void main(void)
{
system_SetState(SYSTEM_POWER_UP);
Config_System();
Button_init();
Config_Pins();
LED_Display_init();
ROM_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_4, GPIO_PIN_4);
ROM_GPIOPinWrite(GPIO_PORTD_BASE, GPIO_PIN_7, GPIO_PIN_7);
ROM_IntMasterEnable();
Timer_Init();
while (1)
{
system_Process_System_State();
}
}
void ButtonHandler(void)
{
switch (system_GetState())
{
case SYSTEM_INITIALIZE:
speed_Enable_Hbridge(false);
system_SetState(SYSTEM_CALIB_SENSOR);
IR_Calib_Step = 0;
LED1_ON();
LED2_ON();
LED3_ON();
break;
case SYSTEM_CALIB_SENSOR:
speed_Enable_Hbridge(false);
system_SetState(SYSTEM_SAVE_CALIB_SENSOR);
case SYSTEM_SAVE_CALIB_SENSOR:
system_SetState(SYSTEM_ESTIMATE_MOTOR_MODEL);
speed_Enable_Hbridge(true);
speed_set(MOTOR_LEFT,500);
speed_set(MOTOR_RIGHT, 500);
break;
case SYSTEM_ESTIMATE_MOTOR_MODEL:
// system_SetState(SYSTEM_SAVE_MOTOR_MODEL);
system_SetState(SYSTEM_WAIT_TO_RUN);
speed_Enable_Hbridge(false);
break;
case SYSTEM_WAIT_TO_RUN:
speed_Enable_Hbridge(true);
system_SetState(SYSTEM_RUN_SOLVE_MAZE);
break;
case SYSTEM_RUN_SOLVE_MAZE:
case SYSTEM_RUN_IMAGE_PROCESSING:
system_SetState(SYSTEM_WAIT_TO_RUN);
speed_Enable_Hbridge(false);
break;
default:
break;
}
}
