int main(void)
{
analogvalue_t delay;
setup();
setup_timer0();
// setup_int0();
// display_off(&display);
setup_timer2();
analog_init(&delay);
potentiometer_read(&delay);
display_set(&display, delay.v);
display_on(&display, 1);
/* if ((PIND & _BV(PIN_SW1)) == 0) */
/* pin = PIN_LED_RED; */
for (;;) {
if ((PIND & _BV(PIN_BUTTON2)) == 0) {
PORTB &= _BV(PIN_LED);
} else {
PORTB |= _BV(PIN_LED);
}
/*
if ((PIND & _BV(PIN_SW1)) == 0) {
long tmax = 1000L * delay.v;
while (micros() - t0 < tmax)
;
PORTD |= _BV(pin);
} else {
PORTD &= ~_BV(pin);
enable_int0();
}
if ((PIND & _BV(PIN_SW2)) == 0) {
settle_on_low(&PIND, PIN_SW2);
loop_until_bit_is_set(PIND, PIN_SW2);
display_toggle(&display);
}
*/
potentiometer_read(&delay);
if (delay.v != display.value) {
display_set(&display, delay.v);
}
}
return 0;
}
int main(void)
{
uint8_t i;
cli();
MCUSR = 0;
wdt_disable();
//TODO replace by an ana comp polling loop
_delay_ms(10);
setup_datastructs();
setup_led();
setup_ar_uart();
setup_adc();
setup_pulse_input();
setup_analog_comparator();
setup_timer0();
setup_timer1();
// initialize the CTRL buffers
ctrlInit();
// initialize the SPI in slave mode
setup_spi(SPI_MODE_0, SPI_MSB, SPI_INTERRUPT, SPI_SLAVE);
// initialize the Si4421/RFM12 radio and buffers
rfm12_init();
// the clk/8 fuse bit is set
clock_prescale_set(clock_div_1);
FLAG_CLR_ICF1();
sei();
for(;;) {
if (spi_status & SPI_NEW_CTRL_MSG) {
ctrlDecode();
spi_status &= ~SPI_NEW_CTRL_MSG;
}
for (i = 0; i < max_analog_sensors; i++) {
if (state[i].flags & STATE_POWER_CALC) {
calculate_power(&state[i]);
state[i].flags &= ~STATE_POWER_CALC;
state[i].flags |= STATE_POWER;
}
}
rfm12_tick();
}
return 0;
}
int main(void)
{
setup_pins();
setup_comparator();
setup_timer0();
ledsetup();
uint8_t message_buffer[12] = {0};
Controller *controller = (Controller*)message_buffer;
machine_init();
Animation anim;
clear_animation(&anim);
bool prev_machine_toggle = true;
delay_ms(1000);
while(1)
{
// Wait until we have a valid message
while(!getMessage(message_buffer)) {}
// Interpret the input
process_input(controller, &anim);
if((prev_machine_toggle && !machine_toggle) ||
machine_toggle)
{
show_animation(&anim);
}
clear_animation(&anim);
prev_machine_toggle = machine_toggle;
// Wait for the 2nd paired request to pass
_delay_us(2000);
}
}
int main(void)
{
timer tping = { 0, 0 };
decode_results r;
state s;
counter cping;
memset(&r, 0, sizeof r);
memset(&s, 0, sizeof s);
memset(&cping, 0, sizeof cping);
/*
* PB0 ir receiver input
* PB1 servo control out (OC1A)
* PB2 motor2 enable (OC1B)
* PB4 ping sensor
*
* PD3 motor1 control out A
* PD4 motor1 control out B
* PD6 motor2 control out A
* PD7 motor2 control out B
*/
DDRB = _BV(PB1) | _BV(PB2);
PORTB = ~(_BV(PB1) | _BV(PB2) | _BV(PB4)); /* enable pull-ups, leave PB4 alone */
DDRD = 0xd8;
PORTD = 0x27; /* enable pull-ups */
setup_timer0();
setup_pwm1();
setup_irrecv();
for (;;) {
if (irrecv_decode(&r)) {
irinterpret(&s, &r);
irrecv_resume();
}
// switch motor0 off after a short period of time
if (s.run0 && millis() - s.timestamp0 > MOTOR0_TIMEOUT_MS)
s.run0 = 0;
set_motor_pins(&s);
set_servo_pins(&s);
// ping every 50ms
if ((tping.t = millis()) - tping.t0 > 50) {
tping.t0 = tping.t;
unsigned long us = ping(200);
if (us != ULONG_MAX) {
// got a valid reading
unsigned long cm = us / ROUNDTRIP_CM_US;
update_counter(&cping, cm);
// motor1 running forward?
if (s.run1 > MOTOR1_MIN) {
cm = average_counter(&cping);
if (cm < 40) {
s.run1 = 0;
} else {
int newrun1 = (cm - 40) / 4;
if (newrun1 < s.run1)
if ((s.run1 = newrun1) < MOTOR1_MIN + 2)
s.run1 = 0;
}
set_motor_pins(&s);
}
}
}
}
return 0;
}
