int main(void)
{
init();
pinMode(13, INPUT);
pinMode(LIGHT_SW, INPUT);
pinMode(RADIO_SW, INPUT);
pinMode(WALL_SW, INPUT);
pinMode(LIMIT_UP, INPUT);
pinMode(LIMIT_DN, INPUT);
pinMode(LIGHT_ON, OUTPUT);
pinMode(MOTOR_UP, OUTPUT);
pinMode(MOTOR_DN, OUTPUT);
//enable watchdog with 2sec reset
wdt_enable(WDTO_2S);
while(1)
{ wdt_reset();//reset watchdog before 2sec.
// check manual light switch
light_sw_set();
// if wall switch is pressed
if(wall_sw_set())
toggle_door();
//else is remote pressed ?
else if(radio_sw_set())
toggle_door();
//if limit switch hit. Always poll limit switches
if(get_limit_up() && door_dir && door_run) toggle_door();
if(get_limit_dn() && !door_dir && door_run) toggle_door();
// timeout if door runs too long
if (door_run
&& (millis() - run_time > MAX_RUN_TIME))
toggle_door();
// timeout if light is on too long
if (light_state==HIGH
&& (millis() - light_time > MAX_LIGHT_TIME))
digitalWrite(LIGHT_ON, (light_state=LOW) );
}
return 0;
}
// Run the main task: starts the other tasks and controls the back door
task main()
{
// Runs the start-up actions (see actions.c)
init();
// Starts taking input from the driver for moving (see drive.c)
startTask(drive);
startTask(dump_dozer);
// Runs the moveable door
while(true){
if(vexRT[DOOR_UP_BTN]){
// Call the toggle_door method (in actions.c) to open the door
toggle_door(true);
}else if(vexRT[DOOR_DOWN_BTN]){
// Call the toggle_door method (in actions.c) to close the door
toggle_door(false);
}
}
}
// Runs the start-up stuffs
void init(){
toggle_door(true); // Close the back door
arcade = false; // Set the default drive mode to tank_drive
}
