int main(void){
SYSTEMConfigPerformance(40000000);
initTimer1();
initTimer3();
initPWM();
#ifdef PWM
setPwm3(100);
setPwm1(0);
delayUs(100000);
setPwm4(100);
setPwm2(0);
#endif
#ifdef run
initADC();
initLCD();
clearLCD();
writeLCD(0b00001111, 0, 50);
// enableInterrupts();
disableInterrupts();
while(1){
clearLCD();
IFS0bits.AD1IF = 0; // reset adc thing
while(AD1CON1bits.SSRC == 0 );
ADCBufferValue = ADC1BUF0; // get buffer value
printVoltage(ADCBufferValue);
delayUs(100000); // wait one second
leftMotorForward(50);
delayUs(100000); // wait one second
delayUs(100000); // wait one second
rightMotorForward(50);
delayUs(100000); // wait one second
}
#endif
return 0;
}
void moveRobotLeft() {
rightMotorForward();
}
void moveRobotSharpLeft() {
rightMotorForward();
leftMotorBackwards();
}
void moveRobotForward() {
leftMotorForward();
rightMotorForward();
}
void moveForward() {
leftMotorForward();
rightMotorForward();
}
void leftTurn() {
leftMotorBackward();
rightMotorForward();
}
void turnRobotLeft(){
leftMotorBackward();
rightMotorForward();
}
void turnRobotLeft() {
leftMotorReverse();
rightMotorForward();
}
void rightMotorStop(){
rightMotorForward(0);
}
