//vTaskContolMotor is a Task that controls the movements of the motor
//the motor can move right, left, forward, backward, upRight, upLeft,
//downRight and downLeft
//PD7 ==> AOUT
//PD3 ==> AIN
//PD4 ==> BOUT
//PD2 ==> BIN
//PD6 ==> STDBY
void vTaskControlMotor(void *vParameters) {
//the following commands for the controlling the tank through
// the blue tooth app "blueTerm"
//'w' pressed to go forward
//'s' pressed to go back
//'a' pressed to go left
//'d' pressed to go right
//'q' pressed to go upLeft
//'e' pressed to go upRight
//'z' pressed to go back left
//'x' pressed to go back right
//if any other character is pressed, the tank stops
while(1) {
//gets the currentKey pressed by the user
currentKey = keymaster();
if (state == 6) { // (!auton) {
//if the up key is pressed, tank should move forward
if (currentKey == 1 || bluetoothSignal == 'w') {
goForward();
} else if (currentKey == 2 || bluetoothSignal == 's') {//if down is pressed
goBackWard();
} else if (currentKey == 3 || bluetoothSignal == 'a') { //if left is pressed
goLeft();
} else if (currentKey == 4 || bluetoothSignal == 'd') { //if right is pressed
goRight();
} else if(currentKey == 6 || bluetoothSignal == 'q'){ // if the upLeft key is pressed
goUpLeft();
} else if(currentKey == 7 || bluetoothSignal == 'e'){ // if the upRight key is pressed
goUpRight();
} else if(currentKey == 8 || bluetoothSignal == 'z'){ //if the backleft key is pressed
goBackLeft();
} else if(currentKey == 9 || bluetoothSignal == 'x'){//if the backRight key is pressed
goBackRight();
} else {
stopTank();
}
}
if (bluetoothSignal == 'r') {
state = 2;
}
//delays time between task
vTaskDelay(20);
}
}
// Main loop of the program
int main(void)
{
//
// Set the clocking to run directly from the crystal. 8Mhz
//
SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_8MHZ);
delay(500);
LED_init();
delay(500);
ADC_init(); //init the adc
delay(500);
timer0_init(); //init the first timer
delay(500);
timer1_init(); //second timer
delay(500);
key_init(); //keypad
display_init();
CPUcpsie(); //turn on cpu inttrupts
//init all prices and indexes
int upDownIndex = 0;
int currDollars = 0;
int currCents = 0;
int leftRightIndex = 0;
display_on(1,1);
print_welcome(); //print initial welcome menu
/*
handles key inputs
User can toggle through display menus (welcome menu, food menu,...)
using LEFT and RIGHT
While on the food menu, user can toggle through food options using UP
and DOWN and select food items using SELECT.
*/
while(1)
{
int currentKey = keymaster();
if (!readKey) { //if we have not read the key since it has been updated
switch (currentKey) //main control flow loop
{
case UP:
if (upDownIndex) {
upDownIndex--; //de-inc the vertical index
print_menu(upDownIndex, currDollars, currCents);
}
break;
case DOWN:
if (upDownIndex < maxUpDownIndex) {
upDownIndex++; //inc the vertical index
print_menu(upDownIndex, currDollars, currCents);
}
break;
case RIGHT:
if (leftRightIndex < maxLeftRightIndex) {
leftRightIndex++; //inc the left right index
select_menu(&leftRightIndex, upDownIndex, currDollars, currCents);
}
break;
case LEFT:
if (leftRightIndex) {
leftRightIndex--; //de-inc the left right index
select_menu(&leftRightIndex, upDownIndex, currDollars, currCents);
}
break;
case SELECT:
currDollars += dollars[upDownIndex]; //update the total costs
currCents += cents[upDownIndex];
if (currCents >= 100) {
currDollars += 1;
currCents -= 100;
}
print_menu(upDownIndex, currDollars, currCents);
break;
}
}
readKey = 1; //tell timer 0 we have read the key
//Reset the totals for the costs
if (leftRightIndex == 0) {
currDollars = 0;
currCents = 0;
}
}
}
