int main() {
init();
// uart starts on PC
memset(& buffer, 0, BUFFER_SIZE);
LATAbits.LATA0 = 0;
printf("\nready to receive message of form '{message}'\n");
while (!isDone) { }
// if we're done then the message is waiting in the buffer to be sent
uart1ToUpload();
waitMs(100);
//while (!bluetoothReady) { }
char * curChar;
for (curChar = (char *)buffer; * curChar != '\0'; curChar++) {
char tmp = * curChar;
U1TXREG = tmp;
waitMs(10);
}
// turn on LED to indicate finished
LATAbits.LATA0 = 1;
uart1ToPc();
waitMs(100);
printf("\nFinished uploading!\n");
while (1) { } // become unstuck in time
return 0;
}
void led(void)
{
UInt32 led=0;
//setGpioDirection(GPIO0_7,GPIO_OUT); //led
waitMs(1000);
dumpKernel();
while(1)
{
if(led==0)
{
setGpioValue(GPIO0_7,0);
led=1;
}
else
{
setGpioValue(GPIO0_7,1);
led=0;
}
waitMs(50);
}
}
void blinkLed(){
while(1){
LED_ON;
waitMs(50);
LED_OFF;
waitMs(50);
}
}
Bool getBufferFromStream(KIOStream * stream, UInt8 * buffer, UInt32 len, UInt32 timeout)
{
UInt32 counter, i;
for( i = stream->read, counter = 0; counter < len; counter++)
{
if(i==stream->write)
{
// we don't have enough data, we have to wait some times...
//stream->receiver = (KThread *)currentTask;
stream->receiver = 0;
waitMs(timeout);
// waitUs(timeout*100);
if(i==stream->write)
{
// Timeout !
return False;
}
}
buffer[counter] = stream->buffer[i & (stream->size-1)];
i++;
}
stream->read = i;
return True;
}
void text_draw_sprite ( u8 *str, u16 x, u16 y, u16 ms )
{
#define TILE _base + _positions[chr] * _width * _height
#define ATTR TILE_ATTR_FULL ( _palette, 1, 0, 0, TILE )
u8 chr, i = 0;
const u16 size = _genres->size >> 8;
const u8 width = _genres->width;
while ( (chr = *str++) )
{
chr -= ' ';
chr = ( chr >= 96 ) ? 0 : chr;
if ( ! _positions[chr] )
{
_positions[chr] = _counter++;
VDP_loadTileData ( _genres->sprites[chr], TILE, size, TRUE );
VDP_waitVSync();
}
VDP_setSprite ( i, x+i*width, y, size, ATTR, i+1 );
VDP_updateSprites();
waitMs ( ms );
++i;
}
}
void Wave::createAnimation()
{
float /*origin_x, origin_y,*/ distance, height, ripple_interval = 1.3;
fillCubeArray(0x00);
// QVector<QVector<QVector<quint8> > > tripleVector(iterations(),QVector<QVector<quint8> >(8, QVector<quint8>(8)));
for (quint16 i=0; i<iterations(); i++)
{
if(m_abort)
return;
for (quint8 x=0; x<8; x++)
{
for (quint8 y=0; y<8; y++)
{
distance = distance2d(3.5,3.5,x,y)/9.899495*8;
height = 4+sin(distance/ripple_interval+static_cast<float>(i)/50)*4;
setBixel(x,y,static_cast<quint8>(height));
}
}
waitMs(speed());
// tripleVector[i] = cubeFrame;
fillCubeArray(0x00);
}
// for (int i = 0; i < iterations(); i++) {
// sendData(tripleVector[i]);
//// if(i/10 == 0)
//// waitMs(speed());
// }
Q_EMIT done();
}
void WireBoxCornerShrinkGrow::createWireBoxCorner(const quint8 rotate, const quint8 flip)
{
quint8 xyz = 0;
for (quint16 j = 0; j < m_iterations; j++)
{
for (quint8 i = 0; i < CUBE_SIZE * 2; i++)
{
xyz = CUBE_SIZE - 1 - i;
if (i > CUBE_SIZE - 1)
xyz = i - CUBE_SIZE;
fillCubeArray(0x00);
boxWireframe(0, 0, 0, xyz, xyz, xyz);
if (flip > 0)
mirrorZ();
if (rotate == 1 || rotate == 3)
mirrorY();
if (rotate == 2 || rotate == 3)
mirrorX();
if(m_abort)
return;
waitMs(speed());
}
}
}
msg_t Light::moduleThread(void* arg) {
(void) arg;
bool noRecall = true;
LedData* state;
while (!chThdShouldTerminate()) {
chSemWait(&_sem);
while (TRUE) {
noRecall = true;
for (uint8_t i = 0; i < N_LEDS; ++i) {
if (!data[i].isEmpty()) {
state = data[i].getHead();
switch (state->state) {
case FADE:
state->current.setRGB(state->startColor.getR() + state->diff.getR() * state->steps / state->totalSteps,
state->startColor.getG() + state->diff.getG() * state->steps / state->totalSteps,
state->startColor.getB() + state->diff.getB() * state->steps / state->totalSteps
);
leds[i].shine(state->current);
state->steps++;
if (state->steps == state->totalSteps) {
leds[i].shine(state->endColor);
data[i].pop();
if (!data[i].isEmpty())
noRecall = false;
}
else
noRecall = false;
break;
case SHINE:
break;
case INACTIVE:
break;
}
}
}
waitMs(_threadDelay);
if (noRecall)
break;
}
}
return (msg_t)0;
}
void _show_scr( const Image *img, u32 ms )
{
SYS_disableInts();
VDP_setEnable(FALSE);
VDP_drawImageEx( BPLAN, img, TILE_ATTR_FULL( PAL0, FALSE, FALSE, FALSE, TILE_USERINDEX ), 0, 0, TRUE, FALSE );
VDP_setEnable(TRUE);
SYS_enableInts();
waitMs(ms);
}
static void _init( u16 hard )
{
if ( hard == 0 ) // 0 is soft reset
{
VDP_drawText ( "BUG HUNT", 16, 9 );
VDP_drawText ( "FOR SEGA MEGADRIVE", 11, 11 );
VDP_drawText ( "BY THE AFROMONKEYS, 2015", 8, 13 );
waitMs(3000);
// That's weird.
// Resetting in SGDK v1.11 invokes JOY_init() that
// makes Justifier | Menacer not to be detected if
// mouse is on PORT_1
if ( JOY_getPortType(PORT_1) != PORT_TYPE_PAD )
{
VDP_drawText ( "PLEASE, REBOOT YOUR SYSTEM", 7, 19 );
while ( 1 );
}
_start_entry(); // even more reset
}
sd_reset();
SYS_assertReset(); // makes gensKmod crash, WTF?!
VDP_init();
//JOY_init(); // can cause mouse + justifer issues
h_scroll = 0;
VDP_setScrollingMode ( HSCROLL_PLANE, VSCROLL_PLANE ); /* The scroll mode never change during the game */
VDP_setPlanSize(64,32);
save_init( );
SPR_init(0); /* Sprite Engine INIT */
VDP_setPalette(PAL3, sprpal.data); /* Sprite Palette (never change during the game) */
/* PAD & Mouse (PORT_1) & Lightgun (PORT_2) Support */
_JOYint ( TRUE );
LightgunInit ( PORT_2 );
VINT_SCROLL_FLAG = FALSE;
VINT_JOY_UPDATE = FALSE;
SYS_setVIntCallback((_voidCallback*) VIntCallback);
FIRST_TIME_FLAG = TRUE;
}
void display_memFree(u16 displayTimeMs){
char free_memStr[6];
int free_mem = MEM_getFree();
intToStr(free_mem, free_memStr, 6);
VDP_drawText("FREE MEM :", 10, 9);
VDP_drawText(free_memStr, 10, 10);
VDP_waitVSync();
waitMs(displayTimeMs);
VDP_drawText(" ", 10, 9);
VDP_drawText(" ", 10, 10);
}
void Loadbar::createAnimation()
{
fillCubeArray(0x00);
for (quint8 i = 0; i < CUBE_SIZE; i++)
{
setPlane(m_axis, i);
if(m_abort)
return;
waitMs(speed());
}
waitMs(speed() * 2);
for (quint8 i = 0; i < CUBE_SIZE; i++)
{
clearPlane(m_axis, i);
if(m_abort)
return;
waitMs(speed());
}
Q_EMIT done();
}
void R_LCD_Create(void)
{
volatile uint32_t wt_count;
RTCEN = 1U; /* supply LCD clock */
LCDON = 0U; /* disable LCD clock operation */
LCMK0 = 1U; /* disable INTLCD0 interrupt */
LCIF0 = 0U; /* clear INTLCD0 interrupt flag */
LCDM1 |= _01_LCD_VOLTAGE_LOW;
LCDM0 = _00_LCD_DISPLAY_WAVEFORM_A | _0D_LCD_DISPLAY_MODE1;
LCDM0 |= _40_LCD_VOLTAGE_MODE_INTERNAL;
/* Set CAPL and CAPH pins */
ISCLCD &= (uint8_t)~_01_LCD_CAPLH_BUFFER_VALID;
P12 &= 0x3FU;
PM12 |= 0xC0U;
/* Set segment pins */
PFSEG0 |= 0xC0U;
PFSEG1 |= 0xFFU;
PFSEG2 |= 0xF9U;
PFSEG3 |= 0x9FU;
PFSEG4 |= 0x7EU;
PMC1 &= 0xF7U;
P1 &= 0x76U;
PM1 &= 0x76U;
P3 &= 0xFEU;
PM3 &= 0xFEU;
PMC4 &= 0xFDU;
P4 &= 0xF1U;
PM4 &= 0xF1U;
P5 &= 0xE0U;
PM5 &= 0xE0U;
P6 &= 0xFCU;
PM6 &= 0xFCU;
P7 &= 0xE0U;
PM7 &= 0xE0U;
PMC12 &= 0xFEU;
P12 &= 0xFEU;
PM12 &= 0xFEU;
PMC14 &= 0xC3U;
P14 &= 0x00U;
PM14 &= 0x00U;
LCDM1 |= _00_LCD_DISPLAY_PATTERN_A;
LCDC0 = _00_LCD_SOURCE_CLOCK_FSUB | _05_LCD_CLOCK_FLCD_64;
VLCD = _0C_LCD_BOOST_VOLTAGE_140V;
/* Change the waiting time according to the system */
waitMs(5);
// for (wt_count = 0U; wt_count <= LCD_REFVOLTAGE_WAITTIME; wt_count++)
// {
// NOP();
// }
}
void text_draw ( u8 *str, u8 x, u8 y, u16 ms )
{
#define POSITION _base + _positions[chr] * _tiles + inc
u8 chr;
u16 k;
u16 j;
u16 i = 0;
u16 inc = 0;
u8 *aux = str;
while ( (chr = *aux++) )
{
inc = 0;
chr -= ' ';
if ( chr >= 96 ) chr = 0;
if ( ! _positions[chr] )
{
_positions[chr] = _counter++;
VDP_loadTileData ( _genres->sprites[chr], POSITION, _tiles, TRUE );
VDP_waitDMACompletion();
}
}
while ( (chr = *str++) )
{
inc = 0;
chr -= ' ';
if ( chr >= 96 ) chr = 0;
for ( j = 0; j < _height; j++ )
{
for ( k = 0; k < _width; k++ )
{
VDP_setTileMapXY ( BPLAN, TILE_ATTR_FULL ( _palette, TRUE, 0, 0, POSITION ), i*_width + x + j, y + k );
++inc;
}
}
waitMs ( ms );
++i;
}
}
void MainWindow::stopCommunication()
{
disconnect( mSerialThread, SIGNAL(controlState(bool,bool,bool,bool,bool,bool)),0,0);
disconnect( mSerialThread, SIGNAL(charReceived(int,int)),0,0);
uint32_t counter = 10;
while (mSerialThread->stop() == false)
{
counter--;
if (counter==0)
{
break;
}
waitMs(200);
}
closeUART();
}
void typeText ( char *str, u8 x, u8 y, u16 ms )
{
u8 i, len = strlen ( str );
for ( i=0; i<len; i++ )
{
const char aux[2] = { str[i], '\0' };
SYS_disableInts();
VDP_drawText ( aux, x++, y );
SYS_enableInts();
if ( aux[0] != ' ' )
{
waitMs(ms);
}
}
}
void Wall::createAnimation()
{
quint8 i = 0;
fillCubeArray(0x00);
if (m_direction)
setPlane(m_axis, 0);
else
setPlane(m_axis, 7);
for (i = 0; i < CUBE_SIZE ; i++)
{
if(m_abort)
return;
waitMs(speed());
shift(m_axis, m_direction);
}
Q_EMIT done();
}
/**
* @brief Main module thread
*/
msg_t Moti::moduleThread(void* arg) {
(void) arg;
while (!chThdShouldTerminate()) {
if (_isStarted) {
Moti::detectStuck();
Moti::detectSpin();
Moti::detectShake();
Moti::detectFall();
}
waitMs(_threadDelay);
}
return (msg_t)0;
}
//Processes Credits screen
void Credits()
{
JOY_setEventHandler( &BtnNada ); //Set Event handler to nothing
const u8 x=1; //Constant column value for text disp
u8 y=1; //Variable row ~
const wait=3000; //Time in MS to wait
echo_play_bgm(BGM_14); //Play IceHockey2
DrawBG(0); //cls
DrawBG(10); //Draw Hockey rink
//Setup text planes and colors
VDP_setTextPlan(PLAN_B);
VDP_setTextPriority(PTRUE);
VDP_setPaletteColor((OBJPAL * 16)+15,0xEE); //Yellow
VDP_setTextPalette(OBJPAL);
//Draw a line, increment row, draw next line, repeat in screen chunks
// 1234567890123456789012345678901234567
VDP_drawText("+-----------------------------------+",x,y);y++;
VDP_drawText("| ULTRA AIR HOCKEY (Genesis), V1.0 |",x,y);y++;
VDP_drawText("| Credits |",x,y);y++;
VDP_drawText("+-----------------------------------+",x,y);y++;
VDP_drawText("|Producer Tamkis|",x,y);y++;
VDP_drawText("|Art creator Tamkis|",x,y);y++;
VDP_drawText("+-----------------------------------+",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("| Music |",x,y);y++;
VDP_drawText("|All songs were converted to the |",x,y);y++;
VDP_drawText("|Echo sound engine |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("| Various module music artists |",x,y);y++;
VDP_drawText("|Unless otherwise noted, all modules|",x,y);y++;
VDP_drawText("|are from modarchive.org/ |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("|http://modarchive.org/index.php?req|",x,y);y++;
VDP_drawText("|uest=view_by_moduleid&query=NUMBER |",x,y);y++;
VDP_drawText("v v",x,y);y++;
//wait MS, clear the text plane, repeat for next screen chunk
waitMs(wait);
VDP_clearPlan(BPLAN,0);
y=1;
VDP_drawText("| |",x,y);y++;
VDP_drawText("|hockey_fever.xm The Einstein Crew |",x,y);y++;
VDP_drawText("|144817 |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("|nes_mes2.mod Goto80 |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("|PITTITLE.mod (Unknown) |",x,y);y++;
VDP_drawText("|112082 |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("|ice-hockey_94theme.mod Subtance/ |",x,y);y++;
VDP_drawText("|inflow 121145 |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("|organmaster.mod Gamma7 |",x,y);y++;
VDP_drawText("|169287 |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("|intro101.mod w.o.t.w of |",x,y);y++;
VDP_drawText("|supplex |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("|hurry_up.mod reflex/rebels |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("v v",x,y);y++;
waitMs(wait);
VDP_clearPlan(BPLAN,0);
y=1;
VDP_drawText("|slowmotion.mod tobbx/Tobbe Lars|",x,y);y++;
VDP_drawText("|157022 |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("|Castle_load.mod Exodus |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("|complexity.mod (Unknown) |",x,y);y++;
VDP_drawText("|92979 |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("|Reflexity_music.mod (subsong #3) |",x,y);y++;
VDP_drawText("|Unknown 109459 |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("|chipmunks.mod Jester/Sanity |",x,y);y++;
VDP_drawText("|36792 |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("|icehockey2.mod Subversion |",x,y);y++;
VDP_drawText("|123683 |",x,y);y++;
VDP_drawText("+-----------------------------------+",x,y);y++;
VDP_drawText("v v",x,y);y++;
waitMs(wait);
VDP_clearPlan(BPLAN,0);
y=1;
VDP_drawText("| Sound effects |",x,y);y++;
VDP_drawText("|Unless otherwise noted, all sfx are|",x,y);y++;
VDP_drawText("|from Freesound.org |",x,y);y++;
VDP_drawText("|http://www.freesound.org/people/ |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("|ID(+16) Name URL |",x,y);y++;
VDP_drawText("|01 Menu highlight |",x,y);y++;
VDP_drawText("|broumbroum/sounds/50561/ |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("|02 Menu select |",x,y);y++;
VDP_drawText("|Bertrof/sounds/131658/ |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("|03 Puck hit |",x,y);y++;
VDP_drawText("|krb21/sounds/118604/ |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("|04/30 Puck deflect |",x,y);y++;
VDP_drawText("|BranRainey/sounds/108737/ |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("v v",x,y);y++;
waitMs(wait);
VDP_clearPlan(BPLAN,0);
y=1;
VDP_drawText("|05 Bumper hit |",x,y);y++;
VDP_drawText("|timgormly/sounds/170140/ |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("|06 Powerup get |",x,y);y++;
VDP_drawText("|RandomationPictures/sounds/138491/ |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("|07 Powerup use |",x,y);y++;
VDP_drawText("|jobro/sounds/35464/ |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("|08 Goal siren |",x,y);y++;
VDP_drawText("|UncleSigmund/sounds/117122/ |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("|09-29 Announcer guy stuff |",x,y);y++;
VDP_drawText("|All generated w Acapela Box using |",x,y);y++;
VDP_drawText("|the English (UK) Peter voice |",x,y);y++;
VDP_drawText("|https://acapela-box.com/AcaBox/ |",x,y);y++;
VDP_drawText("|index.php |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("v v",x,y);y++;
waitMs(wait);
VDP_clearPlan(BPLAN,0);
y=1;
VDP_drawText("|31 Buzzer |",x,y);y++;
VDP_drawText("|cognito%20perceptu/sounds/17468/ |",x,y);y++;
VDP_drawText("+-----------------------------------+",x,y);y++;
VDP_drawText("| Beta testers |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("|DUDE #1 - Stuff |",x,y);y++;
VDP_drawText("|DUDE #2 - Stuff |",x,y);y++;
VDP_drawText("|DUDE #3 - Stuff |",x,y);y++;
VDP_drawText("+-----------------------------------+",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("| Special Thanks |",x,y);y++;
VDP_drawText("|Oerg866 and SiktheHedgehog |",x,y);y++;
VDP_drawText("|Echo Sound Engine and related tools|",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("|Stephane Help, SGDK |",x,y);y++;
VDP_drawText("|Nemesis Exodus emulator (debuging)|",x,y);y++;
VDP_drawText("v v",x,y);y++;
waitMs(wait);
VDP_clearPlan(BPLAN,0);
y=1;
VDP_drawText("| |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("+===================================+",x,y);y++;
VDP_drawText("| YOU |",x,y);y++;
VDP_drawText("| FOR PLAYING! |",x,y);y++;
VDP_drawText("| Ultra Air Hockey (Genesis) V1.0 |",x,y);y++;
VDP_drawText("| EagleSoft Ltd 2015 |",x,y);y++;
VDP_drawText("| www.eaglesoftltd.com |",x,y);y++;
VDP_drawText("+===================================+",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("| |",x,y);y++;
VDP_drawText("| |",x,y);y++;
waitMs(wait);
echo_wait_sfx(SFX_02); //Play select sfx
VDP_fadeOutAll(100,_FALSE);
DrawBG(0); //cls
}
int main(void)
{
int pwm;
int adc_on;
int adc_off;
uint16_t i;
element elem;
robot.rotation_target = 0;
robot.right_motor_pos =0;
robot.left_motor_pos =0;
robot.right_motor_target =0;
robot.left_motor_target =0;
SysTick_Config(168000000/8/1000000); // interrupr 1000000 per secound
initTimer3(1);
initMotors();
initEncoders();
initUsart3();
// enableUSART3RXNEInterrupt();
initADC();
initIRSensors();
initLED();
initSPI2();
LED_OFF;
waitMs(1000);
LED_ON;
initPIDStructures();
stopMotors();
resetEncoders();
updateRobotState();
robot.left_ir_sensor_target = measures.left_ir_sensor;
robot.right_ir_sensor_target = measures.right_ir_sensor;
initQueue(&robot_queue);
//addMove(&robot_queue,FORWARD,2000);
addMove(&robot_queue,ROTATE,20000);
// addMove(&robot_queue,FORWARD,9000);
// addMove(&robot_queue,ROTATE,0);
// addMove(&robot_queue,ROTATE,6000);
// addMove(&robot_queue,FORWARD,9000);
// addMove(&robot_queue,ROTATE,6000);
// addMove(&robot_queue,ROTATE,12000);
// addMove(&robot_queue,FORWARD,9000);
// addMove(&robot_queue,ROTATE,12000);
// addMove(&robot_queue,ROTATE,3000);
// nextMove();
LED_ON;
while(1)
{
if ( isBatteryWeak() ){
stopMotors();
blinkLed();
}
if (flags.update_robot == 1){
moveRobot();
updateRobotState();
flags.update_robot =0;
}
if (flags.usart_custom == 1){
USART3_transmitString(itoa((int) robot.rotation, buf,10));
USART3_transmitString(" ");
USART3_transmitString(itoa((int) robot.rotation_target, buf,10));
USART3_transmitString("\n");
}
}
// flags.usart_custom == 0;
// USART3_transmitString("lewe_kolo_diff ");
// USART3_transmitString(itoa((int) robot.left_motor_target - robot.left_motor_pos , buf,10));
// USART3_transmitByte('\n');
// USART3_transmitString("lewe kolo pwm ");
// USART3_transmitString(itoa((int) getTranslation(LEFT_MOTOR) , buf,10));
// USART3_transmitByte('\n');
//
// USART3_transmitString("prawe kolo diff ");
// USART3_transmitString(itoa((int) robot.right_motor_target - robot.right_motor_pos , buf,10));
// USART3_transmitByte('\n');
// USART3_transmitString("prawe kolo pwm ");
// USART3_transmitString(itoa((int) getTranslation(RIGHT_MOTOR) , buf,10));
// USART3_transmitByte('\n');
// }
//
// if (flags.usart_graph == 1){
// static uint8_t usart_start = 1;
// if (usart_start ){
// usart_start=0;
// USART3_transmitString("\n");
// USART3_transmitString("\n");
// USART3_transmitString("\n");
// USART3_transmitString("__start__\n");
// USART3_transmitString("lewe_kolo_pozycja ");
// USART3_transmitString("lewe_kolo_cel ");
// USART3_transmitString("lewe_kolo_diff ");
// USART3_transmitString("lewe_kolo_pwm_T ");
// USART3_transmitString("prawe_kolo_pozycja ");
// USART3_transmitString("prawe_kolo_cel ");
// USART3_transmitString("prawe_kolo_diff ");
// USART3_transmitString("prawe_kolo_pwm_T \n");
// USART3_transmitString(" \n");
// }
//
// USART3_transmitString(itoa((int) robot.right_motor_pos , buf,10));
// USART3_transmitString(" ");
// USART3_transmitString(itoa((int) robot.right_motor_target , buf,10));
// USART3_transmitString(" ");
// USART3_transmitString(itoa((int) robot.right_motor_target - robot.right_motor_pos , buf,10));
// USART3_transmitString(" ");
// USART3_transmitString(itoa((int) getTranslation(RIGHT_MOTOR) , buf,10));
// USART3_transmitString(" ");
// USART3_transmitString(itoa((int) robot.left_motor_pos , buf,10));
// USART3_transmitString(" ");
// USART3_transmitString(itoa((int) robot.left_motor_target , buf,10));
// USART3_transmitString(" ");
// USART3_transmitString(itoa((int) robot.left_motor_target - robot.left_motor_pos , buf,10));
// USART3_transmitString(" ");
// USART3_transmitString(itoa((int) getTranslation(LEFT_MOTOR) , buf,10));
// USART3_transmitByte('\n');
// flags.usart_graph = 0;
// }
// }
//
return 0;
}
