uint8_t SetAll(uint8_t m1,uint8_t m2) {
uint8_t v1,v2;
SetOne1K(m1&0x03);
SetTwo1K((m1>>2)&0x03);
SetThree1K((m1>>4)&0x03);
SetOne300K(m2&0x03);
SetTwo300K((m2>>2)&0x03);
SetThree300K((m2>>4)&0x03);
adc1=AnalogRead(ONEADC);
adc2=AnalogRead(TWOADC);
adc3=AnalogRead(THREEADC);
v1=128;v2=128;
if ((m2&0b00000011)>0) {v1=adc2;v2=adc3;}
if ((m2&0b00001100)>0) {v1=adc1;v2=adc3;}
if ((m2&0b00110000)>0) {v1=adc1;v2=adc2;}
if (v1>v2) return (v1-v2);
else return (v2-v1);
}
void setup()
{
initBoard();
while(true)
{
if((AnalogRead(MIDDLE)<50))
{
initdisplay();display.println("MIDDLE");display.display();
forward(100);
delay(1000);
stop();
delay(1000);
}
else
{
}
if((AnalogRead(LEFT)<50))
{
initdisplay();display.println("LEFT");display.display();
left(50);
delay(1000);
stop();
delay(1000);
}
else
{
}
if((AnalogRead(RIGHT)<50))
{
initdisplay();display.println("RIGHT");display.display();
right(50);
delay(1000);
stop();
delay(1000);
}
else
{
}
}
}
void setup()
{
initBoard();
float s0 = 0;
while(true)
{
s0 = AnalogRead(sensor0);
DigitalWrite(D13_LED, true);
delay((s0*5));
DigitalWrite(D13_LED, false);
delay((s0*5));
}
}
void AquireImage() // Read TSL1401 chip into sample array
{
uint8 i;
uint16 d;
asm("di"); // timing critical area, disable any interrupts!
BACKLIGHT(ON);
// 1. clock out crap as fast as possible (see TSL1401 documentation or parallax TLS1401 developer board is better) 2uS x 128 = 256uS
SI(ON);
for(i=0;i<129;i++)
{
CLK(ON);
DelayMicroseconds(1);
SI(OFF);
CLK(OFF);
DelayMicroseconds(1);
if(i>exposure) BACKLIGHT(OFF);
}
// 2. Wait for exposure to finish if its greater than 128
if(exposure>128) DelayMicroseconds(exposure-128);
BACKLIGHT(OFF); // turn off the backlight
// 3. Second pass, clock out the real data into raw buffer for processing and also average samples and put in sample array
SI(ON);
asm("ei");
for(i=127; i>0; i--) // sensor is inverted 180 deg because of lens so top is bottom and bottom is top so do this backwards or turn chip around on pcb!
{
CLK(ON);
DelayMicroseconds(1);
SI(OFF);
d = AnalogRead(ANA);
if(d>MAXBRIGHTNESS) RawData[i]=MAXBRIGHTNESS; else RawData[i]=d; // 255 is Max value we can get from TSL1401, but we have 10 bit ADC in PIC32 so we need to clip
if(SampleCount<MAXSAMPLES && SampleCount>2) AccumulatedData[i] = AccumulatedData[i] + RawData[i]; // accumulate total light across width of bottle so we can get an avg
CLK(OFF);
DelayMicroseconds(1);
}
if(SampleCount<MAXSAMPLES) SampleCount++; // increment how many samples in accumulator
CLK(ON);
DelayMicroseconds(1);
CLK(OFF);
if(SampleRate - 1500 > exposure)
DelayMicroseconds(SampleRate - 1500 - exposure); // hard-code delay so we get correct sample rate
}
void setup()
{
initBoard();
float senValue = 0;
while(true)
{
senValue = AnalogRead(sensor0);
if((senValue<33))
{
AnalogWrite(PWM9, senValue);
AnalogWrite(PWM10, 0);
AnalogWrite(PWM11, 0);
}
else
{
if((senValue<66))
{
AnalogWrite(PWM9, 0);
AnalogWrite(PWM10, senValue);
AnalogWrite(PWM11, 0);
}
else
{
AnalogWrite(PWM9, 0);
AnalogWrite(PWM10, 0);
AnalogWrite(PWM11, senValue);
}
}
delay(300);
}
}