int16_t main(void) {
// printf("Starting Rocket Controller...\r\n");
init_clock();
init_ui();
init_pin();
init_timer();
init_i2c();
setup();
init_servo_driver(&sd1, &i2c3, 16000., 0x0);
init_servo(&servo4, &sd1, 0);
InitUSB();
U1IE = 0xFF; //setting up ISR for USB requests
U1EIE = 0xFF;
IFS5bits.USB1IF = 0; //flag
IEC5bits.USB1IE = 1; //enable
// uint32_t pid_command;
servo_set(&servo4, 1500, 0);
while (1) {
if (timer_flag(&timer1)) {
// Blink green light to show normal operation.
timer_lower(&timer1);
led_toggle(&led2);
// servo_set(&servo4, 1500, 0);
}
}
}
int main()
{
create_connect();
init_servo();
//light_it_up(LIGHT_PORT);
lightstart(LIGHT_PORT,120.0);
create_full();
create_drive_segment(HIGH_SPEED, -150);
start_process(set_top);
create_drive_arc(HIGH_SPEED, -200, 155);
create_drive_segment(HIGH_SPEED, -365);
create_drive_arc(HIGH_SPEED, 90, -64);
create_drive_segment(HIGH_SPEED, -85);
create_cease();
set_top();
align_twall();
grab_top_de();
create_spin_angle(400,-165);
create_drive_segment(HIGH_SPEED, -320);
//align_wall();
create_stop();
create_sync();
dump_kelp_de();
create_drive_segment(HIGH_SPEED,30);//go away from starting box
create_spin_angle(HIGH_SPEED, -78);//turn to gate part 1
create_drive_segment(HIGH_SPEED, 938);//go to gate
create_drive_arc(HIGH_SPEED,185,84);//arc to gate
//create_drive_time(HIGH_SPEED,1800);//go through the gate
/*
create_drive_segment(HIGH_SPEED,1470);
create_drive_segment(HIGH_SPEED,-100);
create_spin_angle(HIGH_SPEED,78);
*/
create_cease();
create_drive_straight(HIGH_SPEED);//go onto oppponent's side of board
msleep(1400);
create_stop();
create_arc(350,550);//arc to the opponent's mpa
msleep(2500L);
create_stop();//pause to keep the creat
create_drive_straight(HIGH_SPEED);//go onto oppponent's side of board
msleep(750);
create_stop();
create_drive_straight(-HIGH_SPEED);//go onto oppponent's side of board
msleep(5000);
create_stop();
/*
create_drive_segment(500,-500);//go past the IC
create_drive_arc(320,-250,25);//arc to
create_drive_arc(320,250,-8);
*/
//create_drive_segment(HIGH_SPEED,-750);
//create_drive_arc(HIGH_SPEED,100,84);
//create_drive_segment(HIGH_SPEED,1300);
}
int main(int argc, char* argv[])
{
init_display();
init_std_threads();
init_servo();
shutdown_std_threads();
return 0;
}
void main(void)
{
WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer
init_LED();
init_button();
init_servo();
TA0CTL=TASSEL_2 | ID_0 | MC_1;
_BIS_SR(LPM0_bits | GIE);
}
/*!
@brief Program entry point
*/
int main (void) {
struct MagnetInit magnetInit;
struct ServoInit boomServoInit, crowdServoInit, swingServoInit;
struct RobotInit robotInit;
magnetInit.periph = RCC_AHB1Periph_GPIOD;
magnetInit.GPIOx = GPIOD;
magnetInit.pin = GPIO_Pin_15;
boomServoInit.CCR = 1;
boomServoInit.maxPosition = BOOM_ANGLE_MAX;
boomServoInit.minPosition = BOOM_ANGLE_MIN;
crowdServoInit.CCR = 2;
crowdServoInit.maxPosition = CROWD_ANGLE_MAX;
crowdServoInit.minPosition = CROWD_ANGLE_MIN;
swingServoInit.CCR = 3;
swingServoInit.maxPosition = SWING_ANGLE_MAX;
swingServoInit.minPosition = SWING_ANGLE_MIN;
robotInit.boomServo = &boomServo;
robotInit.crowdServo = &crowdServo;
robotInit.swingServo = &swingServo;
osThreadId tid_armThread;
osThreadId tid_ledThread;
init_TIM4(1 / SERVO_DUTY_CYCLE_STEP, SERVO_FREQUENCY);
init_LEDS_PWM();
init_LEDS();
init_servo(&boomServo, &boomServoInit);
init_servo(&crowdServo, &crowdServoInit);
init_servo(&swingServo, &swingServoInit);
init_robot(&robot, &robotInit);
init_magnet(&magnet, &magnetInit);
init_receiver(&receiver);
tid_armThread = osThreadCreate(osThread(armThread), NULL);
tid_ledThread = osThreadCreate(osThread(ledThread), NULL);
osDelay(osWaitForever);
}
// ============================================================================================
// for initialization of swarm dynamics function
// ============================================================================================
void init_common()
{
int i;
init_servo();
for(i=0;i<NUM_NEIGHBORS;i++){
mchip.neix[i] = 0.0;
mchip.neiy[i] = 0.0;
mchip.open[i] = false;
}
}
void reset(int num)
{
reset_myself(num);
init_servo();
//send reset messege
mdata.x = 0.0; mdata.y = 0.0; mdata.pnum = 50 + num;
Xgrid::Packet pkt;
pkt.type = 0;
pkt.flags = 0;
pkt.radius = 14;
pkt.data = (uint8_t *)&mdata;
pkt.data_len = sizeof(point);
xgrid.send_packet(&pkt,0b00111111); // send to all neighbors
}
// Initialize a Servo instance
int Servo2D::init() {
ML_LOG(Debug, "Servo2D Initializing.");
// Set up the prism
createInitialPrism();
lumin::ui::Cursor::SetScale(prism_, 0.03f);
instanceInitialScenes();
// Get the planar resource that holds the EGL context
lumin::RootNode* root_node = prism_->getRootNode();
if (!root_node) {
ML_LOG(Error, "Servo2D Failed to get root node");
abort();
return 1;
}
std::string content_node_id = Servo2D_exportedNodes::content;
content_node_ = lumin::QuadNode::CastFrom(prism_->findNode(content_node_id, root_node));
if (!content_node_) {
ML_LOG(Error, "Servo2D Failed to get content node");
abort();
return 1;
}
content_node_->setTriggerable(true);
content_panel_ = lumin::ui::UiPanel::CastFrom(prism_->findNode(Servo2D_exportedNodes::contentPanel, root_node));
if (!content_panel_) {
ML_LOG(Error, "Servo2D Failed to get content panel");
abort();
return 1;
}
lumin::ui::UiPanel::RequestFocus(content_panel_);
lumin::ResourceIDType plane_id = prism_->createPlanarEGLResourceId();
if (!plane_id) {
ML_LOG(Error, "Servo2D Failed to create EGL resource");
abort();
return 1;
}
plane_ = static_cast<lumin::PlanarResource*>(prism_->getResource(plane_id));
if (!plane_) {
ML_LOG(Error, "Servo2D Failed to create plane");
abort();
return 1;
}
content_node_->setRenderResource(plane_id);
// Get the EGL context, surface and display.
EGLContext ctx = plane_->getEGLContext();
EGLSurface surf = plane_->getEGLSurface();
EGLDisplay dpy = eglGetDisplay(EGL_DEFAULT_DISPLAY);
// Hook into servo
servo_ = init_servo(ctx, surf, dpy, this, logger, history, HOME_PAGE, VIEWPORT_W, VIEWPORT_H, HIDPI);
if (!servo_) {
ML_LOG(Error, "Servo2D Failed to init servo instance");
abort();
return 1;
}
// Add a callback to the back button
std::string back_button_id = Servo2D_exportedNodes::backButton;
back_button_ = lumin::ui::UiButton::CastFrom(prism_->findNode(back_button_id, root_node));
if (!back_button_) {
ML_LOG(Error, "Servo2D Failed to get back button");
abort();
return 1;
}
back_button_->onActivateSub(std::bind(traverse_servo, servo_, -1));
// Add a callback to the forward button
std::string fwd_button_id = Servo2D_exportedNodes::fwdButton;
fwd_button_ = lumin::ui::UiButton::CastFrom(prism_->findNode(fwd_button_id, root_node));
if (!fwd_button_) {
ML_LOG(Error, "Servo2D Failed to get forward button");
abort();
return 1;
}
fwd_button_->onActivateSub(std::bind(traverse_servo, servo_, +1));
// Add a callback to the URL bar
std::string url_bar_id = Servo2D_exportedNodes::urlBar;
url_bar_ = lumin::ui::UiTextEdit::CastFrom(prism_->findNode(url_bar_id, root_node));
if (!url_bar_) {
ML_LOG(Error, "Servo2D Failed to get URL bar");
abort();
return 1;
}
lumin::ui::KeyboardProperties keyboard_properties;
keyboard_properties.keyboardZPosition = lumin::ui::KeyboardProperties::KeyboardZPosition::kVolumeCursorPlane;
keyboard_properties.width = KEYBOARD_W;
url_bar_->setKeyboardProperties(keyboard_properties);
url_bar_->onFocusLostSub(std::bind(&Servo2D::urlBarEventListener, this));
// Add the laser pointer
laser_ = lumin::LineNode::CastFrom(prism_->findNode(Servo2D_exportedNodes::laser, root_node));
if (!laser_) {
ML_LOG(Error, "Servo2D Failed to get laser");
abort();
return 1;
}
return 0;
}
