예제 #1
0
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;
}
예제 #2
0
int main(void)
{
	initRobotBase(); 
	setLEDs(0b111111);
	mSleep(2500);
	setLEDs(0b100100); 

	BUMPERS_setStateChangedHandler(bumpersStateChanged);
	
	powerON(); 
	
	while(true) 
	{		
		behaviourController();
		task_RP6System();
	}
	return 0;
}