void pot_test()
{
long start = get_ms();
char elapsed_ms;
int value;
set_analog_mode(MODE_10_BIT);
print_long(read_trimpot());
print(" "); // to clear the display
while((elapsed_ms = get_ms() - start) < 100)
{
value = read_trimpot();
play_frequency(value, 200, 15);
if(value < elapsed_ms*10)
{
red_led(0);
green_led(1);
}
else
{
red_led(1);
green_led(0);
}
}
}
int main()
{
set_analog_mode(MODE_8_BIT); // 8-bit analog-to-digital conversions
sum = 0;
samples = 0;
avg = 0;
start_analog_conversion(TRIMPOT); // start initial conversion
while(1)
{
if (!analog_is_converting()) // if conversion is done...
{
sum += analog_conversion_result(); // get result
start_analog_conversion(TRIMPOT); // start next conversion
if (++samples == 20) // if 20 samples have been taken...
{
avg = sum / 20; // compute 20-sample average of ADC result
samples = 0;
sum = 0;
}
}
// when avg == 0, the red LED is almost totally off.
// when avg == 255, the red LED is almost totally on.
// brightness should scale approximately linearly in between.
red_led(0); // red LED off
delay_us(256 - avg);
red_led(1); // red LED on
delay_us(avg+1);
}
}
int main()
{
set_analog_mode(MODE_10_BIT); // 10-bit analog-to-digital conversions
while(1) // run over and over again
{
lcd_goto_xy(0,0); // LCD cursor to home position (upper-left)
print_long(to_millivolts(read_trimpot())); // trimpot output in mV
print(" mV "); // added spaces are to overwrite left over chars
lcd_goto_xy(0, 1); // LCD cursor to start of the second line
unsigned int temp = read_temperature_f(); // get temp in tenths of a degree F
print_long(temp/10); // get the whole number of degrees
print_character('.'); // print the decimal point
print_long(temp - (temp/10)*10); // print the tenths digit
print_character(223); // print a degree symbol
print("F "); // added spaces are to overwrite left over chars
delay_ms(100); // wait for 100 ms (otherwise LCD flickers too much)
}
}
void test_analog()
{
// test that set/get mode works
set_analog_mode(MODE_8_BIT);
printf("\nGet8BIT");
assert(MODE_8_BIT == get_analog_mode());
set_analog_mode(MODE_10_BIT);
printf("\nGet10BIT");
assert(MODE_10_BIT == get_analog_mode());
// read the trimpot in 10 bit mode and compare it to 8 bit mode
int x1 = analog_read(7);
set_analog_mode(MODE_8_BIT);
delay_ms(1); // required for readings to stabilize
int x2 = analog_read(7);
printf("\n8BIT10BIT %d %d",x1,x2);
assert( abs((x1>>2) - x2) < 10 );
// make sure that the average reading is more stable than individual readings
set_analog_mode(MODE_10_BIT);
unsigned char i;
int min = 1023, max = 0, avg_min = 1023, avg_max = 0;
for(i=0;i<10;i++)
{
int x1 = analog_read(7);
int x2 = analog_read_average(7,256);
if(x1 > max) max = x1;
if(x1 < min) min = x1;
if(x2 > avg_max) avg_max = x2;
if(x2 < avg_min) avg_min = x2;
printf("\nAvgComp %03x %03x", x1, x2);
assert( abs(x1-x2) < 10);
}
printf("\nAB%03x%03x%03x%03x",max,min,avg_max,avg_min);
assert( max - min >= avg_max - avg_min);
// check that temp C and F return appropriate values in 10bit mode
set_analog_mode(MODE_10_BIT);
x1 = analog_read_average(6,100);
int expect_temp_f = (((int)(analog_read_average_millivolts(TEMP_SENSOR, 20)) * 12) - 634) / 13;
int expect_temp_c = (((int)(analog_read_average_millivolts(TEMP_SENSOR, 20) * 20)) - 7982) / 39;
int temp_f = read_temperature_f();
int temp_c = read_temperature_c();
printf("\nTF10 %d %d", expect_temp_f, temp_f);
assert( expect_temp_f/5 == temp_f/5 );
printf("\nTC10 %d %d", expect_temp_c, temp_c);
assert( expect_temp_c/5 == temp_c/5 );
// try temp in 8bit mode
set_analog_mode(MODE_8_BIT);
delay_ms(1); // required for readings to stabilize?
temp_f = read_temperature_f();
temp_c = read_temperature_c();
printf("\nTF8 %d %d", expect_temp_f, temp_f);
assert( (expect_temp_f - temp_f) <= 20 );
printf("\nTC8 %d %d", expect_temp_c, temp_c);
assert( abs(expect_temp_c - temp_c) <= 20 );
// test background conversion
set_analog_mode(MODE_10_BIT);
delay_ms(1); // required for readings to stabilize
x1 = analog_read_average(6,100);
start_analog_conversion(6);
while(analog_is_converting())
printf("\nConvert");
x2 = analog_conversion_result();
printf("%d %d", x1, x2);
assert( abs(x1 - x2) < 10 );
// make sure to_millivolts works in 8 and 10 bit mode
set_analog_mode(MODE_10_BIT);
x1 = 5000;
x2 = to_millivolts(1023);
printf("\nmV1 %d %d",x1,x2);
assert( x1 == x2 );
x1 = 2498;
x2 = to_millivolts(511);
printf("\nmV2 %d %d",x1,x2);
assert( x1 == x2 );
x1 = 0;
x2 = to_millivolts(0);
printf("\nmV3 %d %d",x1,x2);
assert( x1 == x2 );
set_analog_mode(MODE_8_BIT);
x1 = 5000;
x2 = to_millivolts(255);
printf("\nmV4 %d %d",x1,x2);
assert( x1 == x2 );
x1 = 2490;
x2 = to_millivolts(127);
printf("\nmV5 %d %d",x1,x2);
assert( x1 == x2 );
x1 = 0;
x2 = to_millivolts(0);
printf("\nmV6 %d %d",x1,x2);
assert( x1 == x2 );
}
int main()
{
// wait
wait_with_message("Press B");
// init and calibrate light sensors
unsigned int sensors[5];
pololu_3pi_init_disable_emitter_pin(2000); // (2000 for the timeout corresponds to 2000*0.4 us = 0.8 ms on our 20 MHz processor)
wait_for_button_release(BUTTON_B);
delay_ms(1000);
for(int counter=0;counter<80;counter++)
{
if(counter < 20 || counter >= 60)
set_motors(40,-40);
else
set_motors(-40,40);
calibrate_line_sensors(IR_EMITTERS_ON);
delay_ms(20);
}
set_motors(0,0);
// init IR sensors
set_analog_mode(MODE_8_BIT);
DDRC &= ~(1<< PORTC5);
PORTC &= ~(1<< PORTC5);
// wait
wait_with_message("Press B");
delay_ms(1000);
int left_speed = 110;
int right_speed = 110;
int set_point = 0;
while(1)
{
// check light sensors for our boundary
unsigned int position = read_line(sensors,IR_EMITTERS_ON);
if(position > 5 && position < 1000)
{
turn_right(55,65);
}
else if(position > 1000 && position < 1800)
{
turn_right(55,95);
}
else if(position > 1800 && position < 3000)
{
turn_left(55,95);
}
else if(position > 3000 && position < 3995)
{
turn_left(55,65);
}
// check IR sensors
int left = analog_read(6);
int right = analog_read(5);
int front = analog_read(7);
/*if((get_ms() % 300) == 0)
{
clear();
lcd_goto_xy(0,0);
print_long(left);
lcd_goto_xy(0,1);
print_long(right);
}*/
int balance = 0;
if (left > 20 || right > 20)
{
balance = right - left - 20;
}
if (set_point == 0 && front > 162)
{
set_point = 1;
set_motors(25,25);
}
else
{
set_motors(left_speed + balance,right_speed - balance);
}
}
halt();
clear();
//print("f=");
//print_long(front);
// end
while(1);
}
// *** triggered by middle button ***
// This function tests the eight user I/O pins and the trimmer potentiometer.
// At any given time, one pin is being driven low while the rest are weakly
// pulled high (to 5 V). At the same time, the LCD is displaying the input
// values on the eight user I/O pins. If you short a pin to *GROUND* (note:
// do not short the pin to power, only short it to one of the ground pads
// along the top edge of the board), you will see the corresponding bit on
// the LCD go to zero. The PD1 bit will always read zero as it is being
// pulled down through the red user LED.
unsigned char IOTest()
{
// the bits of the "outputs" byte will correspond to the pin states of
// the user I/O lines as follows:
// outputs: b7 b6 b5 b4 b3 b2 b1 b0
// user I/O: PC5 PC4 PC3 PC2 PC1 PC0 PD1 PD0
// Only one bit of "outputs" will ever be set (1) at a time; the rest will
// be cleared (0). The user I/O pin that corresponds to the set bit will
// be an output that is driven low while all of the other user I/O pins
// will be inputs with internal pull-ups enabled (i.e. they will be weakly
// pulled to 5V and will read as high).
unsigned char outputs = 0x80; // binary: 10000000
unsigned char direction = 0;
unsigned char button;
red_led(0); // turn red and green LEDs off
green_led(0);
clear(); // clear the LCD
print("User I/O");
set_analog_mode(MODE_8_BIT); // configure ADC for 8-bit readings
while (1) // loop here until we detect a button press and return
{
time_reset(); // reset millisecond timer count to zero
DDRC = 0; // make PC0 - PC5 inputs
PORTC = 0; // PC0 - PC5 -> high impedance inputs
DDRD &= ~0x03; // clear PD0 & PD1 bits (make them inputs)
PORTD &= ~0x03; // PD0 & PD1 -> high impedance inputs
PORTC |= ~outputs >> 2; // set the outputs states of PC0 - PC5
DDRC |= outputs >> 2; // make low pin an output (inputs for rest)
PORTD |= ~outputs & 0x03; // set the output states of PD0 and PD1
DDRD |= outputs & 0x03; // make low pin an output (inputs for rest)
// The following loop will execute for an amount of time determined
// by the position of the user trimmer potentiometer (trimpot).
// When the trimpot is at one extreme, the loop will take 256*2 = 512
// milliseconds. When the trimpot is at the other extreme, the
// loop will only execute once, which takes slightly more than 20 ms.
// In this way, the trimpot controls the speed at which the output
// byte changes.
do
{
// The bits of the "inputs" byte reflect the input values of pins
// PD0, PD1, and PC0 - PC5. Bit 0 corresponds to PD0, bit 1 to
// PD1, and bits 2 - 7 to PC0 - PC5, respectively.
unsigned char inputs = PIND & 0x03; // store PD0 and PD1 input vals
inputs |= PINC << 2; // store PC0 - PC5 input values
lcd_goto_xy(0, 1); // go to the start of the second LCD line
print_binary(inputs); // print the "input" byte in binary
delay_ms(20); // delay here for 20 milliseconds
// check if top or bottom buttons have been pressed
button = button_is_pressed(TOP_BUTTON | BOTTOM_BUTTON);
if (button != 0) // if so, reset I/O states, return button ID
{
DDRC = 0; // make PC0 - PC5 inputs
PORTC = 0; // disable pull-ups on PC0 - PC5
DDRD &= ~0x03; // make PD0 and PD1 inputs
PORTD &= ~0x03; // disable pull-ups on PD0 and PD1
return button;
}
}
while (get_ms() < read_trimpot() * 2);
if (direction)
outputs <<= 1; // bit-shift our output byte left by one bit
else
outputs >>= 1; // bit-shift our output byte right by one bit
if (outputs == 1) // if we have reached the right edge
direction = 1; // switch direction to "left"
if (outputs == 0x80) // if we have reached the left edge
direction = 0; // switch direction to "right"
}
}
// *** triggered by middle button ***
// This function tests the eight user I/O pins and the trimmer potentiometer.
// At any given time, one pin is being driven low while the rest are weakly
// pulled high (to 5 V). At the same time, the LCD is displaying the input
// values on the eight user I/O pins. If you short a pin to *GROUND* (note:
// do not short the pin to power, only short it to one of the ground pads
// along the top edge of the board), you will see the corresponding bit on
// the LCD go to zero. The PD1 bit will always read zero as it is being
// pulled down through the red user LED.
unsigned char IOTest()
{
// the bits of the "outputs" byte will correspond to the pin states of
// the user I/O lines as follows:
// outputs: b7 b6 b5 b4 b3 b2 b1 b0
// user I/O: PC5 PC4 PC3 PC2 PC1 PC0 PD1 PD0
// Only one bit of "outputs" will ever be set (1) at a time; the rest will
// be cleared (0). The user I/O pin that corresponds to the set bit will
// be an output that is driven low while all of the other user I/O pins
// will be inputs with internal pull-ups enabled (i.e. they will be weakly
// pulled to 5V and will read as high).
unsigned int outputs = 0x8000; // binary: 10000000 00000000
unsigned char *outputsA = (unsigned char *)&outputs; // pointer to low byte of outputs
unsigned char *outputsD = outputsA + 1; // pointer to high byte of outputs
unsigned char direction = 0;
unsigned char button;
red_led(1);
green_led(1);
clear(); // clear the LCD
print("User I/O");
lcd_goto_xy(0, 1);
print("DDDDDDDD AAAAAAAA");
lcd_goto_xy(0, 2);
print("76543210 76543210");
set_analog_mode(MODE_8_BIT); // configure ADC for 8-bit readings
while (1) // loop here until we detect a button press and return
{
time_reset(); // reset millisecond timer count to zero
DDRA = 0; // make PA0 - PA7 inputs
PORTA = 0; // PA0 - PA7 -> high impedance inputs
DDRD = 0; // make PD0 - PD7 inputs
PORTD = 0; // PD0 - PD7 -> high impedance inputs
PORTD |= ~(*outputsD);
DDRD |= *outputsD;
PORTA |= (~(*outputsA)) & 0x3F;
DDRA |= *outputsA & 0x3F; // never make PA6 and PA7 outputs
// The following loop will execute for an amount of time determined
// by the position of the user trimmer potentiometer (trimpot).
// When the trimpot is at one extreme, the loop will take 256*2 = 512
// milliseconds. When the trimpot is at the other extreme, the
// loop will only execute once, which takes slightly more than 20 ms.
// In this way, the trimpot controls the speed at which the output
// byte changes.
do
{
// The bits of the "inputs" byte reflect the input values of pins
// PD0, PD1, and PC0 - PC5. Bit 0 corresponds to PD0, bit 1 to
// PD1, and bits 2 - 7 to PC0 - PC5, respectively.
unsigned char inputsA = PINA;
unsigned char inputsD = PIND;
lcd_goto_xy(0, 3); // go to the start of the fourth LCD line
print_binary(inputsD); // print the "input" byte in binary
print(" ");
print_binary(inputsA);
delay_ms(20); // delay here for 20 milliseconds
// check if top or bottom buttons have been pressed
button = button_is_pressed(TOP_BUTTON | BOTTOM_BUTTON);
if (button != 0) // if so, reset I/O states, return button ID
{
DDRA = 0; // make PA0 - PA7 inputs
PORTA = 0; // PA0 - PA7 -> high impedance inputs
DDRD = 0; // make PD0 - PD7 inputs
PORTD = 0; // PD0 - PD7 -> high impedance inputs
return button;
}
}
while (get_ms() < read_trimpot() * 2);
if (direction)
outputs <<= 1; // bit-shift our output byte left by one bit
else
outputs >>= 1; // bit-shift our output byte right by one bit
if (outputs == 1) // if we have reached the right edge
direction = 1; // switch direction to "left"
if (outputs == 0x8000) // if we have reached the left edge
direction = 0; // switch direction to "right"
}
}
