int main(void) { // Initialize the UART,Timers, and I2C1v Board_init(); Board_configure(USE_SERIAL | USE_LCD | USE_TIMER); dbprint("Starting encoders...\n"); I2C_init(I2C_ID, I2C_CLOCK_FREQ); Encoder_init(); Interface_init(); Timer_new(TIMER_TEST, PRINT_DELAY ); while (!Timer_isExpired(TIMER_TEST)) { Encoder_runSM(); } // Not working? //Encoder_setZeroPitch(); //Encoder_setZeroYaw(); dbprint("Encoders initialized.\n"); DELAY(STARTUP_DELAY) Timer_new(TIMER_TEST, PRINT_DELAY ); bool clearedCalibrateMessage = TRUE; Timer_new(TIMER_TEST2,CALIBRATE_HOLD_DELAY); //Interface_waitLightOnTimer(CALIBRATE_HOLD_DELAY); Interface_waitLightOnTimer(CALIBRATE_HOLD_DELAY); LCD_setPosition(0,0); dbprint("Encoders:\n"); while(1) { if (Timer_isExpired(TIMER_TEST)) { LCD_setPosition(1,0); dbprint(" P=%.1f,\n Y=%.1f\n",Encoder_getPitch(), Encoder_getYaw()); Timer_new(TIMER_TEST, PRINT_DELAY ); } if (Interface_isOkPressed() && Timer_isExpired(TIMER_TEST2)) { Encoder_setZeroPitch(); Encoder_setZeroYaw(); LCD_setPosition(3,0); dbprint("Zeroed encoders.\n"); clearedCalibrateMessage = FALSE; Interface_waitLightOnTimer(CALIBRATE_HOLD_DELAY); Interface_readyLightOff(); Timer_new(TIMER_TEST2,CALIBRATE_HOLD_DELAY); } if (Timer_isExpired(TIMER_TEST2) && !clearedCalibrateMessage) { clearedCalibrateMessage = TRUE; LCD_setPosition(3,0); dbprint(" "); Interface_readyLightOn(); } Encoder_runSM(); Interface_runSM(); } return (SUCCESS); }
int main(void) { // Initialize the UART,Timers, and I2C1v Board_init(); Serial_init(); Encoder_init(); float angle; while(1){ if(Encoder_isLockPressed() || Encoder_isZeroPressed()){ Encoder_runSM(); // if(useZeroAngle){ // angle = Encoder_getAverageAngle(); // while(!Serial_isTransmitEmpty()); // printf("Angle: %.2f\n", angle); // } // else // zeroAngle = Encoder_getZeroAngle(); // // useZeroAngle = FALSE; // zeroFlag = FALSE; } } return (SUCCESS); }
int main(void) { // Initialize the UART,Timers, and I2C1v Board_init(); Board_configure(USE_SERIAL | USE_LCD | USE_TIMER); dbprint("Starting encoders...\n"); I2C_init(ENCODER_I2C_ID, I2C_CLOCK_FREQ); if (Encoder_init() != SUCCESS) { dbprint("Failed init. encoder\n"); return FAILURE; } Timer_new(TIMER_TEST, PRINT_DELAY ); while (!Timer_isExpired(TIMER_TEST)) { Encoder_runSM(); } // Not working? //Encoder_setZeroPitch(); //Encoder_setZeroYaw(); dbprint("Encoders initialized.\n"); DELAY(STARTUP_DELAY); Timer_new(TIMER_TEST, PRINT_DELAY ); LCD_setPosition(0,0); dbprint("Encoders:\n"); while(1){ if (Timer_isExpired(TIMER_TEST)) { LCD_setPosition(1,0); dbprint(" P=%.1f,\n Y=%.1f\n",Encoder_getPitch(), Encoder_getYaw()); /*dbprint("Encoders:\n P=%d,\n Y=%d\n", readDevice(SLAVE_PITCH_READ_ADDRESS,SLAVE_PITCH_WRITE_ADDRESS), readDevice(SLAVE_YAW_READ_ADDRESS,SLAVE_YAW_WRITE_ADDRESS));*/ /*dbprint("Encoders:\n P=%.1f,\n Y=%.1f\n", readDevice(SLAVE_PITCH_READ_ADDRESS,SLAVE_PITCH_WRITE_ADDRESS) * DEGREE_PER_NUMBER, readDevice(SLAVE_YAW_READ_ADDRESS,SLAVE_YAW_WRITE_ADDRESS) * DEGREE_PER_NUMBER);*/ Timer_new(TIMER_TEST, PRINT_DELAY ); } Encoder_runSM(); } return (SUCCESS); }
/** * Function: runMasterSM * @return None. * @remark Executes one cycle of the command center's state machine. * @author David Goodman * @date 2013.03.09 */ void runMasterSM() { //Magnetometer_runSM(); // Record these button presses since we don't know // if they will be pressed after runSM lockPressed = isLockPressed(); zeroPressed = isZeroPressed(); if(lockPressed || zeroPressed){ #ifdef USE_ENCODERS Encoder_runSM(); #endif if(lockPressed) { printf("Lock was pressed.\n"); #ifdef USE_NAVIGATION #ifdef USE_ENCODERS Encoder_enableZeroAngle(); Encoder_runSM(); Coordinate ned; // = Coordinate_new(ned, 0, 0 ,0); if (Navigation_getProjectedCoordinate(&ned, Encoder_getYaw(), Encoder_getPitch(), height)) { printf("Desired coordinate -- N: %.6f, E: %.6f, D: %.2f (m)\n", ned.x, ned.y, ned.z); #ifdef USE_XBEE Mavlink_send_start_rescue(XBEE_UART_ID, TRUE, 0,ned.x, ned.y); #endif } else { printf("Failed to obtain desired NED coordinate.\n"); } Encoder_disableZeroAngle(); #else printf("Navigation module is disabled.\n"); #endif #endif } else if (zeroPressed) { // Zero was pressed #ifdef USE_ENCODERS Encoder_setZeroAngle(); #endif useLevel = TRUE; #ifdef USE_MAGNETOMETER Magnetometer_runSM(); heading = Magnetometer_getDegree(); updateHeading(); #endif //printf("Zeroing...\n"); } else { } } if (!zeroPressed) { if (useLevel) printf("Done zeroing.\n"); useLevel = FALSE; } #ifdef USE_ACCELEROMETER Accelerometer_runSM(); updateAccelerometerLEDs(); #endif #ifdef USE_NAVIGATION Navigation_runSM(); #endif #ifdef USE_XBEE Xbee_runSM(); #endif }