void adc_conv_test(int64_t delay){
char buf[50];
uint16_t adcvalue=ADC_read(3);
double Rb=100.0;
double Rt=1000.0;
double Uref=1.1972;
double Bits=65535;
float convert=((Rb+Rt)*Uref)/(Rb*Bits);
float voltage;
voltage=convert*adcvalue;
global_adc_voltage=voltage;
//sprintf(buf,"ADC: %f",1.234);
//mcu_tracer_msg(buf);
uint16_t grid_adc=ADC1_read(7);
convert=(4000*Uref)/(5.5*Bits);
global_adc_grid=(grid_adc-32768)*convert;
Rb=2.2;
Rt=2000;
convert=((Rb+Rt)*Uref)/(Rb*Bits);
float dclink=convert*ADC1_read(4);
global_adc_dclink=dclink;
//if(CMP1_SCR & CMP_SCR_COUT_MASK){
if(CMP0->SCR & CMP_SCR_COUT_MASK){
global_overcurrent=1;
}else{
global_overcurrent=0;
}
if(global_clear_error){
FTM_clear_error();
global_clear_error=0;
}
//SI8900_manual_req(0);
global_Si8900_var=SI8900_get_ch(2);
_taskcall_task_register_time(&task_adc_conv_test,(120000000/29));
}
void playGoalie(){
// READ ADC VALS
int adcBack = ADC0_read();
int adcLowerRight = ADC1_read();
int adcMid = ADC4_read();
int adcTopRight = ADC5_read();
int adcFront = ADC6_read();
m_usb_tx_string("adcBack, adcLowerRight, adcMid, adcTopRight, adcFront = (");
m_usb_tx_int(adcBack);
m_usb_tx_string(", ");
m_usb_tx_int(adcLowerRight);
m_usb_tx_string(", ");
m_usb_tx_int(adcMid);
m_usb_tx_string(", ");
m_usb_tx_int(adcTopRight);
m_usb_tx_string(", ");
m_usb_tx_int(adcFront);
m_usb_tx_string(")\n");
forward();
}
void playHelper(){
// GET DIR
if(check(PINB,5)){
direction=true; //SET THE ROBOT DIRECTION TO SHOOT
} else {
direction=false;
}
// direction = directionPacket;
// READ ADC VALS
int adc1 = ADC0_read();
int adc2 = ADC1_read();
//m_usb_tx_string("adc1, adc2 = (");
//m_usb_tx_int(adc1);
//m_usb_tx_string(", ");
//m_usb_tx_int(adc2);
//m_usb_tx_string(")\n");
int adcDiff = adc2 - adc1;
if(direction) m_usb_tx_string("direction true\n");
else m_usb_tx_string("direction false\n");
if(timer>=1){
turnLeft();
m_wait(1000);
backward();
m_wait(500);
timer = 0;
} else if(hasPuck()){// ROBOT SWITCH PUSHED.. PUCK IS SEEN
m_green(OFF);
m_wait(100);
unsigned int xTarg;
unsigned int yTarg = 60;
if(direction){ // Face goal A
xTarg = 240;
} else { // Face goal B
xTarg = 0;
}
// ROTATE TO FACE GOAL
if(!facing(xTarg,yTarg)) return;
if(direction){ // Try to go to A
if(myPos[X]>160){ // Close enough, fire!
m_green(ON);
fire();
} else {
m_green(OFF); // Too far, keep going forward
forward();
}
} else { // Try to go to B
if(myPos[X]<80){ // Close enough, fire!
m_green(ON);
fire();
} else { // Too far, keep going forward
m_green(OFF);
forward();
}
}
} else if(adc1>960||adc2>960){ // PUCK SEEN, hone in..
if(adcDiff>10){
spinLeft();
} else if(adcDiff<-10){
spinRight();
} else {
forward();
}
} else{ // PUCK NOT SEEN, keep spinning..
m_green(OFF);
spinRight();
}
}
void playStriker(){
// GET DIR
if(check(PINB,5)){
direction=true; //SET THE ROBOT DIRECTION TO SHOOT
} else {
direction=false;
}
// GET POS
getPos();
// SEND LOCATION TO HELPER
//buffer[1]=myPos[X];
//buffer[2]=myPos[Y];
//buffer[3]=direction;
//m_rf_send(TXADDRESS, buffer, PACKET_LENGTH);
// READ ADC VALS
int adc1 = ADC0_read();
int adc2 = ADC1_read();
// m_usb_tx_string("adc1, adc2 = (");
// m_usb_tx_int(adc1);
// m_usb_tx_string(", ");
// m_usb_tx_int(adc2);
// m_usb_tx_string(")\n");
int adcDiff = adc2 - adc1;
// TIMER CHECKS
//m_usb_tx_string("myLastPos(x,y): (");
//m_usb_tx_int(myLastPos[X]);
//m_usb_tx_string(", ");
//m_usb_tx_int(myLastPos[Y]);
//m_usb_tx_string(") TIMER:");
//m_usb_tx_int(timer);
//m_usb_tx_string("\n");
if(timer>5 && timer<10){
backward();
m_wait(250);
turnLeft();
m_wait(250);
backward();
m_wait(250);
timer = 0;
} else if(hasPuck()){// ROBOT SWITCH PUSHED.. PUCK IS SEEN
m_green(OFF);
m_wait(100);
unsigned int xTarg;
unsigned int yTarg = 60;
if(direction){ // Face goal A
xTarg = 240;
} else { // Face goal B
xTarg = 0;
}
// ROTATE TO FACE GOAL
if(!facing(xTarg,yTarg)) return;
if(direction){ // Try to go to A
if(myPos[X]>160){ // Close enough, fire!
m_green(ON);
fire();
} else {
m_green(OFF); // Too far, keep going forward
forward();
}
} else { // Try to go to B
if(myPos[X]<80){ // Close enough, fire!
m_green(ON);
fire();
} else { // Too far, keep going forward
m_green(OFF);
forward();
}
}
} else if(adc1>960||adc2>960){ // PUCK SEEN, hone in..
if(adcDiff>10){
spinLeft();
} else if(adcDiff<-10){
spinRight();
} else {
forward();
}
} else{ //PUCK NOT SEEN, keep spinning..
m_green(OFF);
spinRight();
}
}
