int main(void)
{
int num;
num = asmfunction();
printf("Your function returned %d\n", num);
return 0;
}
int main(void) //beginning of main function
{
DDRA=asmfunction(); //set PORTA to write
DDRB=0xFF; //set PORTB to write
DDRC=0xFF; //set PORTC to write
DDRD=0b10111011; //set PIND2 and PIND6 to read and the rest of PORTD to write
PORTB=PORTB&0b01111111; //set PINB7 to logic zero (turn on green LED)
PORTB=PORTB|0b01000000; //set PINB6 to logic one (turn off red LED)
PORTD=0b01000100; //enable pull-up resistors of PIND2 and PIND6
lcd_init(); //initialize LCD display
lcd_clear(); //clear LCD display
lcd_home(); //set cursor of LCD to the first character position
/*The next two lines configure T/C0 and T/C2 to set OCR0 and OCR2, respectively on compare match when
the T/C subsystem's respective counting register is counting up and to clear OCR0 and OCR2 when counting
down. Configured as Fast PWM, Phase-Correct with a prescalar of one.*/
TCCR2=(1<<WGM20)|(1<<COM21)|(1<<COM20)|(1<<CS20);
TCCR0=(1<<WGM00)|(1<<COM01)|(1<<COM00)|(1<<CS00);
/*The next two lines configure TCNT1 to increment every clock cycle; Configure Enable Input Capture Interrupt
to trigger on rising edge; Enable Input Capture Noise Canceller; Locally enable T/C 1 Input Capture Interrupt
and T/C 1 Overflow Interrupt.*/
TCCR1B=(1<<ICES1)|(1<<CS10)|(1<<ICNC1);
TIMSK=(1<<TICIE1)|(1<<TOIE1);
MCUCR=(1<<ISC00)|(1<<ISC01);//configure external interrupt 1 to trigger on rising edge
GICR=(1<<INT0); //locally enable external interrupt 1
sei(); //set global interrupt flag
unsigned long int button=0; //unsigned long integer (32 bits--sent by IR remote)
uint8_t led=0; //state of LED (used to confirm 34-bit transmission by IR remote)
int speed=0; //speed of motors at maximum
int lights=off;
lcd_printf("Waiting"); //print "Waiting" on LCD (wait for button to be pushed on IR remote)
PORTB=PORTB|0b00000010;
while(1) //infinite loop
{
if(bit==34) //wait until bit=34--Input Capture ISR called 34 times (1 start bit, 32 data bits, and 1 stop bit sent by IR remote)
{
button=decipher(remote); //decipher the 32 data bits as either 1 or 0 depending on TCNT1 values;
//pass remote as parameter and set button equal to return value
bit=0; //reset bit equal to 0 (prepare to receive a new command)
if(led==0) //if the state of led is 0, turn off green LED and turn on red LED
{ //then switch the state of led to 1
PORTB=PORTB&0b10111111;
PORTB=PORTB|0b10000000;
led++;
}
else //if the state of led is not 0 (state is 1), turn off red LED and turn on green LED
{ //then switch the state of led to 0
PORTB=PORTB&0b01111111;
PORTB=PORTB|0b01000000;
led--;
}
switch(button) //check the value of button (button that was pushed on remote)
{
case up_arrow: //if up arrow was pushed, make robot go forward
forward();
break;
case down_arrow: //if down arrow was pushed, make robot go backward
backward();
break;
case left_arrow: //if left arrow was pushed, make robot go left
left();
break;
case right_arrow: //if right arrow was pushed, make robot go right
right();
break;
case channel_up: //if channel up was pushed, speed robot up (speed is parameter sent to speed_up function); speed equals returned value
speed=speed_up(speed);
break;
case channel_down: //if channel down was pushed, slow robot down (speed is parameter sent to speed_down function); speed equals returned value
speed=slow_down(speed);
break;
case mute: //if mute was pushed, toggle lights from off to on or on to off; pass lights as parameter and set lights equal to returned value
lights=toggle_lights(lights);
break;
default: //if any other button was pushed, stop robot
stop();
break;
}
OCR0=speed; //set the speed of the left motor depending on value of speed
OCR2=speed; //set the speed of the right motor depending on value of speed
}
}
}
