/*
This function first rotates the bot by 5 degree till 360
Stores the voltage at each angle in array
Find maximum value of voltage from the array
Aligns the bot at that value of voltage.
*/
void bot_rotation360()
{
init_devices_motion();
init_devices_adc();
int bot_ang=0;
float panel_voltage[72];
float max_panel_volt=0;
float bat_voltage = 0.0;
int j;
for(j=0;j<72;j++)
{
soft_right();
// halting right wheel and moving only the left wheel for specified time to get the desired angle of rotation(according to calculation)
_delay_ms(rot_time); // rot_time is calculated according to power from the battery
stop();
_delay_ms(delay_time);
panel_voltage[j]=value_in_volt(ADC_Conversion(10)); // channel 10 contains voltage reading
lcd_print(2,1,panel_voltage[j],3);
bat_voltage=batt_volt(ADC_Conversion(0));
lcd_print(1,13,bat_voltage,4); // Printing battery voltage.
}
_delay_ms(1000); // Stopping the bot momentarily.
// for getting the angle of bot corresponding to maximum voltage and maximum voltage also.
for( j=0;j<72;j++)
{
if(panel_voltage[j]>max_panel_volt)
{
max_panel_volt=panel_voltage[j];
bot_ang=j;
}
}
lcd_print(2,1,panel_voltage[bot_ang],3); // Printing maximum voltage.
// Realigning the bot at the maximum angle of intensity in circular plane
j=1;
while(j!=bot_ang) // Since the bot_ang variable contains the angle for which the intensity was maximum
{
soft_right(); //left wheel forward leaving the right wheel at rest to get
//soft rotation at the axis of right wheel
_delay_ms(rot_time2);
float servo_volt=value_in_volt(ADC_Conversion(10));
lcd_print(2,5,servo_volt,3);
j++;
stop();
_delay_ms(delay_time);
}
lcd_print(2,5,panel_voltage[bot_ang],3);
max_angle_of_bot=bot_ang;
}
//Main Function
int main(void)
{
//all initializations
init_devices_motion();
init_devices();
init_devices_lf();
lcd_set_4bit();
lcd_init();
//setting gripper arm
initial_angle = 120;
servo1_init();
servo_2(initial_angle);
servo_3(180);
//UDR0 = 0x31;
//line_follower();
//pluck_fruit();
while(1);
}
// MAIN FUNCTION
int main()
{
//init_devices2();
// White Line Following
while(1)
{
init_devices_motion();
init_devices_adc();
lcd_set_4bit();
lcd_init();
unsigned char flag = 0;
unsigned char Left_white_line = 0;
unsigned char Center_white_line = 0;
unsigned char Right_white_line = 0;
unsigned char lwl=0;
unsigned char cwl=0;
unsigned char rwl=0;
while(1)
{
Left_white_line = ADC_Conversion(3); //Getting data of Left WL Sensor
Center_white_line = ADC_Conversion(2); //Getting data of Center WL Sensor
Right_white_line = ADC_Conversion(1); //Getting data of Right WL Sensor
flag=0;
print_sensor(1,1,3); //Prints value of White Line Sensor1
print_sensor(1,5,2); //Prints Value of White Line Sensor2
print_sensor(1,9,1); //Prints Value of White Line Sensor3
if(Center_white_line<0x10)
{
flag=1;
forward();
velocity(100,100);
//_delay_ms(10000);
}
if((Left_white_line>0x10) && (flag==0))
{
//bot_charging_process();
flag=1;
forward();
velocity(130,30);
}
if((Right_white_line>0x10) && (flag==0))
{
//bot_charging_process();
flag=1;
forward();
velocity(30,130);
}
if(Center_white_line>0x10 && Left_white_line>0x10 && Right_white_line>0x10)
{
forward();
velocity(0,0);
}
if((((Center_white_line-Right_white_line>0)&&(Center_white_line-Right_white_line<=10))||((Right_white_line-Center_white_line>0)&&(Right_white_line-Center_white_line<=10)))&&
(((Center_white_line-Left_white_line>0)&&(Center_white_line-Left_white_line<=10))||((Left_white_line-Center_white_line>0)&&(Left_white_line-Center_white_line<=10)))&&
(((Left_white_line-Right_white_line>0)&&(Left_white_line-Right_white_line<=10))||((Right_white_line-Left_white_line>0)&&(Right_white_line-Left_white_line<=10)))
) // recognising node position that is if the reading at all three white line sensors differ maximum by 10 then that point will be node
{
lwl=Left_white_line;
cwl=Center_white_line;
rwl=Right_white_line;
stop();
_delay_ms(500);
break;
}
}
bot_charging_process();
//buzzer();
for(int t=max_angle_of_bot;t>=0;t--)
{
soft_left_2(); //left wheel forward leaving the right wheel at rest to get
//soft rotation at the axis of right wheel
_delay_ms(rot_time);
stop();
_delay_ms(100);
}
forward();
_delay_ms(100);
}
}
