int main(void) { initRP6M256(); initLCD(); // --------------------------------------- WDT_setRequestHandler(watchDogRequest); // --------------------------------------- I2CTWI_initMaster(100); I2CTWI_setRequestedDataReadyHandler(I2C_requestedDataReady); I2CTWI_setTransmissionErrorHandler(I2C_transmissionError); setLEDs(0b1111); mSleep(1000); setLEDs(0b0000); // --------------------------------------- // Setup ACS power: I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_ACS_POWER, ACS_PWR_OFF); // Enable Watchdog for Interrupt requests: I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_WDT, true); // Enable timed watchdog requests: I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_WDT_RQ, true); startStopwatch1(); startStopwatch2(); startStopwatch3(); while(true) { /* mSleep(600); warnForObs(); mSleep(600); task_checkINT(); mSleep(600); light_detection(); mSleep(600); task_I2CTWI(); mSleep(600);*/ writeIntegerLength_WIFI(adcBat,DEC,4); behaviourController(); } return 0; }
int main(void) { initRobotBase(); setLEDs(0b111111); mSleep(2500); setLEDs(0b100100); BUMPERS_setStateChangedHandler(bumpersStateChanged); powerON(); while(true) { behaviourController(); task_RP6System(); } return 0; }