Exemplo n.º 1
0
void DoMainLoop(void)
{
	static uint32_t t_c, t_old=(uint32_t)-1, cnt=0;
	int16_t i;
	
	t_c = BTMR_GetRuntime()/50//100; for 0.2 ms
	
	if (t_c != t_old) {
		t_old = t_c;
		
		SDBG_Printf("%d ", cnt++);
		
		//for (i=0; i<6; i++) {
			//SDBG_Printf("%4d ", FADC_Get(1));//Pot on board
			SDBG_Printf("%4d ", FADC_Get(5));//pd0 distance sensor
		//}
		SDBG_Printf("\n");
	}
	
	if (SDBG_IsEvents())
		SDBG_ExecuteCallback();
	
	if (MUART_IsEvents())
		MUART_ExecuteCallback();
}
Exemplo n.º 2
0
void DoMainLoop(void)
{
	if (SDBG_IsEvents())
		SDBG_ExecuteCallback();
	
	if (MUART_IsEvents())
		MUART_ExecuteCallback();
}
Exemplo n.º 3
0
void DoMainLoop(void)
{
	//USONIC PART// Replace with Displacement
	static uint32_t t_c, t_old=(uint32_t)-1, cnt=0;
		
	//pot_value = (FADC_Get(1)-870)*10; //860-1024
	//MCTL_RotateEngine(pot_value);
		
	angle = (FADC_Get(1)-950)*2;
	MCTL_RotateSwheel(angle);	
		
	
		t_c = BTMR_GetRuntime()/200;//GetRuntime == mills//for 200 ms(0.2sec)
		
		if (t_c != t_old) {
			t_old = t_c;
			
			SDBG_Printf("Runtime = %u.%01u sec.", t_c/5, (t_c%5)*2);
			//SDBG_Printf("%d ", cnt++);
			
			//for (i=4; i<5; i++) {//6; i++) {
				pot_value = (FADC_Get(1)-850)*10; //860-1024
				SDBG_Printf("%4d\t", angle);//Potentiometer on Board
				SDBG_Printf("%4d\t", FADC_Get(5)); // ADC on PD0
				//}
			SDBG_Printf("\n");
			
		}
	
		
	if (SDBG_IsEvents())
		SDBG_ExecuteCallback();
	
	if (MUART_IsEvents())
		MUART_ExecuteCallback();
}
Exemplo n.º 4
0
void DoMainLoop(void)
{
	//COUNT FOR TIMER
	static uint32_t t_c, t_old=(uint32_t)-1, cnt=0;
	
	//RUN CAMERA //with dip sw 1
	if(dipsw & 0x1)//high//sw1
		CAM_RUN2();
	else//low
		CAM_RUN();
	//threshhold
	if(dipsw & 0x2)//sw2
		cam_th = (FADC_Get(1)-800)*5;
	else
		cam_th = (CAM_MAX()+CAM_MIN())/2;//CAM_TRESHLOLD();
	//camera exposure time
	if(dipsw & 0x8)//sw4
		CAM_PulseWidth(50);
	else
		CAM_PulseWidth(100);
		
	//SERIAL COMMUNICATE
	if (SDBG_IsEvents())
		SDBG_ExecuteCallback();
	
	if (MUART_IsEvents())
		MUART_ExecuteCallback();
	
	//servo test in main
	sangle = (FADC_Get(1)-870)*2*37/156-37;
	MCTL_Servo(sangle);
			
	//DC test
	//if(DSW_GetTactAll() & 0x1){
		MCTL_DC_R((FADC_Get(1)-800)*5);
		MCTL_DC_L((FADC_Get(1)-800)*5);
	/*}
	else{
		MCTL_DC_R(1535);
		MCTL_DC_L(0);
	}*/
	
	//TIMER FOR EACH 100 ms	
	t_c = BTMR_GetRuntime()/500;
	if (t_c != t_old) {
		t_old = t_c;
		DLED_Toggle(DLED_LED1);
		dipsw = DSW_GetDipAll();
		//ENCODER TEST
		//SDBG_Printf("\n%u: %4d", cnt++, RENC_Get());
		
		//Servo test
		//MCTL_Servo(sangle);
		//sangle +=5;
		if(sangle > MCTL_SWHEEL_MAX)
		{
			sangle = -MCTL_SWHEEL_MAX;
		}
		//SDBG_Printf("\nServo Angle : %d",sangle);
		
		
		if(flag==0){
				flag = 1;
		}
	}
	
	if(flag){
		SDBG_Printf("\n%4d TH:%3d,%3d,%3d\t",t_c,cam_th,CAM_MAX(),CAM_MIN());
		for(i_serial = 0; i_serial < NUM_OF_PIXEL; i_serial++){
			/*if(i_serial >= NUM_OF_PIXEL){
				SDBG_Printf("\n%4d TH:%3d,%3d,%3d\t",t_c,cam_th,CAM_MAX(),CAM_MIN());
				//i_serial = 0;
				flag = 0;
			}*/
		//if( i_serial < NUM_OF_PIXEL ){
			if(dipsw & 0x4){//up
				if(CAM_DATA(i_serial) > cam_th){
					SDBG_Printf(".");
				}
				else{ //if(CAM_READ(i_serial) , cam_th)
					SDBG_Printf("!");
				}
			}
			else{//down
				SDBG_Printf("%3d ",CAM_DATA(i_serial));
			}
		}
		/*else{
			SDBG_Printf("%3d ",CAM_DATA(i_serial));
			i_serial++;
			if(i_serial >= NUM_OF_PIXEL){
				SDBG_Printf("\n%4d TH:%3d,%3d,%3d\t",t_c,cam_th,CAM_MAX(),CAM_MIN());
				i_serial = 0;
				flag = 0;
			}
		}*/
		/*for(i_serial = 0; i_serial < NUM_OF_PIXEL; i_serial++){
			if(dipsw & 0x4){//up
				if(CAM_DATA(i_serial) > cam_th){
					SDBG_Printf(".");
				}
				else{ //if(CAM_READ(i_serial) , cam_th)
					SDBG_Printf("!");
				}
			}
			else{//down
				SDBG_Printf("%3d ",CAM_DATA(i_serial));
			}
		}*/
		flag = 0;
	}
}
Exemplo n.º 5
0
void DoMainLoop(void)
{
    //COUNT FOR TIMER
    static uint32_t t_current, t_old=(uint32_t)-1, t_test,cnt=0;
    //DIPSW - 1-Camera Run / 2-cam_th / 3-.! or %3d / 4-cam_pulsewidth(exposuretime)
    //dipsw = DSW_GetDipAll();
    //RUN CAMERA //with dip sw 1
    /*CAM RUN mode 1 or 2
     * main loop 돌때 마다 스위치 값 읽어서 camera run mode를 바꿔주는거
     * 카메라를 돌리는건 periodic interrupt timer channel 0 기준 */
    if(dipsw & 0b0001) { //sw1 //0x1
        CAM_RUN_MODE_SETUP(2);//up
        DLED_Set(DLED_LED1,0);
        blinking_LED= DLED_LED2;
        CAM_RUN2();
    }
    else {
        CAM_RUN_MODE_SETUP(1);//down
        DLED_Set(DLED_LED2,0);
        blinking_LED= DLED_LED1;
    }

    //SERIAL COMMUNICATE
    if (SDBG_IsEvents())
        SDBG_ExecuteCallback();

    if (MUART_IsEvents())
        MUART_ExecuteCallback();

    //servo test in main
    sAngle = (FADC_Get(1)-870)*2*37/156-37;
    MCTL_Servo(sAngle);

    //DC test
    //if(DSW_GetTactAll() & 0x1){
    //DC_Speed = (FADC_Get(1)-800)*10;
    MCTL_DC_R(DC_Speed);
    MCTL_DC_L(DC_Speed);

    //TIMER FOR EACH N ms
    time_gap = 200;
    t_current = BTMR_GetRuntime()/time_gap;
    if (t_current != t_old) {
        t_test = CAM_MICRO_SEC_RETURN();
        SDBG_Printf("\n%u: %d", cnt++, t_test);
        t_old = t_current;
        DLED_Toggle(blinking_LED);

        /*DIP SWitch
         *1-Camera Run Mode
         *2-cam_threshold
         *3- .! or %3d 로 카메라 pixel 중 라인 위치, 명암값 출력
         *4-cam_pulsewidth(exposure time)*/
        dipsw = DSW_GetDipAll();

        //Threshold
        if(dipsw & 0b0010)//sw2 //0x2
            cam_th = (uint16_t)(FADC_Get(1)-800)*5;
        else
            cam_th = CAM_AVG();
        //camera exposure time
        if(dipsw & 0b1000)//sw4//0x8
            CAM_PulseWidth(100);//up
        else//down
            CAM_PulseWidth(50);

        //ENCODER TEST
        //*/
        enc1_current = RENC_Get1();
        enc2_current = RENC_Get2();
        enc1_rate = enc1_current - enc1_old;
        enc2_rate = enc2_current - enc2_old;
        enc1_old = enc1_current;
        enc2_old = enc2_current;
        //SDBG_Printf("\n%u: Speed : %4d Rval : %4d %4d    RATE : %4d %4d", cnt++, DC_Speed,RENC_Get1(),RENC_Get2(), enc1_rate, enc2_rate);

        Speed_Control(3);//3cm/s
        //DC_Speed = (FADC_Get(1)-800)*10;//(A2D_GetChResult_10bit(1)-800)*10;
        MCTL_DC_R(DC_Speed);
        MCTL_DC_L(DC_Speed);
        SDBG_Printf("\n%u: Speed : %4d Rval : %4d RATE : %4d", cnt++, DC_Speed,RENC_Get1(), enc1_rate);
        //SDBG_Printf("\n%u: US : %8u  IR : %4d", cnt++, FUSS_GetMm(FUSS_CH0),FADC_Get(6));//adc6 = pd2 = IR
        /**/

        //Servo test
        //MCTL_Servo(sAngle);
        //sAngle +=5;
        if(sAngle > MCTL_SWHEEL_MAX)
        {
            sAngle = -MCTL_SWHEEL_MAX;
        }
        //SDBG_Printf("\nServo Angle : %d",sAngle);

        //if(dipsw & 0x8){//sw4, SDBG
        if(flag==0) {
            //flag = 1;
        }
        //}
    }

    if(flag) {
        SDBG_Printf("\n %4d TH:%3d,%3d,%3d\t",t_current,cam_th,CAM_MAX(),CAM_MIN());
        for(i_serial = 0; i_serial < NUM_OF_PIXEL; i_serial+=2) { //i_serial++){
            if(dipsw & 0b0100) { //up//0x04
                if(CAM_DATA1(i_serial) > cam_th) {
                    SDBG_Printf(".");
                }
                else { //if(CAM_READ(i_serial) , cam_th)
                    SDBG_Printf("!");
                }
            }
            else { //down
                SDBG_Printf("%3d ",CAM_DATA1(i_serial));
            }
        }
        SDBG_Printf("||");
        for(i_serial = 0; i_serial < NUM_OF_PIXEL; i_serial+=2) { //i_serial++){
            if(dipsw & 0b0100) { //up//0x04
                if(CAM_DATA2(i_serial) > cam_th) {
                    SDBG_Printf(".");
                }
                else { //if(CAM_READ(i_serial) , cam_th)
                    SDBG_Printf("!");
                }
            }
            else { //down
                SDBG_Printf("%3d ",CAM_DATA2(i_serial));
            }
        }
        flag = 0;
    }
}