void sabertooth(int m1, int m2) { //rprintfInit(uart2SendByte);//select uart2 uartSetBaudRate(2, 38400);//select baud (see page 13/14 of datasheet) uart2SendByte(m1);//send a command for motor 1 uart2SendByte(m2);//send a command for motor 2 }
void control(void) { reset_timer5(); uartFlushReceiveBuffer(1); a2dSetReference(ADC_REFERENCE_256V); delay_us(100); PORT_OFF(PORTB,7); while(1) { char read = uart1GetByte(); if(read == 'U') { //Rangefinder only for the Hand! We only have 3 uart ports! uart0SendByte(0x22); //sends 4 bytes with the command to read distance (0x22) uart0SendByte(0x00); uart0SendByte(0x00);uart0SendByte(0x22);delay_us(50); uart0GetByte(); //we don't care about this byte rprintf("%d\r\n", 255*uart0GetByte() + uart0GetByte()); uart0GetByte(); //we don't care about this byte } else if(read == 'L') { rprintf("%d\r\n", 255 - a2dConvert8bit(0)); } else if(read == 'R') { rprintf("%d\r\n", 255 - a2dConvert8bit(1)); } else if(read == 'D') { int buff='#'; uart2SendByte('#'); uart2SendByte('o'); uart2SendByte('s'); uart2SendByte('#'); uart2SendByte('f'); delay_ms(60); // Do not change this delay or you'll get in trouble! while(1) { buff = uart2GetByte(); if(buff==10 || buff==13 || buff==-1) { uart1SendByte('\r'); uart1SendByte('\n'); break; } uart1SendByte(buff); } while((buff=uart2GetByte()) != -1); } else if(read == 'E') { int buff='#'; uart3SendByte('#'); uart3SendByte('o'); uart3SendByte('s'); uart3SendByte('#'); uart3SendByte('f'); delay_ms(60); // Do not change this delay or you'll get in trouble! while(1) { buff = uart3GetByte(); if(buff==10 || buff==13 || buff==-1) { uart1SendByte('\r'); uart1SendByte('\n'); break; } uart1SendByte(buff); } while((buff=uart3GetByte()) != -1); } else if(read == 'M') { int buff='#'; uart2SendByte('#'); uart2SendByte('o'); uart2SendByte('t'); uart2SendByte('#'); uart2SendByte('f'); delay_ms(60); // Do not change this delay or you'll get in trouble! while(1) { buff = uart2GetByte(); if(buff==10 || buff==13 || buff==-1) { uart1SendByte('\r'); uart1SendByte('\n'); break; } uart1SendByte(buff); } while((buff=uart2GetByte()) != -1); } else if(read == 'N') { int buff='#'; uart3SendByte('#'); uart3SendByte('o'); uart3SendByte('t'); uart3SendByte('#'); uart3SendByte('f'); delay_ms(60); // Do not change this delay or you'll get in trouble! while(1) { buff = uart3GetByte(); if(buff==10 || buff==13 || buff==-1) { uart1SendByte('\r'); uart1SendByte('\n'); break; } uart1SendByte(buff); } while((buff=uart3GetByte()) != -1); } else if(read == 'P') { PORT_ON(PORTB,6); } else if(read == 'p') { PORT_OFF(PORTB,6); } else if(read == 'Q') { PORT_ON(PORTB,7); } else if(read == 'q') { PORT_OFF(PORTB,7); } else if(read == 'X') { PORT_ON(PORTB,4); } else if(read == 'x') { PORT_OFF(PORTB,4); } else if(read == 'Y') { PORT_ON(PORTB,5); } else if(read == 'y') { PORT_OFF(PORTB,5); } delay_us(50); } }
void syren(int m1) { //rprintfInit(uart2SendByte);//select uart2 uartSetBaudRate(2, 38400);//select baud (see page 14 of datasheet) uart2SendByte(m1);//send a command for motor 1 }