void Move(int x_diff, int y_diff) {
Line_Forward(500);
stop();
_delay_ms(500);
Move_Line(x_diff);
Move_Right();
stop();
_delay_ms(1000);
Move_Line(y_diff);
stop();
}
/**************************************************************************//**
* @brief Main function
*****************************************************************************/
int main(void)
{
char buffer[] = "AT";
uint8_t delay_type = 0;
/* Chip errata */
CHIP_Init();
/* initalize clocks */
CMU->CTRL |= (1 << 14); // Set HF clock divider to /2 to keep core frequency <32MHz
CMU->OSCENCMD |= 0x4; // Enable XTAL Oscillator
while(! (CMU->STATUS & 0x8) ); // Wait for XTAL osc to stabilize
CMU->CMD = 0x2; // Select HF XTAL osc as system clock source. 48MHz XTAL, but we divided the system clock by 2, therefore our HF clock should be 24MHz
/* Setup SysTick Timer for 1 msec interrupts */
if (SysTick_Config(CMU_ClockFreqGet(cmuClock_CORE) / 1000)) while (1) ;
usart_init();
motor_init();
usart_enable_rx_isr();
BSP_LedsInit();
BSP_LedSet(0);
BSP_LedSet(1);
usart_send_string(buffer);
/* Infinite loop */
while (1) {
BSP_LedToggle(1);
switch(rx_data){
case 'f':
Move_Forward();
delay_type = 1;
break;
case 'b':
Move_Backward();
delay_type = 1;
break;
case 'r':
Move_Left();
delay_type = 2;
break;
case 'l':
Move_Right();
delay_type = 2;
break;
default:
delay_type = 1;
Stop_Robot();
break;
}
rx_data = 0;
//Chooses the delay depending on the movement
if (delay_type == 1){
Delay(1000);
}else if(delay_type == 2){
Delay(200);
}
}
}