int main(void)
{
int counter = 0;
int delay=1000000; //Set the initial delay to 1 second
int LEDIndex;
int winVal;
//Initialize all the modules
LEDInit();
dipInit();
switchInit();
rngInit();
timerInit();
for(;;) {
clearAll();
LEDIndex=0;
winVal=getRandom(); //Get a random value to be the winning value for this round
LEDPutVal(winVal,1); //Display that winning value
timerDelay(delay);
if(!getDipState()) { //Random Game
while(!getSwitchState(0)) { //While the button is not pressed
clearAll();
LEDIndex=getRandom();
LEDPutVal(LEDIndex,1);
timerDelay(delay);
}
}
else { //Sequence Game
while(!getSwitchState(0)) { //While the button is not pressed
clearAll();
LEDPutVal(LEDIndex++,1); //Increment the LED index so that it displays sequentially
LEDIndex %= 4; //Keep the LED index within our domain
timerDelay(delay);
}
//The following conditional statement is needed to bring the index back to the value that was clicked
//We need this to compare to the winning value to see if the game has been won
if(LEDIndex==0) {
LEDIndex=3;
}
else {
LEDIndex--;
}
}
//If the chosen value is equal to the winning value
if(LEDIndex==winVal) {
winAnimation(); //If so, display the winning animation
delay *= 0.85; //Decrease the delay
}
else {
loseAnimation(); //Else, display the losing animation
delay=1000000; //Reset the delay
}
}
#if (CONSOLE_IO_SUPPORT || ENABLE_UART_SUPPORT)
printf("Hello World in C++ from MCF52259 derivative on TWR-MCF5225X board\n\r");
#endif
for(;;) {
counter++;
}
}
void setup(void)
{
//unsigned long t3,servoSOF;
fruitInit();
switchInit();
//i2cm_init(I2C_MASTER, I2C_SLEW_ON, FOSC/400000/4-1) ; //400kHz : clock = FOSC/(4 * (SSPADD + 1)) : SSPADD=FOSC/clock/4-1
//HMC5883_init();
// --------- init motors PWM on TMR2 ----------- // now done by core & dcmotor
// PWM on Timer2 : fPWM = fOSC / (TMR2prescale * 4 * (PR2+1))
// = 64000000Hz/(4 * 4 * 256) = 15625Hz
/*CCP2CON=CCP3CON=0b00001100 ; // single PWM active high
T2CONbits.T2CKPS0=1; //prescaler 4
PR2=255;
T2CONbits.TMR2ON=1;*/
// ------- init PWM1 to pulse MOTC_IN1
//PSTR1CON=0;
//PSTR1CONbits.STR1D=1;
// ------- init PWM2 to pulse MOTD_EN
//PSTR2CON=0;
//PSTR2CONbits.STR2B=1;
#if 1
// ---------- capture timer : TMR1 ------------
T1CON=0b00110011;//src=fosc/4,ps=8,16bit r/w,on.
PIE1bits.TMR1IE=1; //1;
IPR1bits.TMR1IP=1;
// ---------- Servos ------------
//Servo_Init();
//SERVO_SET_PORT(0,K3);
dcmotorInit(X);
DCMOTOR(X).Setting.PosWindow = 1;
DCMOTOR(X).Setting.PwmMin = 50;
DCMOTOR(X).Setting.PosErrorGain = 6;
DCMOTOR(X).Setting.onlyPositive = 0;
DCMOTOR(X).PosRamp.maxSpeed = 40;
DCMOTOR(X).PosRamp.maxAccel = 50;
DCMOTOR(X).PosRamp.maxDecel = 50;
rampSetPos(&DCMOTOR(X).PosRamp, 0);
DCMOTOR(X).PosPID.GainP = 120; //90
DCMOTOR(X).PosPID.GainI = 10;
DCMOTOR(X).PosPID.GainD = 0;
DCMOTOR(X).PosPID.MaxOut = 1023;
DCMOTOR(X).VolVars.homed = 1;
pinModeDigitalOut(MXEN2);
digitalSet(MXEN2);
dcmotorInit(Y);
DCMOTOR(Y).Setting.PosWindow = 100;
DCMOTOR(Y).Setting.PwmMin = 50;
DCMOTOR(Y).Setting.PosErrorGain = 1;
DCMOTOR(Y).PosRamp.maxSpeed = 2000;
DCMOTOR(Y).PosRamp.maxAccel = 5000;
DCMOTOR(Y).PosRamp.maxDecel = 5000;
rampSetPos(&DCMOTOR(Y).PosRamp, 16384);
DCMOTOR(Y).PosPID.GainP = 200; //90
DCMOTOR(Y).PosPID.GainI = 1;
DCMOTOR(Y).PosPID.GainD = 0;
DCMOTOR(Y).PosPID.MaxOut = 1023;
DCMOTOR(Y).VolVars.homed = 1;
pinModeDigitalOut(MYEN2);
digitalSet(MYEN2);
#endif
analogInit();
//ANALOG_SELECT(MOTX_POSCHAN, MOTX_POS);
analogSelect(MOTX_CSCHAN, MXCS);
//ANALOG_SELECT(MOTY_POSCHAN, MOTY_POS);
analogSelect(MOTY_CSCHAN, MYCS);
analogSelect(ACCX_CHAN, ACCX);
analogSelect(ACCZ_CHAN, ACCZ);
switchSelect(0,K7);
//EEreadMain();
delayStart(mainDelay, 5000); // init the mainDelay to 5 ms
}