int main(void) {
char ch;
InitializeMCU();
CallEvery(blink, 0, 0.25f);
while(1) {
Printf("\nRAS Demo for Robotathon 2013\n");
Printf(" 0=UART Demo\n 1=Motor Demo\n");
Printf(" 2=Servo Demo\n 3=I2C Line Sensor Demo\n");
Printf(" 4=IR Sensor Demo\n 5=Encoders Demo\n");
Printf(" 6=GPIO Demo\n 7=GPIO Line Sensor Demo\n");
Printf(">> ");
// Read input from User
ch = Getc();
Printf("%c", ch);
Printf("\n");
switch(ch) {
case '0':
Printf("\n UART Demo\n");
uartDemo();
break;
case '1':
Printf("\nMotor Demo\n");
initMotors();
motorDemo();
break;
case '2':
Printf("\nServo Demo\n");
initServo();
servoDemo();
break;
case '3':
Printf("\nLine Sensor Demo\n");
initI2CLineSensor();
i2cLineSensorDemo();
break;
case '4':
Printf("\nIR Sensor Demo\n");
initIRSensor();
IRSensorDemo();
break;
case '5':
Printf("\nEncoders Demo\n");
initEncoders();
encoderDemo();
break;
case '6':
Printf("\nGPIO Demo\n");
gpioDemo();
break;
case '7':
Printf("\nGPIO Line Sensor Demo\n");
initGPIOLineSensor();
gpioLineSensorDemo();
break;
}
}
}
int main(void)
{
char ch;
LockoutProtection();
InitializeMCU();
initUART();
MoveStraight();
/* while(1) {
UARTprintf("\nROBZ DEMO\n");
UARTprintf(" 0=UART Demo\n 1=Motor Demo\n");
UARTprintf(" 2=Servo Demo\n 3=Line Sensor\n");
UARTprintf(" 4=IR Sensor Demo\n 5=Encoders Demo\n");
UARTprintf(" 6=MoveStraight\n");
UARTprintf(">> ");
ch = getc();
putc(ch);
UARTprintf("\n");
if (ch == '0') {
UARTprintf("\nUART Demo\n");
uartDemo();
}
else if (ch == '1') {
UARTprintf("\nMotor Demo\n");
initMotors();
motorDemo();
}
else if (ch == '2') {
UARTprintf("\nServo Demo\n");
initServo();
servoDemo();
}
else if (ch == '3') {
UARTprintf("\nLine Sensor Demo\n");
initLineSensor();
lineSensorDemo();
}
else if (ch == '4') {
UARTprintf("\nIR Sensor Demo\n");
initIRSensor();
IRSensorDemo();
}
else if (ch == '5') {
UARTprintf("\nEncoders Demo\n");
initEncoders();
encoderDemo();
}
else if (ch == '6') {
UARTprintf("\nMove Straight\n");
MoveStraight();
}
} */
}
int main(void) {
InitializeMCU();
// Drive at a slower (not turbo boosted) speed
// for a short period to prevent too fast of
// an acceleration at the start of the match.
setWheelMotors(SPEED, SPEED);
Wait(0.2);
// Follow the line and cross your fingers.
while (1) {
followLine();
}
}
//
//Initialization method
//
void init(void) {
//Necessary inits for chip
LockoutProtection();
InitializeMCU();
//Various driver inits
//initUART
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
UARTStdioInit(0);
//motors
InitializeMotors(false, false);
}
int main(void)
{
char ch;
LockoutProtection();
InitializeMCU();
initUART();
while(1) {
UARTprintf("\nRAS Demo for Robotathon 2012\n");
UARTprintf(" 0=UART Demo\n 1=Motor Demo\n");
UARTprintf(" 2=Servo Demo\n 3=Line Sensor\n");
UARTprintf(" 4=IR Sensor Demo\n 5=Encoders Demo\n");
UARTprintf(">> ");
ch = getc();
putc(ch);
UARTprintf("\n");
if (ch == '0') {
UARTprintf("\nUART Demo\n");
uartDemo();
}
else if (ch == '1') {
UARTprintf("\nMotor Demo\n");
initMotors();
motorDemo();
}
else if (ch == '2') {
UARTprintf("\nServo Demo\n");
initServo();
servoDemo();
}
else if (ch == '3') {
UARTprintf("\nLine Sensor Demo\n");
initLineSensor();
lineSensorDemo();
}
else if (ch == '4') {
UARTprintf("\nIR Sensor Demo\n");
initIRSensor();
IRSensorDemo();
}
else if (ch == '5') {
UARTprintf("\nEncoders Demo\n");
initEncoders();
encoderDemo();
}
}
}
// This is the code that gets called when the processor first starts execution
// following a reset event. Only the absolutely necessary set is performed,
// after which the application supplied entry() routine is called. Any fancy
// actions (such as making decisions based on the reset cause register, and
// resetting the bits in that register) are left solely in the hands of the
// application.
void ResetHandler(void) {
register unsigned long *src;
register unsigned long *dest;
// Copy the data segment initializers from flash to SRAM.
src = DATA_LOAD;
dest = DATA_START;
while (dest < DATA_END) {
*dest++ = *src++;
}
// Zero fill the bss segment.
dest = BSS_START;
while (dest < BSS_END) {
*dest++ = 0;
}
// Enable the floating-point unit. This must be done here to handle the
// case where main() uses floating-point and the function prologue saves
// floating-point registers (which will fault if floating-point is not
// enabled). Any configuration of the floating-point unit using DriverLib
// APIs must be done here prior to the floating-point unit being enabled.
//
// Note that this does not use DriverLib since it might not be included in
// this project.
HWREG(NVIC_CPAC) = ((HWREG(NVIC_CPAC) &
~(NVIC_CPAC_CP10_M | NVIC_CPAC_CP11_M)) |
NVIC_CPAC_CP10_FULL | NVIC_CPAC_CP11_FULL);
// Initialize RASLib
InitializeMCU();
// Call the application's entry point.
main();
// Enter an infinite loop if we leave main
while (1) {}
}
void InitBot(void) {
//Call initialization functions.
LockoutProtection();
InitializeMCU();
initUART();
InitializeEncoders(true,false);
PresetEncoderCounts(0,0);
InitializeMotors(true,true);
InitializeServos();
InitializeLineSensor();
SetDischargeTime(350);
//Modified for 4 ADC Ports (assuming all are IR).
initADCPorts();
//Initialize state variables.
angle = 90;
shooting = false;
rotate = rotate_time;
move = move_time;
IRtrig = false;
lose_obj = false;
//Pin PA3 is James. 0xff is off; 0x00 is on.
GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_3);
GPIOPinWrite(GPIO_PORTA_BASE, GPIO_PIN_3, 0xff);
//Pin PA2 is the trigger; set the pin to perform weak pull-up (not open-drain).
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
GPIOPinTypeGPIOInput(GPIO_PORTA_BASE, GPIO_PIN_2);
GPIOPadConfigSet(GPIO_PORTA_BASE, GPIO_PIN_2,GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPU);
//Setup an interrupt on pin PA2 (flipPancake).
IntEnable(INT_GPIOA);
GPIOIntTypeSet(GPIO_PORTA_BASE, GPIO_PIN_2,GPIO_FALLING_EDGE);
GPIOPinIntEnable(GPIO_PORTA_BASE, GPIO_PIN_2);
}
int main(void){
char i;
unsigned char data[16];
short wiichuck[7], xinit=0, yinit=0, l_vel, r_vel;
int xpow, ypow;
LockoutProtection();
InitializeMCU();
InitializeUART();
InitializeI2C();
InitializeServos();
SetServoPosition(SERVO_0, 140);
InitializeMotors(true, false);
InitializeEncoders(true, false);
// UARTprintf("Initializing Nunchuck\n\n");
// I2CSend(0x52<<1, 2, 0x40, 0x00);
// Wait(25);
init_nunchuck();
// Wireless Nunchucks Zero @ 128
xinit = yinit = 128;
while(1){
//Start Recalculating Values
Wait(1);
I2CSend(0x52<<1, 1, 0x00);
Wait(1);
I2CSend(0x52<<1, 1, 0x00);
Wait(1);
I2CSend(0x52<<1, 1, 0x00);
if (I2CMasterErr(I2C0_MASTER_BASE) != I2C_MASTER_ERR_NONE){
UARTprintf("Send Zero Error:\n");
switch(I2CMasterErr(I2C0_MASTER_BASE)){
case I2C_MASTER_ERR_ADDR_ACK:
UARTprintf(" I2C_MASTER_ERR_ADDR_ACK\n");
break;
case I2C_MASTER_ERR_DATA_ACK:
UARTprintf(" I2C_MASTER_ERR_DATA_ACK\n");
break;
case I2C_MASTER_ERR_ARB_LOST:
UARTprintf(" I2C_MASTER_ERR_ARB_LOST\n");
break;
default:
UARTprintf("WTF: %d\n", I2CMasterErr(I2C0_MASTER_BASE));
}
// Reinitialize Nunchuck on error
init_nunchuck();
}else{
Wait(1);
I2CRecieve(0x52<<1, data, 6); // Nunchuck data is 6 bytes, but for whatever reason, MEMOREX Wireless Nunchuck wants to send 8...
if (I2CMasterErr(I2C0_MASTER_BASE) != I2C_MASTER_ERR_NONE){
UARTprintf("Send Zero Error:\n");
switch(I2CMasterErr(I2C0_MASTER_BASE)){
case I2C_MASTER_ERR_ADDR_ACK:
UARTprintf(" I2C_MASTER_ERR_ADDR_ACK\n");
break;
case I2C_MASTER_ERR_DATA_ACK:
UARTprintf(" I2C_MASTER_ERR_DATA_ACK\n");
break;
case I2C_MASTER_ERR_ARB_LOST:
UARTprintf(" I2C_MASTER_ERR_ARB_LOST\n");
break;
}
// Reinitialize Nunchuck on error
init_nunchuck();
}else{
//for(i=0; i<6; i++)
// data[i] = (data[i] ^ 0x17) + 0x17; // Nintendo decided to encrypt thir data...
// Save Joystick Data
wiichuck[0] = data[1]; // X Axis Joystick
wiichuck[1] = data[0]; // Y Axis Joystick
wiichuck[2] = (((unsigned short) data[2]) << 2) + (((unsigned short) data[5]) & (3<<2)); // X Axis Accel
wiichuck[3] = (((unsigned short) data[3]) << 2) + (((unsigned short) data[5]) & (3<<4)); // Y Axis Accel
wiichuck[4] = (((unsigned short) data[4]) << 2) + (((unsigned short) data[5]) & (3<<6)); // Z Axis Accel
wiichuck[5] = data[5] & (1 << 1) ? 0 : 1; //'C' Button
wiichuck[6] = data[5] & (1 << 0) ? 0 : 1; //'Z' Button
//if (xinit == 0 && yinit == 0){
// xinit = wiichuck[0]-127;
// yinit = wiichuck[1]-127;
//}else{
xpow = (wiichuck[0]-xinit)/2;
ypow = (wiichuck[1]-yinit)/2;
l_vel = (xpow - ypow)*2;
r_vel = (xpow + ypow)*2;
l_vel = l_vel > 127 ? 127 : l_vel;
r_vel = r_vel > 127 ? 127 : r_vel;
l_vel = l_vel < -127 ? -127 : l_vel;
r_vel = r_vel < -127 ? -127 : r_vel;
//UARTprintf("X: %d\tY: %d\n", xpow*2, ypow*2);
SetMotorPowers(l_vel / (wiichuck[5]==0 ? 2 : 1), r_vel / (wiichuck[5]==0 ? 2 : 1));
UARTprintf("Motor L: %d\tMotor R: %d\n", l_vel, r_vel);
SetServoPosition(SERVO_0, wiichuck[6]==1 ? 255 : 140);
UARTprintf("Nunchuck Data:\n");
for(i=0; i<7; i++){
UARTprintf(" %d\n", wiichuck[i]);
}NL;
Wait(100);
}
}
}
}
int main(void) {
LockoutProtection();
InitializeMCU();
//init uart
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
UARTStdioInit(0);
LED_Init();
Jumper_Init();
ADC_Init();
Sonar_Init();
usemotors = Jumper_Value & 0x8;
if ((Jumper_Value & 0x7) == 0x1) {
if (usemotors) {
Motor_Init(false,true);
Motor_Set(127,127);
}
avoid_sonar(0);
avoid_ir(filtered_ir);
for (;;);
}
if ((Jumper_Value & 0x7) == 0x2) {
Travel_Init(usemotors);
Travel_Go(FULL_SPEED);
for (;;);
}
if ((Jumper_Value & 0x7) == 0x3) {
if (usemotors) {
Motor_Init(false,true);
Motor_Set(127,127);
}
for (;;);
}
//if no jumpers are set, enter debug mode
Encoder_Init(true,false);
for (;;c++) {
ADC_Background_Read(0);
Sonar_Background_Read(0);
Encoder_Background_Read(0);
Jumper_Read();
UARTprintf("ADC[%3d %3d %3d %3d %3d %3d %3d %3d] S[%7d] E[%3d %3d] J[%1x] c:%d\n",
ADC_Values[0],ADC_Values[1],ADC_Values[2],ADC_Values[3],ADC_Values[4],ADC_Values[5],ADC_Values[6],ADC_Values[7],
Sonar_Value,
Encoder_Values[0],Encoder_Values[1],
Jumper_Value,
c
);
LED_Set(LED_0,c);
LED_Set(LED_1,c+64);
LED_Set(LED_2,c+128);
LED_Set(LED_3,c+192);
WaitUS(20000);
}
}
