/*
* registering functions to load algorithms at runtime
*/
int i2c_pca_add_bus(struct i2c_adapter *adap)
{
int rval;
rval = pca_init(adap);
if (rval)
return rval;
return i2c_add_adapter(adap);
}
/*
* registering functions to load algorithms at runtime
*/
int i2c_pca_add_bus(struct i2c_adapter *adap)
{
struct i2c_algo_pca_data *pca_adap = adap->algo_data;
int rval;
/* register new adapter to i2c module... */
adap->algo = &pca_algo;
adap->timeout = 100; /* default values, should */
adap->retries = 3; /* be replaced by defines */
if ((rval = pca_init(pca_adap)))
return rval;
rval = i2c_add_adapter(adap);
return rval;
}
/*
* Function Name: main
* Input: None
* Output: int to inform the caller that the program exited correctly or
* incorrectly (C code standard)
* Logic: constantly monitors the sensor value and blows buzzer above a defined threshold value.
* Example Call: Called automatically by the Operating System
*
*/
void main()
{
unsigned int sensor2_value=0; //variable to store proximity sensor2 value
unsigned int sensor3_value=0; //variable to store proximity sensor3 value
unsigned int sensor4_value=0; //variable to store proximity sensor4 value
unsigned char i=0;
output_enable = 0;
start_conv = 0; //de-assert all control signals to ADC
buzzer = 1; //buzzer off
lcd_init(); //Initialize LCD
pca_init(); //initialize PCA for velocity control
lcd_clear(); //clears LCD
forward();
left_motor_velocity(0x2F);
right_motor_velocity(0x2F);
while(1)
{
sensor2_value=ADC_conversion(3);
sensor3_value=ADC_conversion(0);
sensor4_value=ADC_conversion(7);
lcd_print(1,1,sensor2_value,3);
lcd_print(1,5,sensor3_value,3);
lcd_print(1,9,sensor4_value,3);
if(sensor2_value<50 || sensor3_value<50 || sensor4_value<50) //obstacle detected
{
stop();
delay_ms(1000);
buzzer=0; //buzzer on
delay_ms(2000);
buzzer=1; //buzzer off
break;
}
}
} //main ends here
void main()
{
unsigned char i=0;
output_enable = 0;
start_conv = 0; //de-assert all control signals to ADC
buzzer = 1; //buzzer off
lcd_init(); //Initialize LCD
pca_init(); //Initialize PCA to genarate PWM
forward();
left_motor_velocity(0x4F); //0x00 will give full (100% duty cycle) velocity, while 0xFF will give zero (0% duty cycle) velocity. Any value in between 0x00 and 0xFF will give intermediate velocity.
right_motor_velocity(0x4F); //0x00 will give full (100% duty cycle) velocity, while 0xFF will give zero (0% duty cycle) velocity. Any value in between 0x00 and 0xFF will give intermediate velocity.
while(1)
{
for(i=0;i<8;i++) //Doing ADC conversion
{
data_array[i] = ADC_conversion(i);
}
left_whiteline = data_array[4];
center_whiteline = data_array[5];
right_whiteline = data_array[6];
front_sharp_sensor = data_array[2];
flag = 0; //reset the flag to 0
//check if robot's center white line sensor is on the white line
if(center_whiteline < 25)
{
flag = 1; //set the flag to 0 so that further white line sensor comparision is disabled
left_motor_velocity(0x4F); //left and right motor is at same velocity
right_motor_velocity(0x4F);
}
//robot is drifting towards left side, increase velocity of the left wheel and decrease velocity of the right wheel
if ((left_whiteline > 25) && (flag == 0))
{
flag = 1; //set the flag to 0 so that further white line sensor comparision is disabled
left_motor_velocity(0x3F); //increase left motor velocity
right_motor_velocity(0x5F); //decrease right motor velocity
}
//robot is drifting towards right side, decrease velocity of the left wheel and increase velocity of the right wheel
if ((right_whiteline > 25) && (flag == 0))
{
flag = 1; //set the flag to 0 so that further white line sensor comparision is disabled
left_motor_velocity(0x5F); //decrease right motor velocity
right_motor_velocity(0x3F); //increase left motor velocity
}
if(front_sharp_sensor >= 110) // obstacle is near the robot, stop and turn on the buzzer
{
stop();
buzzer = 0; //buzzer on
}
else
{
forward();
buzzer = 1; //buzzer off
}
if((left_whiteline > 25) && (center_whiteline > 25) && (right_whiteline > 25)) // no whiteline is detected, stop (buzzer will not turn on)
{
stop();
}
lcdprint(data_array);//call this function to print the array onto the screen
delay_ms(250);
}
}
