char Bot_Init(void)
{
// Initialize modules
AD_Init();
PWM_Init();
// Configure digital pins
IO_PortsSetPortOutputs(MUX_PINS_PORT, MUX_PINS_OR);
IO_PortsSetPortOutputs(MOTOR_PINS_PORT, MOTOR_PINS_LEFT_DIR |
MOTOR_PINS_RIGHT_DIR | MOTOR_PINS_LIFT_DIR | MOTOR_PINS_LIFT_EN);
IO_PortsSetPortOutputs(SENSOR_PINS_PORT, SENSOR_PINS_LEDS);
IO_PortsSetPortInputs(SENSOR_PINS_PORT, SENSOR_PINS_BUMP | SENSOR_PINS_TRACK);
// Init lift motor to off
IO_PortsClearPortBits(MOTOR_PINS_PORT, MOTOR_PINS_LIFT_EN);
// Configure PWM pins
// PWM_SetFrequency(PWM_BOT_FREQUENCY);
// PWM_AddPins(MOTOR_PINS_LEFT_EN | MOTOR_PINS_RIGHT_EN);
// Configure AD pins
AD_AddPins(SENSOR_PINS_BEACON | SENSOR_PINS_TAPE);
return SUCCESS;
}
//------------------------------------------------------------------------------
// ES FUNCTIONS
//------------------------------------------------------------------------------
uint8_t InitBeaconService(uint8_t Priority)
{
ES_Event ThisEvent;
MyPriority = Priority;
//Initialize relevant hardware
IO_PortsSetPortInputs(BEACON_PORT, BEACON_PIN);
// post the initial transition event
ThisEvent.EventType = ES_INIT;
if (ES_PostToService(MyPriority, ThisEvent) == TRUE) {
return TRUE;
} else {
return FALSE;
}
}
