int
main(void)
{
unsigned long ulPHYMR0;
tBoolean bButtonWasPressed = false;
tMotorState sMotorState=STATE_STOPPED;
tWaveHeader sWaveHeader;
unsigned long ulWaveIndex = 1;
int losL,losH;
ROM_SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_ETH);
ulPHYMR0 = ROM_EthernetPHYRead(ETH_BASE, PHY_MR0);
ROM_EthernetPHYWrite(ETH_BASE, PHY_MR0, ulPHYMR0 | PHY_MR0_PWRDN);
// Display96x16x1Init(true);
// Display96x16x1StringDraw("MOTOR", 29, 0);
// Display96x16x1StringDraw("DEMO", 31, 1);
LEDsInit();
LED_On(LED_1);
PushButtonsInit();
BumpSensorsInit();
MotorsInit();
ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / 100);
ROM_SysTickEnable();
ROM_SysTickIntEnable();
SoundInit();
// WaveOpen((unsigned long *) sWaveClips[ulWaveIndex].pucWav, &sWaveHeader);
//mozliwe ze trzeba przed kazdym odtworzeniem ;/
// while(WaveOpen((unsigned long *)
// sWaveClips[ulWaveIndex].pucWav,
// &sWaveHeader) != WAVE_OK);//do zablokowania w razie bledu
for(;;)
{
tBoolean bButtonIsPressed;
tBoolean bBumperIsPressed[2];
bButtonIsPressed = !PushButtonGetDebounced((tButton)1);
bBumperIsPressed[0] = !BumpSensorGetDebounced((tBumper)0);
bBumperIsPressed[1] = !BumpSensorGetDebounced((tBumper)1);
switch(sMotorState)
{
case STATE_STOPPED:
{
if(bButtonIsPressed && !bButtonWasPressed)
{
sterowanie(0,50,50);
sMotorState = STATE_RUNNING;
}
break;
}
case STATE_RUNNING:
{
if(bButtonIsPressed && !bButtonWasPressed)
{
MotorStop((tSide)0);
MotorStop((tSide)1);
sMotorState = STATE_STOPPED;
}
else if(bBumperIsPressed[0])
{
MotorStop((tSide)0);
MotorStop((tSide)1);
// WavePlayStart(&sWaveHeader); mozliwe ze tu
losL =10+ g_ulTickCount % 20;//i dać los zamiast 15,mamy losowe skrecanie(10-30)
losH =40+ g_ulTickCount % 30;//i dać los zamiast 60,mamy losowe skrecanie(40-70)
sterowanie(1,losL,losH);
sMotorState = STATE_TYL;
}
else if(bBumperIsPressed[1]){
MotorStop((tSide)0);
MotorStop((tSide)1);
losL =10+ g_ulTickCount % 20;//i dać los zamiast 15,mamy losowe skrecanie(10-30)
losH =40+ g_ulTickCount % 30;//i dać los zamiast 60,mamy losowe skrecanie(40-70)
sterowanie(1,losH,losL);
// WavePlayStart(&sWaveHeader); mozliwe ze tu
sMotorState = STATE_TYL;
}
break;
}
case STATE_TYL:
{//cofanie tez moze byc losowe np losH+losL(50-100)+160=(210-260)
while(cofanie<250);
MotorStop((tSide)0);
MotorStop((tSide)1);
sterowanie(0,50,50);
sMotorState = STATE_RUNNING;
break;
}
default:
{
MotorStop((tSide)1);
MotorStop((tSide)0);
sMotorState = STATE_STOPPED;
break;
}
}
bButtonWasPressed = bButtonIsPressed;
}
}
//*****************************************************************************
//
// The main application. It configures the board and then enters a loop
// to show messages on the display and blink the LEDs.
//
//*****************************************************************************
int
main(void)
{
unsigned long ulPHYMR0;
unsigned long ulNextTickLED = 0;
unsigned long ulNextTickDisplay = 0;
unsigned long ulDisplayState = 0;
//
// Set the clocking to directly from the crystal
//
ROM_SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
SYSCTL_XTAL_16MHZ);
//
// Since the Ethernet is not used, power down the PHY to save battery.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_ETH);
ulPHYMR0 = ROM_EthernetPHYRead(ETH_BASE, PHY_MR0);
ROM_EthernetPHYWrite(ETH_BASE, PHY_MR0, ulPHYMR0 | PHY_MR0_PWRDN);
//
// Initialize the board display
//
Display96x16x1Init(true);
//
// Initialize the GPIO used for the LEDs, and then turn one LED on
// and the other off
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_4 | GPIO_PIN_5);
ROM_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_4, 0);
ROM_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_5, GPIO_PIN_5);
//
// Set up and enable the SysTick timer to use as a time reference.
// It will be set up for a 100 ms tick.
//
ROM_SysTickPeriodSet(ROM_SysCtlClockGet() / 10);
ROM_SysTickEnable();
ROM_SysTickIntEnable();
//
// Enter loop to run forever, blinking LEDs and printing messages to
// the display
//
for(;;)
{
//
// If LED blink period has timed out, then toggle LEDs.
//
if(g_ulTickCount >= ulNextTickLED)
{
//
// Set next LED toggle timeout for 1 second
//
ulNextTickLED += 10;
//
// Toggle the state of each LED
//
ROM_GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_4 | GPIO_PIN_5,
~ROM_GPIOPinRead(GPIO_PORTF_BASE,
GPIO_PIN_4 | GPIO_PIN_5));
}
//
// If display interval has elapsed, then update display state
//
if(g_ulTickCount >= ulNextTickDisplay)
{
//
// Process the display state. Each state, the display does
// something different.
//
// Odd time intervals are used, like 5.3 seconds, to keep the
// display updates out of sync with the LED blinking which is
// happening on a 1 second interval. This is just for cosmetic
// effect, there is no technical reason it needs to be that way.
//
switch(ulDisplayState)
{
//
// Initial state, show TEXAS INSTRUMENTS for 5.3 seconds
//
case 0:
{
Display96x16x1StringDraw("TEXAS", 29, 0);
Display96x16x1StringDraw("INSTRUMENTS", 11, 1);
ulNextTickDisplay += 53;
ulDisplayState = 1;
break;
}
//
// Next, clear display for 1.3 seconds
//
case 1:
{
Display96x16x1Clear();
ulNextTickDisplay += 13;
ulDisplayState = 2;
break;
}
//
// Show STELLARIS for 5.3 seconds
//
case 2:
{
Display96x16x1StringDraw("STELLARIS", 21, 0);
ulNextTickDisplay += 53;
ulDisplayState = 3;
break;
}
//
// Clear the previous message and then show EVALBOT on
// the second line for 5.3 seconds
//
case 3:
{
Display96x16x1Clear();
Display96x16x1StringDraw("EVALBOT", 27, 1);
ulNextTickDisplay += 53;
ulDisplayState = 4;
break;
}
//
// Clear display for 1.3 seconds, then go back to start
//
case 4:
{
Display96x16x1Clear();
ulNextTickDisplay += 13;
ulDisplayState = 0;
break;
}
//
// Default state. Should never get here, but if so just
// go back to starting state.
//
default:
{
ulDisplayState = 0;
break;
}
} // end switch
} // end if
} // end for(;;)
}