int main() {
//initialize all necessary sensors and utilities
lcd_init();
timer1_init();
timer3_init();
move_servo(90);
ADC_init();
USART_Init(MYUBRR);
init_push_buttons();
oi_t *sensor_data = oi_alloc();
oi_init(sensor_data);
audioInit(sensor_data);
//oi_play_song(1);
while(1) {
//empty currentObjects before proceeding by setting all stored objects to "invalid" - ignored by later checks
for (int i = 0; i < 20; i++) {
currentObjects[i].isValid = 0;
}
char received = serial_getc(); //take keyboard input from putty
takeDirectionInput(received, currentObjects); //translate keyboard input into functionality
}
return 0;
}
int main(int argc)
{
// Allocate memory and setup sensorData struct
sensorData = oi_alloc();
initAll(sensorData);
serial_puts("Press 's' to initiate connection with robot\n\r");
while(start != 's') // Wait for Start Command
{
start = serial_getc();
}
serial_puts("Robot communication initiated.\n\r\n\r");
display_help();
running_LED();
while(1)
{
read_user_input_string(sensorData);
}
//START TRAVERSING CODE
while("NOT DONE") //While the robot is not in the Final Zone
{
//TODO Interface and Movement
}
//TODO FLASH LEDS WHEN DONE
}
/**
* Initializes everything on the robot
* @author Group B1
* @param oi The open interface of the robot
* @date 12/4/2012
*/
void init_all(oi_t *oi)
{
oi = oi_alloc();
oi_init(oi);
init_buttons();
init_usart();
lcd_init();
timer3_init();
ADC_init();
init_printf(0,write_one_char);
move_servo(0);
wait_ms(1000);
printf("\n");
printf("\n");
}
/**
*
* Function to initialize the timers, registers, etc. for the ir, ping, servo, lcd
*/
void initialize()
{
// Initialize Serial Communication
serial_init(57600);
// initialize timers for use by ping sensor and servo
timer3_init();
timer_init();
// initialize ADC for use by IR sensor
ADC_init();
// Initialize Open Interface and sensor data
sensor_data = oi_alloc();
oi_init(sensor_data);
// initialize LCD
lcd_init();
load_songs();
}
/**
* The main loop which waits for commands via blue tooth and
* then acts based on commands received.
*
* @author Jacob Moyer,
* Ed Droesch,
* Aaron Pederson, &
* Matthew Backes
*
* @date 12/13/2013
*/
void main()
{
///Initializes the open_interface struct to be used throughout the program.
oi_t *sensor_data = oi_alloc();
oi_init(sensor_data);
initializer();
char key =0;
///Waits for commands from the USART connection,
///Then performs the command and returns that the command was performed.
while(1)
{
char message[32] = "";
key = USART_Receive();
///Returns what the current tape sensor is reading.
if (key == 'p')
{
oi_update(sensor_data);
sprintf(message,"sensor->signal =%d\r\n",(int)sensor_data->cliff_frontleft_signal);
string_tran(message);
}
///Moves the servo motor to the 0 degree position.
if(key == 'c')
{
calibrate_servo(0);
}
///Scans 0 - 180 degrees in front of the robot and returns the readings,
///it also guesses where objects are and returns their angle and width.
if(key == 'j')
{
fullScan();
string_tran("Scan Complete.\r\n");
}
///Moves FORWARD_DISTANCE centimeters forward.
if(key =='w')
{
sprintf(message,"Moved %d\r\n",move(sensor_data, FORWARD_DISTANCE,&sensors));
string_tran(message);
}
///Moves BACKWARD_DISTANCE centimeters backwards.
if(key=='s')
{
sprintf(message,"Moved %d\r\n",move(sensor_data, BACKWARD_DISTANCE,&sensors));
string_tran(message);
}
///Rotates ROTATE_DEGREES counterclockwise.
if(key=='a')
{
turn_CCW(sensor_data,ROTATE_DEGREES);
sprintf(message,"Rotated %d\r\n",ROTATE_DEGREES);
string_tran(message);
}
///Rotates ROTATE_DEGREES clockwise.
if(key=='d')
{
turn_CCW(sensor_data,-ROTATE_DEGREES);
sprintf(message,"Rotated %d\r\n",-ROTATE_DEGREES);
string_tran(message);
}
///Plays the Morrowind theme song.
if(key=='r')
{
play_morrowind();
string_tran("Playing song.");
}
}
}
/**
* Used to control the robot.
* Receive and transmit data, measure the distance from object and navigate to the retrieval zone.
**/
int main(void)
{
lcd_init();
timer3_init();
timer_init();
ADC_init();
USART_Init();
oi_t *sensor_data = oi_alloc();
oi_init(sensor_data);//should turn the iRobot Create's power LED yellow
lcd_init();
serial_puts("Start");
//USART_Transmit(13);
//USART_Transmit(10);
int TempAngle[4] = {0,0,0,0};
int TempIR[4] = {0,0,0,0};
int pos[4] = {0,0,0,0};
int AddIR[4] = {0,0,0,0};
int count[4] = {0,0,0,0};
int found = 0;
int x1 = 0;
int x2 = 0;
int x3 = 0;
int x4 = 0;
unsigned angle = 0;
unsigned char IR = 0;
volatile int i=0;
volatile int x = 0;
char command;
char display[100];
char display1[20];
char display2[20];
char display3[20];
char display4[20];
char display5[100];
char display6[100];
while (1)
{
command = USART_Recieve();
USART_Transmit(command);
//USART_Transmit(13);
//USART_Transmit(10);
if (command == '1')
{
found = 0;
angle = 0;
int t;
int TempAngle[6] = {0, 0,0,0,0,0};
int TempIR[6] = {0, 0,0,0,0,0};
int pos[6] = {0, 0,0,0,0,0};
int AddIR[6] = {0, 0, 0,0,0,0};
int count[6] = {0, 0, 0,0,0,0};
for (angle = 0;angle < 181;angle++)
{
move_servo(angle);
wait_ms(20);
IR = 0;
IR = 42800*pow(ADC_read(2),-1.23);
sprintf(display6, "Angle: %5d IR: %5d",angle,IR);
serial_puts(display6);
if (IR < 80)
{
TempAngle[found]++;
count[found]++;
AddIR[found]+=IR;
TempIR[found]=AddIR[found]/count[found];
}
else
{
if(TempAngle[found] < 5)
{
TempAngle[found] = 0;
}
else
{
pos[found] = angle- TempAngle[found]/2;
if (TempIR[found]*TempAngle[found]< 460)
{
USART_Transmit(13);
USART_Transmit(10);
for (int i = 0;i<strlen(s8);i++)
{
USART_Transmit(s8[i]);
}
sprintf(display5, "object position: %5d",pos[found]);
serial_puts(display5);
}
sprintf(display, "object position: %5d IR: %5d object size: %5d",pos[found],TempIR[found],TempAngle[found]);
serial_puts(display);
USART_Transmit(13);
USART_Transmit(10);
found++;
}
}
}
OCR3B = 1000-1; //return to 0 degree
}
if (command == 'w')
{
move_forward(sensor_data,20);
}
if (command == 's')
{
move_backforward(sensor_data,20);
}
if (command == 'a')
{
turn_clockwise(sensor_data,82);
}
if (command == 'd')
{
turn_counterclockwise(sensor_data,82);
}
if (command == 'q')
{
turn_clockwise(sensor_data,38);
}
if (command == 'e')
{
turn_counterclockwise(sensor_data, 38);
}
if (command == '8')
{
move_forward(sensor_data,5);
}
if (command == '5')
{
move_backforward(sensor_data,5);
}
if (command == 'p')
{
oi_t* sensor = oi_alloc();
oi_init(sensor);
load_songs();
oi_play_song(songings);
}
if(command == 'k')
{
oi_update(sensor_data);
x1 = sensor_data->cliff_left_signal;
x2 = sensor_data->cliff_right_signal;
x3 = sensor_data->cliff_frontleft_signal;
x4 = sensor_data->cliff_frontright_signal;
sprintf (display1, "left = %d",x1);
sprintf (display2, "right = %d",x2);
sprintf (display3, "front left = %d",x3);
sprintf (display4, "front right = %d",x4);
USART_Transmit(13);
USART_Transmit(10);
serial_puts(display1);
serial_puts(display3);
serial_puts(display4);
serial_puts(display2);
if (x1>500||x2>500||x3>500||x4>500)
{
USART_Transmit(13);
USART_Transmit(10);
for (int i=0;i<strlen(s6);i++)
{
USART_Transmit(s6[i]);
}
}
}
}
}
