int main()
{
int distance_inches=0;
lcd_init(0);
pause(100);
lcd_clear();
while(1)
{
pause(30);
lcd_clear();
distance_inches=ping_inches(8);
if (distance_inches < 10)
{
lcd_print_number(distance_inches);
lcd_write_char(':');
lcd_write_char('(');
pause(100);
drive_speed(27,-27);
lcd_clear();
}
else
drive_speed(0,0);
}
}
int main(void) {
DDRB = 0x00; // all PBn = input
DDRC = 0x00; // all PCn = input
DDRD = 0x00; // all PDn = input
PORTB = 0xff;
PORTC = 0;
PORTD = 0;
// init lcd buffer
phase = 0;
// initialize adc
ADMUX = 0b11000100; // Vref=1.1V, right-aligned, ADC4 input
ADCSRB = 0x06; // auto trigger by timer1 overflow
ADCSRA = 0b10111000; // adc, auto-trigger by Timer0 ovf, interrupt enabled, prescale = 1/2
// initialize timer1
TCCR1A = 0b00000000; // no oc-out, normal mode
TCCR1B = 3; // clk = 8/64MHz (overflow every 0.52sec)
TIMSK1 = 0x00; // no interrupts
TCNT1 = 0;
// initialize timer0
TCNT0 = 0; /* タイマ0の初期値設定 */
ticker = 0;
//TCCR0B = 2; // 2: 1/8 prescaling, CKDIV8 on, every 2048uS(2mS)
TCCR0B = 3; // 3: 1/64 prescaling, CKDIV8 off, every 2048uS(2mS)
TIMSK0 = _BV(TOIE0); /* タイマ0オーバーフロー割り込みの許可*/
sei(); /* 割り込みの許可*/
for (;;){
// display voltage value to lcd
uint16_t i;
i = (analog_in * 1100l) / 1024;
lcd_print_number(1, i % 10);
i /= 10;
lcd_print_number(4, i % 10);
i /= 10;
lcd_print_number(7, i % 10);
i /= 10;
lcd_print_number(10, i % 10);
}
}
