void main()
{
uint32 f; /* frequency in hz */
f = 200;
systemInit();
usbInit();
/* PWM duty cycle */
T1CC1L = 0x40;
T1CC1H = 0x00;
/* setup Timer 1, alt location 2 and prescaler 128*/
t1Init(IO_LOC_ALT_2, PRESCALER_128);
/* setup Channel 1, compare mode, clear on compare up and peripheral*/
t1ChannelInit(CHANNEL1, COMPARE_MODE, CLR_ON_COMP_UP, PERIPHERAL);
/* start Timer 1 by setting it's mode to modulo */
t1Mode(MODE_MODULO);
/* set Timer 1 frequency */
setT1Frequency(f);
while(1)
{
boardService();
updateLeds();
usbComService();
}
}
/** Configures the USB and radio communication then calls the processBytesFromUsb and
* processBytesFromRadio functions.
**/
void main()
{
// required by wixel api:
// http://pololu.github.io/wixel-sdk/group__libraries.html
systemInit();
usbInit();
radioLinkInit();
// wait for a wireless pairing
// between two wixels
// blink yellow LED while connection is being established
while(!radioLinkConnected()) {
yellowLedOn ^= 1;
updateLeds();
delayMs(DELAY_MS);
}
// turn off LED
yellowLedOn = 0;
// process bytes
while(1)
{
boardService();
updateLeds();
usbComService();
processBytesFromUsb();
processBytesFromRadio();
}
}
void main()
{
uint32 last_ms;
systemInit();
//configure the P1_2 and P1_3 IO pins
makeAllOutputs(LOW);
//initialise Anlogue Input 0
P0INP = 0x1;
//initialise the USB port
usbInit();
usbComRequestLineStateChangeNotification(LineStateChangeCallback);
last_ms = getMs();
while (1)
{
boardService();
usbComService();
if((getMs()-last_ms) >=5000){
LED_YELLOW_TOGGLE();
printf("batteryPercent: %i\r\n", batteryPercent(adcRead(0 | ADC_REFERENCE_INTERNAL)));
last_ms=getMs();
}
}
}
void main()
{
systemInit();
usbInit();
while(1)
{
boardService();
updateLeds();
usbComService();
processBytesFromUsb();
}
}
void main()
{
systemInit();
usbInit();
perTestTxInit();
while(1)
{
boardService();
updateLeds();
usbComService();
sendRadioBursts();
}
}
void main()
{
systemInit();
//Among other things, allocates byte arrays for sending commands.
dynamixel_init();
// Oooh. what's this?
setDigitalOutput(param_arduino_DTR_pin, LOW);
ioTxSignals(0);
//usbInit();
uart1Init();
uart1SetBaudRate(param_baud_rate);
// Initial setting of serial mode
updateSerialMode();
// Set up P1_5 to be the radio's TX debug signal.
// P1DIR |= (1<<5);
// IOCFG0 = 0b011011; // P1_5 = PA_PD (TX mode)
// P1DIR |= 0x20; //Enable pin P1_5
while(1)
{
uint32 ms;
uint16 now;
uint16 speed;
updateSerialMode();
boardService();
updateLeds();
errorService();
// Code for oscillating a servo back and forth
ms = getMs(); // Get current time in ms
now = ms % (uint32)10000; // 10 sec for a full swing
if(now >= (uint16)5000){ // Goes from 0ms...5000ms
now = (uint16)10000 - now; // then 5000ms...0ms
}
speed = interpolate(now, 0, 5000, 100, 900); // speed is really the position.
ax12SetGOAL_POSITION(32, speed);
delayMs(30);
}
}
void main()
{
systemInit();
usbInit();
analogInputsInit();
while(1)
{
boardService();
updateLeds();
usbComService();
sendReportIfNeeded();
}
}
void main()
{
systemInit();
usbInit();
setup_DS1820();
while(1)
{
boardService();
updateLeds();
usbComService();
handleOneWire();
}
}
void main()
{
systemInit();
usbInit();
usbComLineCodingChangeHandler = &lineCodingChanged;
uart1Init();
lineCodingChanged();
while(1)
{
boardService();
updateLeds();
usbComService();
usbToUartService();
}
}
void main(void)
{
systemInit();
radioQueueInit(); //Empfaenger initialisieren
radioQueueAllowCrcErrors = 1; //Fehlerhafte Pakete zulassen
uart1Init(); //Serielle Schnittstelle initialisieren
lineCodingChanged(); //Einstellen der Schnittstellen Eigenschaft
while(1)
{
updateLeds(); //Status der LEDs veraendern
boardService();
usbComService();
radioToUart1Service(); //Empfangen der Daten
}
}
void main()
{
systemInit();
setDigitalOutput(param_arduino_DTR_pin, LOW);
ioTxSignals(0);
usbInit();
uart1Init();
uart1SetBaudRate(param_baud_rate);
if (param_serial_mode != SERIAL_MODE_USB_UART)
{
radioComRxEnforceOrdering = 1;
radioComInit();
}
// Set up P1_5 to be the radio's TX debug signal.
P1DIR |= (1<<5);
IOCFG0 = 0b011011; // P1_5 = PA_PD (TX mode)
while(1)
{
updateSerialMode();
boardService();
updateLeds();
errorService();
/* toggle_led();*/
if (param_serial_mode != SERIAL_MODE_USB_UART)
{
radioComTxService();
}
usbComService();
switch(currentSerialMode)
{
case SERIAL_MODE_USB_RADIO: usbToRadioService(); break;
case SERIAL_MODE_UART_RADIO: uartToRadioService(); break;
case SERIAL_MODE_USB_UART: usbToUartService(); break;
}
}
}
void main()
{
int8 SPI_SEND = 0;
int8 prev_send = 0;
systemInit();
setDigitalOutput(param_arduino_DTR_pin, LOW);
ioTxSignals(0);
usbInit();
spi0MasterInit();
spi0MasterSetFrequency(38400);
// uart1Init();
// uart1SetBaudRate(param_baud_rate);
if (param_serial_mode != SERIAL_MODE_USB_SPI)
{
radioComRxEnforceOrdering = 1;
radioComInit();
}
// Set up P1_5 to be the radio's TX debug signal.
//P1DIR |= (1<<5);
//IOCFG0 = 0b011011; // P1_5 = PA_PD (TX mode)
while(1)
{
updateSerialMode();
boardService();
updateLeds();
//errorService();
if(!spi0MasterBusy() && SPI_SEND != prev_send){
spi0MasterSendByte(SPI_SEND);
prev_send = SPI_SEND;
}
if (param_serial_mode != SERIAL_MODE_USB_SPI)
{
radioComTxService();
}
usbComService();
// switch(currentSerialMode)
// {
// case SERIAL_MODE_USB_RADIO: usbToRadioService(); break;
// case SERIAL_MODE_SPI_RADIO: uartToRadioService(); break;
// case SERIAL_MODE_USB_SPI: usbToUartService(); break;
// }
switch(usbComRxReceiveByte()){
case 0: // STOP
SPI_SEND += 15;
SPI_SEND = (SPI_SEND%255);
break;
case 1: // Initialize
SPI_SEND -= 15;
SPI_SEND = (SPI_SEND%255);
break;
}
}
}
void main()
{
// uint32 ms;
// uint32 now;
//
uint8 cmdrAlive = 0;
// Here we define what pins we will be using for PWM.
// uint8 CODE pwmPins[] = {ptrGunMotor->pwmpin};
uint8 CODE pwmPins[] = {11};
MOTOR gunMotor = MAKE_MOTOR_3_PIN(pwmPins[0], 12, 13); //(PWM, B, A)
MOTOR *ptrGunMotor = &gunMotor;
// setDigitalOutput(param_arduino_DTR_pin, LOW);
// ioTxSignals(0);
// Initialize UARTs
uart0Init();
uart0SetBaudRate(param_baud_rate_UART);
uart1Init();
uart1SetBaudRate(param_baud_rate_XBEE);
pwmStart((uint8 XDATA *)pwmPins, sizeof(pwmPins), 10000);
guns_firing_duration = 125; // time in ms
gunbutton = zFALSE;
solenoid_on_duration = 80; // time in ms
solenoidbutton = zFALSE;
laserbutton = zFALSE;
systemInit();
// Initialize other stuff
index_cmdr = -1;
/// MAIN LOOP ///
while(1)
{
// updateSerialMode();
boardService();
updateLeds();
errorService();
// cmdr counts down from CMDR_ALIVE_CNT by -1 whenever no packets are received?
cmdrAlive = (uint8) CLAMP(cmdrAlive + CmdrReadMsgs(), 0, CMDR_ALIVE_CNT);
// ms = getMs(); // Get current time in ms
// now = getMs();
// now = ms % (uint32)10000; // 10 sec for a full swing
// if(now >= (uint16)5000){ // Goes from 0ms...5000ms
// now = (uint16)10000 - now; // then 5000ms...0ms
// }
// speed = interpolate(now, 0, 5000, 100, 900);
if (laserbutton == zTRUE && cmdrAlive > 0){
// uart0TxSendByte('L');
setDigitalOutput(param_laser_pin, HIGH);
}
else {setDigitalOutput(param_laser_pin, LOW);}
//FIRE THE GUNS!!!!!
//Resets timer while gunbutton is held down.
if (gunbutton == zTRUE){
// uart0TxSendByte('Z');
guns_firing = zTRUE;
setMotorSpeed(ptrGunMotor, -60); //NOTE: (7.2 / 12.6) * 127 = 72.5714286
guns_firing_start_time = getMs();
}
//Check whether to stop firing guns
if (guns_firing && clockHasElapsed(guns_firing_start_time, guns_firing_duration)){
// uart0TxSendByte('X');
guns_firing = zFALSE;
setMotorSpeed(ptrGunMotor, 0); //NOTE: (7.2 / 12.6) * 127 = 72.5714286
guns_firing_start_time = getMs();
}
//Activate solenoid for hopup feed unjammer
if (solenoidbutton == zTRUE){
// uart0TxSendByte('Z');
solenoid_on = zTRUE;
setDigitalOutput(10, HIGH);
solenoid_on_start_time = getMs();
}
//Check whether to disable solenoid
if (solenoid_on && clockHasElapsed(solenoid_on_start_time, solenoid_on_duration)){
// uart0TxSendByte('X');
solenoid_on = zFALSE;
setDigitalOutput(10, LOW);
solenoid_on_start_time = getMs();
}
delayMs(5);
}
}
