void rob_lcd_init_printf (void)
{
vTaskSuspendAll();
{
lcd_init_printf();
}
xTaskResumeAll();
}
int main()
{
lcd_init_printf();
clear(); // clear the LCD
printf("Time: ");
while (1)
{
unsigned char button = get_single_debounced_button_press(ANY_BUTTON);
switch (button)
{
case BUTTON_A:
play_note(A(4), 50, 10);
break;
case BUTTON_B:
play_note(B(4), 50, 10);
break;
case BUTTON_C:
play_note(C(5), 50, 10);
}
button = get_single_debounced_button_release(ANY_BUTTON);
switch (button)
{
case BUTTON_A:
play_note(A(5), 50, 10);
break;
case BUTTON_B:
play_note(B(5), 50, 10);
break;
case BUTTON_C:
play_note(C(6), 50, 10);
}
unsigned long ms = get_ms(); // get elapsed milliseconds
// convert to the current time in minutes, seconds, and hundredths of seconds
unsigned char centiseconds = (ms / 10) % 100;
unsigned char seconds = (ms / 1000) % 60;
unsigned char minutes = (ms / 60000) % 60;
lcd_goto_xy(0, 1); // go to the start of the second LCD row
// print as [m]m:ss.cc (m = minute, s = second, c = hundredth of second)
printf("%2u:%02u.%02u", minutes, seconds, centiseconds);
}
}
int main()
{
lcd_init_printf(); // required if we want to use printf()
clear(); // clear the LCD
delay_ms(200); // wait for 200 ms
printf("hello"); // print "hello" on the first line of the LCD
delay_ms(200); // wait for 200 ms
printf("\nworld"); // print "world" on the second line (because of '\n')
delay_ms(2000); // wait for 2 seconds
clear(); // clear the LCD
unsigned char ch;
for (ch = 'A'; ch <= 'z'; ch++) // demonstrate LCD wrapping
{
printf("%c", ch); // print a string of characters that wraps when
delay_ms(50); // it reaches the end of the LCD
}
delay_ms(2000); // wait for 2 seconds
clear(); // clear the LCD
int i;
printf("Hex Dec");
for(i = 0; i <= 500; i += 50) // demonstrate LCD scrolling
{
delay_ms(800 - i); // the delay gets shorter as i gets bigger
printf("\n%03X %3d", i, i); // print i as 3-digit, zero-padded hex
// and a space-padded 3-digit decimal
}
delay_ms(2000); // wait for 2 seconds
clear(); // clear the LCD
printf("Trimpot:");
while (1) // continuously display the trimpot voltage in mV
{
lcd_goto_xy(0, 1); // go to start of second LCD row
printf("%4u mV", to_millivolts(read_trimpot())); // print trimpot voltage
delay_ms(50); // wait for 50 ms to reduce LCD flicker
}
}
int main()
{
lcd_init_printf();
clear();
lcd_goto_xy(0,0);
printf("Calculating...");
volatile int i,j;
// Measure time for loop execution (without test code)
long iteration = 10000;
long test_iteration = 1000;
//TODO: possible only call ticks_to_microseceonds once after all times are recorded.
//time to loop million times
long time1 = get_ticks();
for (i=0; i < iteration; i++);
long time2 = get_ticks();
long loop1time = time2 - time1;
long time3 = get_ticks();
for (i=0; i < iteration; i++) {
for(j=0;j<test_iteration;j++);
}
long time4 = get_ticks();
long loop2time = time4 - time3;
//calculate time to loop 1000 times in microseconds
//result is about .924 ms
//so 1082 iterations take 1 ms
//for some reason this is actually 2 ms, so divide by 2
long wcet = ticks_to_microseconds(loop2time - loop1time)/iteration;
long one_ms = (1000*test_iteration)/(wcet*2);
clear();
lcd_goto_xy(0,0);
printf("time:%li",wcet);
lcd_goto_xy(0,1);
printf("1 ms iter:%li",one_ms);
}
int main()
{
delay_ms(500); // warming up
lcd_init_printf();
printf("\nAssert");
assert(1 == 1); // make sure assert works
test_qtr();
test_pushbuttons();
test_buzzer();
test_motors();
test_lcd();
test_leds();
test_analog();
test_delay();
clear();
printf("\nSuccess");
play("O5 c16");
while(1);
}
/*==========la fonction main()=======*/
int main(void) {
lcd_init_printf();
pololu_3pi_init(2000);
play_mode(PLAY_CHECK);
clear();
print("Hello!");
play("L16 ceg>c");
// start receiving data at 9600 baud
serial_set_baud_rate(9600);
serial_receive_ring(buffer, 100);
int i=0;
char dirct,chaine[4], comp='C',*recuper = NULL, *ok;
long val, veri=0;
char command;
/* la boucle qui permet de recuperer la trame caractere par caractere */
while(1){
for(i=0;i<4;i++){
command = read_next_byte();
if (command)
{
chaine[i] = command;
}
}
/*recuperation de la lettre recu dans la trame */
dirct = chaine[0];
/*recuperation du reste de la trame en chaine de caractere */
recuper = strchr(chaine,chaine[1]);
/*conversion de cette chaine recuperer en entier (type long)*/
val = strtol(recuper, &ok,10);
/* cette condition permet d'eviter l'execution de la meme trame plusieurs fois*/
if(dirct != comp || veri != val)
{
clear();
printf("%s",chaine);
switch(dirct)
{
case 'A':
avancer(val);
break;
case 'R':
reculer(val);
break;
case 'D':
droit(val);
break;
case 'G':
gauche(val);
break;
case 'M':
melodie();
break;
default:
set_motors(0,0);
break;
}
comp = dirct;
veri = val;
}
}
return 0;
}
int main(void) {
delay_ms(100);
init_leds();
init_timers();
init_motors();
// Used to print to serial comm window
char tempBuffer[80];
// Initialization here.
lcd_init_printf(); // required if we want to use printf() for LCD printing
init_menu(); // this is initialization of serial comm through USB
clear(); // clear the LCD
//enable interrupts
sei();
while (1) {
process_Trajectory();
if (updateLCD)
{
//first line
lcd_goto_xy(8,0);
print(" ");
lcd_goto_xy(8,0);
//print_long(global_counts_m1);
sprintf( tempBuffer, "V=%d\r", voltage);
print(tempBuffer);
//next line
lcd_goto_xy(0,1);
sprintf( tempBuffer, "R=%3.2f RPM=%3.2f\r", rotations, RPM);
print(tempBuffer);
updateLCD = false;
}
if (display_values_flag)
{
if (TARGET_ROT)
length = sprintf( tempBuffer, "Kp:%f Ki:%f Kd:%f Pr:%f Pm:%f T:%d\r\n", Kp, Ki, Kd, goal, rotations, voltage);
else if (TARGET_RPM)
length = sprintf( tempBuffer, "Kp:%f Ki:%f Kd:%f Pr:%f Pm:%f T:%d\r\n", Kp, Ki, Kd, goal, RPM, voltage);
else
length = sprintf( tempBuffer, "Kp:%f Ki:%f Kd:%f Pr:%f Pm:NA T:%d\r\n", Kp, Ki, Kd, goal, voltage);
print_usb( tempBuffer, length );
length = sprintf( tempBuffer, "C0:%d C1:%d C2:%d C3:%d C4:%d C5:%d Man:%d Eq:%d\r\n", command_list[0],
command_list[1],
command_list[2],
command_list[3],
command_list[4],
command_list[5],
maneuver_complete,
equilibrium);
print_usb( tempBuffer, length );
length = sprintf( tempBuffer, "%f, %f, %f\r\n", error, integral, derivative);
print_usb( tempBuffer, length );
display_values_flag = false;
}
if (ready_to_dump_log)
{
ready_to_dump_log = false;
length = sprintf( tempBuffer, "Goal, Kp, Ki, Kd, Rot, RPM, Volt\r\n");
print_usb( tempBuffer, length );
length = sprintf( tempBuffer, "%f, %f, %f, %f, %f, %f, %d\r\n", goal, Kp, Ki, Kd, rotations, RPM, voltage);
print_usb( tempBuffer, length );
int delta = (log_stop_timestep-log_start_timestep);
length = sprintf( tempBuffer, "Time, Error, KpError, KiIntegral, KdDerivative, Rotations, RPM, Voltage\r\n");
print_usb( tempBuffer, length );
float temp_Kp = (Kp == 0.0) ? 1.0 : Kp;
float temp_Ki = (Ki == 0.0) ? 1.0 : Ki;
float temp_Kd = (Kd == 0.0) ? 1.0 : Kd;
float time;
for(int i=0; i<delta; i++)
{
time = (float)((i*dt)*60);
length = sprintf( tempBuffer, "%f %f %f %f %f %f %f %d\r\n", time, //time expressed in seconds
LOG[i].error,
(float)(temp_Kp * LOG[i].error),
(float)(temp_Ki * LOG[i].integral),
(float)(temp_Kd * LOG[i].derivative),
LOG[i].rotations,
LOG[i].RPM,
LOG[i].voltage);
print_usb( tempBuffer, length );
}
}
//Process Control from the USB Port
serial_check();
check_for_new_bytes_received();
} //end while loop
} //end main
