
}while(sensor > 400);
SysTick_Wait10ms(70);
/////stop briefly
SetMotor(leftMotor, 0);
SetMotor(rightMotor, 0);
SysTick_Wait10ms(40);
/////turn corner
if (clockWise) {turn90Degrees(RIGHT);} else { turn90Degrees(LEFT);}
turns += 1;
postTurn = true;
}
}
//////once we have made 4 turns we will stop
SetMotor(leftMotor, 0);
SetMotor(rightMotor, 0);
while(true);
}
void turn90Degrees(int dir){
if (dir == LEFT) {
SetMotor(leftMotor, -1);
SetMotor(rightMotor, 1);
SysTick_Wait10ms(72);
}
if (dir == RIGHT){
SetMotor(leftMotor, 1);
SetMotor(rightMotor, -1);
SysTick_Wait10ms(72);
}
stage = 1;
}
int main(void){
uint8_t n; // state number
uint32_t Input;
PLL_Init(Bus80MHz); // initialize 50 MHz system clock
SysTick_Init(); // initialize SysTick timer
SYSCTL_RCGCGPIO_R |= 0x12; // activate clock for Port E and Port B
// allow time for clock to stabilize
while((SYSCTL_PRGPIO_R&0x12) == 0){};
GPIO_PORTB_DIR_R |= 0x3F; // make PB5-0 out
GPIO_PORTB_AFSEL_R &= ~0x3F; // disable alt funct on PB5-0
GPIO_PORTB_DEN_R |= 0x3F; // enable digital I/O on PB5-0
// configure PB5-0 as GPIO
GPIO_PORTB_PCTL_R = (GPIO_PORTB_PCTL_R&0xFF000000)+0x00000000;
GPIO_PORTB_AMSEL_R &= ~0x3F; // disable analog functionality on PB5-0
GPIO_PORTE_DIR_R &= ~0x03; // make PE1-0 in
GPIO_PORTE_AFSEL_R &= ~0x03; // disable alt funct on PE1-0
GPIO_PORTE_DEN_R |= 0x03; // enable digital I/O on PE1-0
// configure PE1-0 as GPIO
GPIO_PORTE_PCTL_R = (GPIO_PORTE_PCTL_R&0xFFFFFF00)+0x00000000;
GPIO_PORTE_AMSEL_R &= ~0x03; // disable analog functionality on PE1-0
n = goN; // initial state: Green north; Red east
while(1){
LIGHT = FSM[n].Out; // set lights to current state's Out value
SysTick_Wait10ms(FSM[n].Time); // wait 10 ms * current state's Time value
Input = SENSOR; // get new input from car detectors
n = FSM[n].Next[Input]; // transition to next state
}
}
{ GR, S, 50, { S_ge, S_ge, S_ye, S_ye, S_ye, S_ye, S_ye, S_ye } }, //S_ge
{ YR, S, 10, { S_gn, S_ge, S_gn, S_gn, S_wa, S_wa, S_gn, S_gn } }, //S_ye - Moves to gn
{ RR, W, 50, { S_h0, S_h0, S_h0, S_h0, S_wa, S_h0, S_h0, S_h0 } }, //Walk
{ RR, S, 02, { S_h1, S_h1, S_h1, S_h1, S_h1, S_h1, S_h1, S_h1 } }, //Hurry0 - can only go to h1
{ RR, 0, 02, { S_h2, S_h2, S_h2, S_h2, S_h2, S_h2, S_h2, S_h2 } }, //Hurry1 - can only go to h2
{ RR, S, 02, { S_h3, S_h3, S_h3, S_h3, S_h3, S_h3, S_h3, S_h3 } }, //Hurry2 - can only go to h3
{ RR, 0, 10, { S_ge, S_ge, S_gn, S_ge, S_wa, S_ge, S_gn, S_ge } }, //Hurry3
int main(void) {volatile unsigned long delay;
SysTick_Init();
SYSCTL_RCGC2_R |= 0x32; // 1) B E
delay = SYSCTL_RCGC2_R; // 2) no need to unlock
GPIO_PORTE_AMSEL_R &= ~0x07; // 3) disable analog function on PE1-0
GPIO_PORTE_PCTL_R &= ~0x00000FFF; // 4) enable regular GPIO
GPIO_PORTE_DIR_R &= ~0x07; // 5) inputs on PE1-0
GPIO_PORTE_AFSEL_R &= ~0x07; // 6) regular function on PE1-0
GPIO_PORTE_DEN_R |= 0x07; // 7) enable digital on PE1-0
GPIO_PORTB_AMSEL_R &= ~0x3F; // 3) disable analog function on PB5-0
GPIO_PORTB_PCTL_R &= ~0x00FFFFFF; // 4) enable regular GPIO
GPIO_PORTB_DIR_R |= 0x3F; // 5) outputs on PB5-0
GPIO_PORTB_AFSEL_R &= ~0x3F; // 6) regular function on PB5-0
GPIO_PORTB_DEN_R |= 0x3F; // 7) enable digital on PB5-0
GPIO_PORTF_LOCK_R = 0x4C4F434B; // 2) unlock GPIO Port F
GPIO_PORTF_CR_R = 0x1F; // allow changes to PF4-0
GPIO_PORTF_AMSEL_R &= ~0x0A;
GPIO_PORTF_PCTL_R &= ~0x000FFF0;
GPIO_PORTF_DIR_R |= 0x0A;
GPIO_PORTF_AFSEL_R &= ~0x0A;
GPIO_PORTF_DEN_R |= 0x0A;
S = goN;
while(1){
LIGHT = FSM[S].Out; // set lights
PED_LIGHT = FSM[S].Out2;
SysTick_Wait10ms(FSM[S].Time);
Input = SENSOR; // read sensors
S = FSM[S].Next[Input];
}
}
//------------Fixed_uBinOut8_test------------
// Test case for Fixed_sDecOut3 function. Unigned 32-bit binary fixed-point with a resolution of 1/256.
void Fixed_uBinOut8_test(void){
Output_Clear();
ST7735_SetCursor(0,0);
printf("Fixed_uBinOut8_test\n");
for(int i = 0; i < ARRAY_SIZE; i++){
Fixed_uBinOut8(BinCases[i]);
SysTick_Wait10ms(10);
}
printf("Press SW2 to cont.");
}
// 3. Subroutines Section
// MAIN: Mandatory for a C Program to be executable
int main(void){
PLL_Init();
// 80 MHz
// initialize output and interrupts
EnableInterrupts();
PortB_Init();/*Initialize ports and timers*/
SysTick_Init();
while(1){
/*Your code goes here*/
GPIO_PORTB_DATA_R=0X05;
SysTick_Wait10ms(1);
GPIO_PORTB_DATA_R=0X06;
SysTick_Wait10ms(1);
GPIO_PORTB_DATA_R=0X0A;
SysTick_Wait10ms(1);
GPIO_PORTB_DATA_R=0X09;
SysTick_Wait10ms(1);
}
}
int main(void){
TExaS_Init(SW_PIN_PE210, LED_PIN_PB543210,ScopeOff); // activate grader and set system clock to 80 MHz
EnableInterrupts();
Port_Init();
SysTick_Init();
S = GoWest;
while(1){
GPIO_CarLED = FSM[S].CarLED; // set Car LED
GPIO_WalkLED = FSM[S].WalkLED; // set Walk LED
SysTick_Wait10ms(FSM[S].Time);
Input = GPIO_Sensor; // read sensors
S = FSM[S].Next[Input];
}
}
int main() {
RCGC2::GPIOF::write(1); // turn on GPIOF
GPIOHBCTL::GPIOF::write(0x1); // turn on AHB access to GPIOF
GPIOF::DEN::DEN::write(BIT1 | BIT2 |
BIT3); // digital mode bits 1,2,3 of GPIOF
GPIOF::DIR::DIR::write(BIT1 | BIT2 |
BIT3); // make bits 1,2,3 outputs on GPIOF
PLL_Init();
SysTick_Init();
lights = BIT1;
while (1) {
GPIOF::DATA::DATA::write(lights);
SysTick_Wait10ms(1000);
GPIOF::DATA::DATA::write(0x0);
SysTick_Wait10ms(1000);
// Toggle Led color
lights <<= 1;
if (lights > BIT3)
lights = BIT1;
}
return 0;
}
void Xbee_Init(unsigned char ChannelNum){
unsigned char nextStep = 0;
SysTick_Init();
// printf("Initializing...%c",NEWLINE);
while(nextStep == 0){
UART_OutChar('x');
SysTick_Wait10ms(110);//wait 1.1ms
UART_OutChar('+');
UART_OutChar('+');
UART_OutChar('+');
SysTick_Wait10ms(110);//wait 1.1ms
nextStep = lookforCR();
}
// printf("okay1%c",NEWLINE);
nextStep = 0;
while(nextStep == 0){
UART_OutString(ATCMD1);
SysTick_Wait10ms(2);
nextStep = lookforCR();
}
// printf("okay2%c",NEWLINE);
nextStep = 0;
while(nextStep == 0){
UART_OutString(ATCMD2);
SysTick_Wait10ms(2);
nextStep = lookforCR();
}
// printf("okay3%c",NEWLINE);
nextStep = 0;
while(nextStep == 0){
UART_OutString(ATCMD3);
SysTick_Wait10ms(2);
nextStep = lookforCR();
}
// printf("okay4%c",NEWLINE);
nextStep = 0;
while(nextStep == 0){
UART_OutString(ATCMD4);
SysTick_Wait10ms(2);
nextStep = lookforCR();
}
//printf("okay5%c",NEWLINE);
nextStep = 0;
while(nextStep == 0){
UART_OutString(ATCMD5);
SysTick_Wait10ms(2);
nextStep = lookforCR();
}
// printf("okay6%c",NEWLINE);
}
int main(void){
unsigned char input;
PLL_Init(); // Program 10.1
SysTick_Init(); // Program 10.2
PortB_Init(); // initialize motor outputs on Port B
PortE_Init(); // initialize sensor inputs on Port E
cState = 0; // initial state = 0
while(1){
// output based on current state
GPIO_PORTB_DATA_R = Fsm[cState].out; // step motor
// wait for time according to state
SysTick_Wait10ms(Fsm[cState].wait);
// get input
input = GPIO_PORTE_DATA_R&0x03; // Input 0,1,2,3
// change the state based on input and current state
cState = Fsm[cState].next[input];
}
}
int main(void){
TExaS_Init(SW_PIN_PE210, LED_PIN_PB543210,ScopeOff); // activate grader and set system clock to 80 MHz
ports_Init();
SysTick_Init();
EnableInterrupts();
S = goW;
while(1){
TRAFLIGHT = FSM[S].trafOut;
PEDLIGHT = FSM[S].pedOut;
SysTick_Wait10ms(FSM[S].delay);
Input = SENSORS;
S = FSM[S].next[Input];
}
}
int main(void){
TExaS_Init(SW_PIN_PE210, LED_PIN_PB543210); // activate grader and set system clock to 80 MHz
SYSCTL_RCGC2_R |= 0x32; // 1) B E F
initB();
initF();
initE();
SysTick_Init(); // Program 10.2
EnableInterrupts();
CurrentState = 2;
while(1){
CAR_LIGHT = FSM[CurrentState].CarOut; // set car lights
PEDES_LIGHT = FSM[CurrentState].WalkOut; // set pedestrian lights
SysTick_Wait10ms(FSM[CurrentState].Time);
Input = SENSOR; // read sensors
CurrentState = FSM[CurrentState].Next[Input];
}
}
// ************* CheckContact *************
// checks if any of the four corners of link are inside the boss
// when one of the four corners are hit by the boss, link will then
// be knocked back and lose health
void CheckContact(void){
char hit = 0;
// hit from lower right
if(CheckInBoss(Link.Xpos, Link.Ypos)){
hit = 1;
RetreatLeft();
RetreatUp();
}
// hit from lower left
else if(CheckInBoss(Link.Xpos + Link.Width - 1, Link.Ypos)){
hit = 1;
RetreatRight();
RetreatUp();
}
// hit from upper right
else if(CheckInBoss(Link.Xpos, Link.Ypos + Link.Height - 1)){
hit = 1;
RetreatLeft();
RetreatDown();
}
// hit from upper left
else if(CheckInBoss(Link.Xpos + Link.Width - 1, Link.Ypos + Link.Height - 1)){
hit = 1;
RetreatRight();
RetreatDown();
}
if (hit){
linkHealth -=1;
// redraws link after he retreats
LCD12864ImageDraw(&display[0],&room[0],Link.Graphic,Link.Xpos,Link.Ypos,Link.Width,Link.Height);
LCD12864PartUpdate(&display[0],Link.Xpos,Link.Ypos,Link.Width,Link.Height);
SysTick_Wait10ms(1);
}
// user died :(
if (linkHealth == 0){
gameEnd = LOST;
}
}
int main(void){ volatile unsigned long delay;
STyp *Pt; // state pointer
unsigned long Input;
PLL_Init(); // configure for 50 MHz clock
SysTick_Init(); // initialize SysTick timer
// activate port A
SYSCTL_RCGC2_R |= SYSCTL_RCGC2_GPIOA;
delay = SYSCTL_RCGC2_R; // allow time to finish activating
GPIO_PORTA_DIR_R &= ~0x01; // make PA0 in
GPIO_PORTA_DIR_R |= 0x06; // make PA2-1 out
GPIO_PORTA_AFSEL_R &= ~0x07; // disable alt func on PA2-0
GPIO_PORTA_DEN_R |= 0x07; // enable digital I/O on PA2-0
// configure PA2-0 as GPIO
GPIO_PORTA_PCTL_R = (GPIO_PORTA_PCTL_R&0xFFFFF000)+0x00000000;
GPIO_PORTA_AMSEL_R = 0; // disable analog functionality on PA
Pt = Stop; // initial state: stopped
while(1){
Input = INPUT; // get new input from Control
OUTPUT = Pt->Out[Input]<<1;// output to Brake and Gas
SysTick_Wait10ms(Pt->Delay);// wait 10 ms * current state's Delay value
Pt = Pt->Next[Input]; // transition to next state
}
}
int main(void){ volatile unsigned long delay;
PLL_Init(); // 80 MHz, Program 10.1
SysTick_Init(); // Program 10.2
SYSCTL_RCGC2_R |= 0x12; // 1) B E
delay = SYSCTL_RCGC2_R; // 2) no need to unlock
GPIO_PORTE_AMSEL_R &= ~0x03; // 3) disable analog function on PE1-0
GPIO_PORTE_PCTL_R &= ~0x000000FF; // 4) enable regular GPIO
GPIO_PORTE_DIR_R &= ~0x03; // 5) inputs on PE1-0
GPIO_PORTE_AFSEL_R &= ~0x03; // 6) regular function on PE1-0
GPIO_PORTE_DEN_R |= 0x03; // 7) enable digital on PE1-0
GPIO_PORTB_AMSEL_R &= ~0x3F; // 3) disable analog function on PB5-0
GPIO_PORTB_PCTL_R &= ~0x00FFFFFF; // 4) enable regular GPIO
GPIO_PORTB_DIR_R |= 0x3F; // 5) outputs on PB5-0
GPIO_PORTB_AFSEL_R &= ~0x3F; // 6) regular function on PB5-0
GPIO_PORTB_DEN_R |= 0x3F; // 7) enable digital on PB5-0
S = goN;
while(1){
LIGHT = FSM[S].Out; // set lights
SysTick_Wait10ms(FSM[S].Time);
Input = SENSOR; // read sensors
S = FSM[S].Next[Input];
}
}
int main(void){
PLL_Init();
SysTick_Init();
UART4_Init();
Edge_Detect_Init();
Timer_Capture_Init();
UART_OutUDec(1,4);
while(1)
{
SysTick_Wait10ms(100);
if(((1<<TIMER0_RIS_R)&(0x1)))
{
TIMER0_ICR_R|=(1<<1);
UART_OutUDec(TIMER0_TAR_R,4);
New_Line(4);
}
}
}
// attacks with Link's sword
void PressA(void){
if(Link.Direction == UP){
// make sure sword can fit within top side of LCD screen
if(Link.Ypos <= (LCD_HEIGHT-Link.Height-SWORD_LENGTH-PIXEL_BUFFER)){
Sword.Width = SWORD_BREADTH;
Sword.Height = SWORD_LENGTH;
Sword.Direction = UP;
Sword.Ypos = Link.Ypos + (Link.Height-PIXEL_BUFFER);
Sword.Xpos = Link.Xpos + (OFFSET_UP_SWORD);
Sword.Graphic = &swordUp[0];
}
else{
return;
}
}
else if(Link.Direction == DOWN){
// make sure sword can fit within bottom side of LCD screen
if(Link.Ypos >= SWORD_LENGTH){
Sword.Width = SWORD_BREADTH;
Sword.Height = SWORD_LENGTH;
Sword.Direction = DOWN;
Sword.Ypos = Link.Ypos - (Sword.Height - PIXEL_BUFFER);
Sword.Xpos = Link.Xpos + (OFFSET_DOWN_SWORD);
Sword.Graphic = &swordDown[0];
}
else{
return;
}
}
else if(Link.Direction == LEFT){
// make sure sword can fit within left side of LCD screen
if(Link.Xpos <= (LCD_WIDTH-SWORD_LENGTH-Link.Width-PIXEL_BUFFER)){
Sword.Width = SWORD_LENGTH;
Sword.Height = SWORD_BREADTH;
Sword.Direction = LEFT;
Sword.Ypos = Link.Ypos + (OFFSET_LEFT_SWORD);
Sword.Xpos = Link.Xpos + (Link.Width - PIXEL_BUFFER);
Sword.Graphic = &swordLeft[0];
}
else{
return;
}
}
else if (Link.Direction == RIGHT){
// make sure sword can fit within right side of LCD screen
if(Link.Xpos >= (SWORD_LENGTH)){
Sword.Width = SWORD_LENGTH;
Sword.Height = SWORD_BREADTH;
Sword.Direction = RIGHT;
Sword.Ypos = Link.Ypos + (OFFSET_RIGHT_SWORD);
Sword.Xpos = Link.Xpos - (Sword.Width - PIXEL_BUFFER);
Sword.Graphic = &swordRight[0];
}
else{
return;
}
}
// draws the swords
LCD12864ImageDraw(&display[0],&room[0],Sword.Graphic,Sword.Xpos,Sword.Ypos,Sword.Width,Sword.Height);
LCD12864PartUpdate(&display[0],Sword.Xpos,Sword.Ypos,Sword.Width,Sword.Height);
Timer1A_Disable(); // boss stops moving (so it doesn't run into the sword)
SysTick_Wait10ms((SWORD_DELAY)/10); // how long the sword will stay out
CheckSword();
Timer1A_Enable();
// removes the sword
LCD12864ImageClear(&display[0],&room[0],Sword.Xpos,Sword.Ypos,Sword.Width,Sword.Height);
LCD12864PartUpdate(&display[0],Sword.Xpos,Sword.Ypos,Sword.Width,Sword.Height);
}
void XBeeInit(){
char * commands [] = {"ATDL66", "ATDH0", "ATMY6D", "ATAP1", "ATCN", ""};
int i = 0;
int j;
UART_Init();
while (RxFifo_Size()>0){ //flush FIFO
UART_InChar();
}
ID = 1;
UART_OutString("x");
SysTick_Wait10ms(10);
SysTick_Wait10ms(10);
SysTick_Wait10ms(10);
SysTick_Wait10ms(10);
SysTick_Wait10ms(10);
SysTick_Wait10ms(10);
SysTick_Wait10ms(10);
SysTick_Wait10ms(10);
SysTick_Wait10ms(10);
SysTick_Wait10ms(10);
SysTick_Wait10ms(10);
SysTick_Wait10ms(10);
SysTick_Wait10ms(10);
SysTick_Wait10ms(10); //SysTick_Wait10ms(110); //wait waitTime number of ms;
sendATCommand("+++", 110, 0);
//UART_InString(response, 5);
//RIT128x96x4StringDraw(response, 10, 10 , 15);
for (i=0;i<5;i++){
sendATCommand(commands[i], 20, 1);
}
SysTick_Wait10ms(10);
SysTick_Wait10ms(10);
SysTick_Wait10ms(10);
SysTick_Wait10ms(10);
SysTick_Wait10ms(10);
SysTick_Wait10ms(10);
SysTick_Wait10ms(10);
SysTick_Wait10ms(10);
SysTick_Wait10ms(10);
SysTick_Wait10ms(10);
SysTick_Wait10ms(10);
SysTick_Wait10ms(10);
SysTick_Wait10ms(10);
SysTick_Wait10ms(10); }
void findObject(void) {
int item = 0;
int close =0;
if (wasLeftWall){
SetMotor(rightMotor, -.1); //rotate
SetMotor(leftMotor, .1);
}else{
SetMotor(rightMotor, .1); //rotate
SetMotor(leftMotor, -.1);
}
while (item == 0) {
frontSensor = ADCRead(adc[0])*1000;
if (frontSensor > 300) {
item = 1;
}
}
SetServo(servo,1);
SetMotor(leftMotor, 0);
SetMotor(rightMotor, 0);
SysTick_Wait10ms(40);
SetMotor(leftMotor, 1);
SetMotor(rightMotor, 1);
//SysTick_Wait10ms(100);
// while (close == 0) {
// frontSensor = ADCRead(adc[0])*1000;
// if (frontSensor<300) {
// SetMotor(rightMotor, -1);
// SetMotor(leftMotor, 0);
// SysTick_Wait10ms(50);
// frontSensor = ADCRead(adc[0])*1000;
// SetMotor(rightMotor, 0.1);
// while(frontSensor<300){
// frontSensor = ADCRead(adc[0])*1000;
// }
// }
// else if(frontSensor>300&&frontSensor<850) {
// SetMotor(rightMotor, 1);
// SetMotor(leftMotor, 1);
// }
// else if(frontSensor>850) {
// close = 1;
// }
// }
// if (frontSensor<400){
// SysTick_Wait10ms(200);
// }
// else if (frontSensor<600){
// SysTick_Wait10ms(150);
// }
// else if (frontSensor<800){
// SysTick_Wait10ms(100);
// }
// else if (frontSensor<1000){
// SysTick_Wait10ms(50);
// }
SysTick_Wait10ms(158);
SetMotor(rightMotor, 0); //STOP
SetMotor(leftMotor, 0);
SetPin(PIN_F3, 1);
SetServo(servo,0);
SysTick_Wait10ms(50);
SetMotor(rightMotor, -.5);
SetMotor(leftMotor, .5);
while(true){
SetPin(PIN_F3, 1);
SetPin(PIN_F2, 0);
SetPin(PIN_F1, 0);
SysTick_Wait10ms(50);
SetPin(PIN_F3, 0);
SetPin(PIN_F2, 1);
SetPin(PIN_F1, 0);
SysTick_Wait10ms(50);
SetPin(PIN_F3, 0);
SetPin(PIN_F2, 0);
SetPin(PIN_F1, 1);
SysTick_Wait10ms(50);
}
}
// ************* Buttons *************
// this is the major function that handles the button presses
// such as movements, attack, and mute, this function will
// also check if the game has been won or lost and restart
// the input is an int containing buttons that were pressed
void Buttons(int keyPressed){
if (gameEnd == WON){ // win
DisableInterrupts();
ClearLCDgameStarted();
// displays win banner
LCD12864ImageDraw(&display[0],&room[0],&youWin[0],WIN_X,WIN_Y,WIN_WIDTH,WIN_HEIGHT);
LCD12864PartUpdate(&display[0],WIN_X,WIN_Y,WIN_WIDTH,WIN_HEIGHT);
SysTick_Wait10ms((GAME_RESTART_DELAY)/10); // wait 2 seconds to start game over
Game_Init();
keyPressed = 0;
EnableInterrupts();
Music_Play();
}
else if (gameEnd == LOST){ // lose
DisableInterrupts();
ClearLCDgameStarted();
// displays lose banner
LCD12864ImageDraw(&display[0],&room[0],&gameOver[0],LOSE_X,LOSE_Y,LOSE_WIDTH,LOSE_HEIGHT);
LCD12864PartUpdate(&display[0],LOSE_X,LOSE_Y,LOSE_WIDTH,LOSE_HEIGHT);
SysTick_Wait10ms((GAME_RESTART_DELAY)/10); // wait 2 seconds to start game over
Game_Init();
keyPressed = 0;
EnableInterrupts();
Music_Play();
}
// the following handles the inputs from the user
// up button moves link up
if ((keyPressed&UP) && gameStarted){
MoveUp();
}
// down button moves link down
if ((keyPressed&DOWN) && gameStarted){
MoveDown();
}
// left button moves link to the left
if ((keyPressed&LEFT) && gameStarted){
MoveLeft();
}
// right button moves link to the right
if ((keyPressed&RIGHT) && gameStarted){
MoveRight();
}
// "A" button attacks with sword
if ((keyPressed&A) && gameStarted){
PressA();
}
// starts the game
else if((keyPressed&A) && !gameStarted){
LCD12864ImageDraw(&display[0],&room[0],&room[0],0,0,LCD_WIDTH,LCD_HEIGHT); // draw room
LCD12864ImageDraw(&display[0],&room[0],Link.Graphic,Link.Xpos,Link.Ypos,Link.Width,Link.Height); // draw link
LCD12864Refresh(&display[0]); // display
SysTick_Wait10ms(50);
LCD12864ImageDraw(&display[0],&room[0],Boss.Graphic,Boss.Xpos,Boss.Ypos,Boss.Width,Boss.Height); // draw boss
LCD12864Refresh(&display[0]);
Change_Song(1);
LCD12864GameStart();
Timer1A_Enable();
gameStarted = 1;
}
// "B" button mutes the game music
if ((keyPressed&B) && gameStarted){
PressB();
ClearB();
}
// updates the screen when Link moves
if(keyPressed && gameStarted){
LCD12864ImageDraw(&display[0],&room[0],Link.Graphic,Link.Xpos,Link.Ypos,Link.Width,Link.Height);
LCD12864PartUpdate(&display[0],Link.Xpos,Link.Ypos,Link.Width,Link.Height);
CheckContact();
SysTick_Wait10ms((LINK_SPEED)/10); // time to wait until next movement
}
}
