/** Initialize white line follower module */
STATUS initWhiteLineFollower(void) {
STATUS statusCode;
statusCode = motorLeftPositionEncoderInit(lPosHandler);
if(statusCode != STATUS_OK)
return statusCode;
//motorRightPositionEncoderInit(rPosHandler);
return STATUS_OK;
}
int main() {
MotorDirection dirs[] = {FORWARD, BACKWARD, RIGHT, LEFT,
SOFT_RIGHT, SOFT_LEFT, SOFT_RIGHT2, SOFT_LEFT2, STOP};
char strDirs[9][16] = {"FORWARD", "BACKWARD", "RIGHT", "LEFT",
"SOFT_RIGHT", "SOFT_LEFT", "SOFT_RIGHT2", "SOFT_LEFT2", "STOP"};
int idx;
initMotor();
initLcd();
#if 0
/* Test #1: Check direction */
motorVelocitySet(255, 255);
for(idx = 0; idx < (sizeof(dirs)/sizeof(dirs[0])); idx ++) {
lcdClear();
lcdCursor(1,1);
lcdString(strDirs[idx]);
_delay_ms(DELAY_COUNT*2);
motorDirectionSet(dirs[idx]);
/* Delay for some time */
_delay_ms(DELAY_COUNT);
motorDirectionSet(STOP);
}
/* Test #2: Check speed */
lcdClear();
lcdCursor(1,1);
lcdString("Speed : ");
lcdCursor(2,1);
lcdString("L 100, R 100");
_delay_ms(DELAY_COUNT*2);
motorVelocitySet(100, 100);
motorDirectionSet(FORWARD);
/* Delay for some time */
_delay_ms(DELAY_COUNT);
motorDirectionSet(STOP);
/* Test #3: Check individual wheel speed (L < R) */
lcdClear();
lcdCursor(1,1);
lcdString("Speed : ");
lcdCursor(2,1);
lcdString("L 100, R 255");
_delay_ms(DELAY_COUNT*2);
motorVelocitySet(100, 255); /* Left turn expected */
motorDirectionSet(FORWARD);
/* Delay for some time */
_delay_ms(DELAY_COUNT);
motorDirectionSet(STOP);
/* Test #4: Check individual wheel speed (L > R) */
lcdClear();
lcdCursor(1,1);
lcdString("Speed : ");
lcdCursor(2,1);
lcdString("L 255, R 100");
_delay_ms(DELAY_COUNT*2);
motorVelocitySet(255, 100); /* Right turn expected */
motorDirectionSet(FORWARD);
/* Delay for some time */
_delay_ms(DELAY_COUNT);
motorDirectionSet(STOP);
/* Test #5: Check left position encoder */
motorLeftPositionEncoderInit(leftPosEncoderIsr);
lPosCount = 100;
motorVelocitySet(255, 255);
motorDirectionSet(FORWARD);
#endif
/* Test #6: Check orientation */
motorLeftPositionEncoderInit(leftPosEncoderIsr);
lPosCount = 23;
motorVelocitySet(150, 150);
motorDirectionSet(LEFT);
while(1);
return 0;
}
