int main (void)
{
HW_Init();
// enquanto a tensão de entrada estiver abaixo de 8V e acima de 16V, não faz nada
do
{
ADCSRA |= (1<<ADSC);
while (ADCSRA & (1<<ADSC));
} while ((ADC < MIN_VI_COUNT) || (ADC > MAX_VI_COUNT));
VoltInp = ADC;
ADMUX = ((1<<REFS0) | (1<<REFS1)) + VOUT_CH; // feedback do conversor boost
ADCSRA |= (1<<ADIF) | (1<<ADIE); // limpa o flag e habilita interrupção do ADC
tPIsat_params.w_kp_pu = eeprom_read_word(&ee_PI_kp);
tPIsat_params.w_ki_pu = eeprom_read_word(&ee_PI_ki);
tPIsat_params.sp = eeprom_read_word(&ee_PI_SP);
ADCSRA |= (1<<ADSC); // Inicia primeira leitura do ADC
sei();
uart_puts_P(PSTR("Inicio VFD\r"));
vfd_setstring("Felipe Maimon");
for(;;)
{
State_Machine();
}
}
/**************************************************************
* Name : SchM_12p5ms_Task
* Description :
* Parameters : [Input, Output, Input / output]
* Return :
* Critical/explanation : [yes / No]
**************************************************************/
void SchM_5ms_Task(void)
{
State_Machine();
}
/**Program Entry Point*/
int main()
{
JOINT joints[2];
STATE_FLAGS flags;
OBJECT_LOCATION objLoc;
DATA_PACK dataPack;
char state = 0;
char input;
//initialize pointers in mlMessage
dataPack.flags = &flags;
dataPack.joint = &joints[0];
dataPack.location = &objLoc;
//Set initial values for the state flags
flags._FLAGS = 0;
//Set initial values for the joints
joints[0].linkLength = 200;
joints[0].targetVal = 0;
joints[0].currentVal = 0;
joints[0].LMDVal = 0;
joints[0].correctionVal = 0;
joints[1].linkLength = 195;
joints[1].targetVal = 0;
joints[1].currentVal = 0;
joints[1].LMDVal = 0;
joints[1].correctionVal = 0;
//Set direction registers for debugging use
DDRD = 0xFF;
DDRC = 0x00;
//Initialize serial communications, the ADC, the DAC and PID control
Init_Serial_P(BAUD576, FRM8, STOP1, NOPAR);
ADC_Init_P();
DAC_Initilize();
PID_Initialize();
Serial_Print_String("\r\nMag Pickup Test\r\n");
/*while(1)
{
Serial_Print_String("\r\nIR_X: ");
Serial_Print_Int(ReadIR(IR_X), 10);
Serial_Print_String("\r\nIR_Y: ");
Serial_Print_Int(ReadIR(IR_Y), 10);
_delay_ms(200);
}*/
//Calibrate joint pots
Add_Pot_Angle(542, 90, 175, 0, "Joint 1", JOINT1);
Add_Pot_Angle(504, 90, 849, 0, "Joint 2", JOINT2);
//Add PID channels to control the two joints
PID_Add_Channel(&joints[0].targetVal, &joints[0].currentVal, &joints[0].correctionVal, &joints[0].LMDVal, 450, 50, 300, 250);
PID_Add_Channel(&joints[1].targetVal, &joints[1].currentVal, &joints[1].correctionVal, &joints[1].LMDVal, 375, 10, 350, 150);
while(1)
{
joints[0].currentVal = ADC_Get_Value(JOINT1);
joints[1].currentVal = ADC_Get_Value(JOINT2);
joints[0].targetVal = Degrees_To_Pot(30, JOINT1);
joints[1].targetVal = Degrees_To_Pot(60, JOINT2);
State_Machine(&state, &dataPack);
/*Serial_Print_String("\r\nTarget: ");
Serial_Print_Int(Pot_To_Degrees(joints[1].targetVal, JOINT2), 10);
Serial_Print_String("\r\nCurrent: ");
Serial_Print_Int(Pot_To_Degrees(joints[1].currentVal, JOINT2), 10);*/
_delay_ms(100);
}
}
void SchM_Task_3p125ms(void)
{
State_Machine();
}