int main(void) {
initialize();
print_string("BotShop");
next_line();
print_string("Wall Following");
/*****************************************************************
* set timer 0 to trigger the interrupt 100 times per second.
* the OCR register sets how many counts between interrupts.
* the prescaler set how many clock cycles for every count.
* 16MHz / prescaler / OCR = interrupts per second.
/*****************************************************************/
TCCR0 |= _BV(CS02) | _BV(CS00); // set prescaler to 1024
OCR0 = 156;
while( !get_sw1() ); // wait for button to be pressed
while( get_sw1() ); // wait for button to be released
set_point = analog(RANGE_SENSOR);
// enable timer 0 interrupt
TIMSK |= _BV(OCIE0); // enable timer0 interrupt
// start moving
move( BASESPEED, BASESPEED );
// the while loop will spin forever so the program never ends
// the interrupt handler interrupts this loop to execute its code at regular intervals
while( 1 );
return 0;
}
int main(void) {
u16 i;
u08 data[2];
int j=0;
init();
test_motor();
clear_screen();
_delay_ms(100);
data[0] = 0x1; //change to WAKE mode
send_address(0x2A,0);
write_register(&data[0], 1);
_delay_ms(100);
unlock_bus();
//send_address(0x2);
//read_register(&data[1], 1);
print_num(data[0]);
//while(1) {}
while(1) {
//X
send_address(0x1,1);
read_register(&(data[0]), 1);
print_num(data[0]);
print_string(" ",1);
//Y
send_address(0x3,1);
read_register(&(data[0]), 1);
print_num(data[0]);
print_string(" ", 1);
//Z
lcd_cursor(0,1);
send_address(0x5,1);
read_register(&(data[0]), 1);
print_num(data[0]);
print_string(" ",1);
print_num(count);
_delay_ms(50);
clear_screen();
OCR2A = 28;
}
/*
USI_TWI_Master_Initialize();
i2cMessageBuf[0] = 0x1c << 1; // Odd numbers for read
i2cMessageBuf[1] = 0x0d; // Register 0 contains version number
i2cMessageBuf[2] = (0x1c << 1) + 1; // Odd numbers for read
i2cMessageBuf[3] = 0x00; // Register 0 contains version number
USI_TWI_Start_Read_Write( i2cMessageBuf, 1 );
*/
while(get_sw1() == 0) {}
DDRD |= _BV(IR_PIN);
led_on(1);
led_on(0);
clear_screen();
while(1) {
_delay_ms(1500);
if (j) {
clear_screen();
print_string("test",4);
led_on(1);
led_off(0);
//sbi(PORTC,LCD_E_PIN);
//sbi(PORTC,LCD_RS_PIN);
//PORTA = 0xff;
sbi(PORTD,IR_PIN); //turn on IR pin
sbi(PORTC,SERVO0_PIN); //set servo pins
sbi(PORTC,SERVO1_PIN);
sbi(PORTC,SERVO2_PIN);
sbi(PORTF,SERVO3_PIN);
//test i2c pins
//sbi(PORTE,4);
//sbi(PORTE,5);
//motor test
sbi(PORTB,MOTOR0_EN_PIN);
sbi(PORTB,MOTOR1_EN_PIN);
sbi(PORTD,MOTOR0_DIR0_PIN);
sbi(PORTD,MOTOR0_DIR1_PIN);
sbi(PORTD,MOTOR1_DIR0_PIN);
sbi(PORTD,MOTOR1_DIR1_PIN);
j=0;
} else {
led_off(1);
led_on(0);
clear_screen();
print_string("program",7);
j=1;
//cbi(PORTC,LCD_E_PIN);
//cbi(PORTC,LCD_RS_PIN);
//PORTA = 0;
cbi(PORTD,IR_PIN); //turn off IR pin
cbi(PORTC,SERVO0_PIN); //clear servo pins
cbi(PORTC,SERVO1_PIN);
cbi(PORTC,SERVO2_PIN);
cbi(PORTF,SERVO3_PIN);
//test i2c pins
//cbi(PORTE,4);
//cbi(PORTE,5);
//motor test
cbi(PORTB,MOTOR0_EN_PIN);
cbi(PORTB,MOTOR1_EN_PIN);
cbi(PORTD,MOTOR0_DIR0_PIN);
cbi(PORTD,MOTOR0_DIR1_PIN);
cbi(PORTD,MOTOR1_DIR0_PIN);
cbi(PORTD,MOTOR1_DIR1_PIN);
}
}
return 0;
}
void calCompass()
{
int xmin, xmax;
int ymin, ymax;
struct heading temp;
u08 i=0;
temp = compass();
xmin = temp.x;
xmax = temp.x;
ymin = temp.y;
ymax = temp.y;
clear_screen();
print_string("Calibrating");
next_line();
print_string("Compass");
set_motor_power(0,25);
set_motor_power(1,-25);
for(i=0; i<255; i++)
{
clear_screen();
print_string("Calibrating");
next_line();
print_string("Compass");
temp = compass();
if(xmin > temp.x)
xmin = temp.x;
else if(xmax < temp.x)
xmax = temp.x;
if(ymin > temp.y)
ymin = temp.y;
else if(ymax < temp.y)
ymax = temp.y;
delay_ms(10);
}
set_motor_power(0,0);
set_motor_power(1,0);
compZero.x = (xmin+xmax)>>1;
compZero.y = (ymin+ymax)>>1;
clear_screen();
print_string("x: ");
print_int( (xmin+xmax)>>1 );
next_line();
print_string("y: ");
print_int( (ymin+ymax)>>1 );
while(!get_sw1());
/* test calibration results
* x: -3, y: 5
* x: -4, y: 7
* x: -4, y: 6
* x: -5, y: 6
* x: -8, y: 8
*/
/* i = sine[i];
i = sine[i];*/
}
int main(void)
{
initialize();
servo_init();
motor_init();
sonar_init();
set_servo_position(0, 120); //center the servo
print_string("Rodentia Demo");
next_line();
print_string("by Austin");
led_on();
delay_ms(100);
led_off();
delay_ms(100);
led_on();
delay_ms(100);
led_off();
//wait for a start signal
while(!get_sw1())
{
/*u08 temp;
clear_screen();
temp = analog(0);
print_int(temp);*/
delay_ms(50);
}
led_on();
while(1)
{ //find and point toward heading with minimum sonar reading
u08 heading = 0;
/*u16 minHeading = 0;
u16 left = 0;
u08 aLeft = 1;
u16 right = 0;
u08 aRight = 1;*/
u16 sonar = 0x0;
u16 temp = 0;
set_servo_position(0, 120); //center the servo
set_motor_power(0, MIN_POWER);
set_motor_power(1, -MIN_POWER);
while(heading < 170) //what's the magic number?
{
/*u08 tempL = analog(1);
u08 tempR = analog(2);
if(tempL < 25 && aLeft)
{
set_motor_power(0, 0);
left++;
aLeft = 0;
}
if(tempL > 180 && !aLeft)
{
set_motor_power(0, 0);
left++;
aLeft = 1;
}
if(tempR < 25 && aRight)
{
set_motor_power(1, 0);
right++;
aRight = 0;
}
if(tempR > 180 && !aRight)
{
set_motor_power(1, 0);
right++;
aRight = 1;
}
if(left > heading && right > heading)*/
{
heading++;
temp = getSonar(0);
if(IR(0) > 70)
{
temp = 0;
}
if(temp > sonar)
{
sonar = temp;
//minHeading = heading;
}
clear_screen();
print_string("here=");
print_int(temp);
print_string(" max=");
print_int(sonar);
/*next_line();
print_string("Hdng=");
print_int(heading);
print_string(" minH=");
print_int(minHeading);
if(left < right)
{ //left motor on
set_motor_power(0, MIN_POWER);
}
else if (right < left)
{ //right motor on
set_motor_power(1, -MIN_POWER);
}
else
{
set_motor_power(0, MIN_POWER);
set_motor_power(1, -MIN_POWER);
}*/
}
}
if(sonar > 140)
{ //set a reasonable maximum value for sonar
sonar = 140;
}
//turn back to minumum heading
temp = 0;
while( temp < sonar )
{
temp = getSonar(0) + 3;
if(IR(0) > 70)
{
temp = 0;
}
clear_screen();
print_string("here=");
print_int(temp);
print_string(" max=");
print_int(sonar);
}
/*set_motor_power(0, -MIN_POWER);
set_motor_power(1, MIN_POWER);
while(heading > minHeading)
{
u08 tempL = analog(1);
u08 tempR = analog(2);
if(tempL < 25 && aLeft)
{
set_motor_power(0, 0);
left--;
aLeft = 0;
}
if(tempL > 180 && !aLeft)
{
set_motor_power(0, 0);
left--;
aLeft = 1;
}
if(tempR < 25 && aRight)
{
set_motor_power(1, 0);
right--;
aRight = 0;
}
if(tempR > 180 && !aRight)
{
set_motor_power(1, 0);
right--;
aRight = 1;
}
if(left < heading && right < heading)
{
heading--;
clear_screen();
print_string("L=");
print_int(left);
print_string(" R=");
print_int(right);
next_line();
print_string("Hdng=");
print_int(heading);
print_string(" minH=");
print_int(minHeading);
if(left > right)
{ //left motor on
set_motor_power(0, -MIN_POWER);
}
else if (right > left)
{ //right motor on
set_motor_power(1, MIN_POWER);
}
else
{
set_motor_power(0, -MIN_POWER);
set_motor_power(1, MIN_POWER);
}
}
}*/
set_motor_power(0, 0);
set_motor_power(1, 0);
//scan with IR for obstacles
delay_ms(500);
u08 dir=120;
s08 dDir = 1;
u08 dist = IR(0);
set_motor_power(0, 100);
set_motor_power(1, 100);
while(dist < 100)
{
dir += dDir;
set_servo_position(0, dir);
if(dir >= 200)
{
dDir = -1;
}
if(dir <= 40)
{
dDir = 1;
}
dist = IR(0);
clear_screen();
print_string("Distance=");
print_int(dist);
}
}
/*u08 temp;
while(1)
{
clear_screen();
temp = analog(0);
print_int(temp);
set_servo_position(0,temp);
delay_ms(50);
}*/
}
int main(void) {
initialize();
int prog=0, bool_=1;
led_on();
delay_ms(200);
led_off();
delay_ms(200);
led_on();
delay_ms(200);
led_off();
delay_ms(200);
print_string("Start Up");
next_line();
print_string("Select a Prog");
delay_ms(1500);
clear_screen();
while(bool_){
print_string("prog " );
print_int(prog);
delay_ms(500);
if(get_sw1()==257)
{
prog++;
//if(prog>10);
// prog=0;
}
else
bool_=0;
clear_screen();
}
clear_screen();
print_string("Ready" );
next_line();
print_string("Prog " );
print_int(prog);
print_string(" Selected");
delay_ms(2000);
clear_screen();
if(prog==1)
{
orientate();
/* print_string("Collection");
one_row();
deposite();
clear_screen();
print_string("DONE");
forward(0);*/
}
else if(prog==0)
{
print_string("sensor test");
delay_ms(500);
clear_screen();
while(1)
{
forward(100);
if(digital(0)==1)
{
break;
}
}
clear_screen();
print_string("DONE");
reverse(0, 1000);
//stop();
}
else if(prog==2)
{
print_string("ATTACK");
forward(100);
//swing_left(100,250);
clear_screen();
print_string("DONE");
return 0;
//return code?
}
return 0;
}
