void main (void) { //k is a loop parameter used to determine which byte is currently expected for MIDI in k=0; USART_Init(BAUD_PRESCALE); //pin 0 of D is the MIDI serial in //pin 1 is MIDI serial out DDRD = 0b11111110; //DDRB is connected to the LED bar DDRB = 0xFF; //DDRA has record on pin 0 and playback on pin 1 DDRA = 0x00; // initialize timer timer1_init(); bool flush = true; //keep looping forever while(1){ //record and playback both off. //go to this state to transition from record to playback or playback to playback if(PINA == 0){ //display current state on LEDs PORTB = 0x00; //reset address and expect a note on to be the next byte addr = 0; k = 0; flush = true; } //record on, playback off if(PINA == 1){ //display current state PORTB = 0x01; //record the next MIDI byte USART_Recieve(); } //playback on, record off if(PINA == 2){ //display current state PORTB = eeprom_read_byte(0); //play the next MIDI byte from EEPROM USART_playback(); } //playback and record both on //use this state to flush the EEPROM so a new melody can be recorded //make sure EEPROM flush is done (watch the LEDs) before attempting a record if((PINA == 3)||((PINA==1)&&flush)){ //display current state PORTB = 0x03; //flush eeprom for(i=0; i<256; i++){ eeprom_write_dword((4*i), 0); } //reset address and expect a note on to be the next byte k = 0; addr = 0; j = 0; for(i=0; i<256; i++){ if(eeprom_read_dword(i)==0){j++;} } if(j>=255){ flush = false; j = 0; } } } }
/** * Used to control the robot. * Receive and transmit data, measure the distance from object and navigate to the retrieval zone. **/ int main(void) { lcd_init(); timer3_init(); timer_init(); ADC_init(); USART_Init(); oi_t *sensor_data = oi_alloc(); oi_init(sensor_data);//should turn the iRobot Create's power LED yellow lcd_init(); serial_puts("Start"); //USART_Transmit(13); //USART_Transmit(10); int TempAngle[4] = {0,0,0,0}; int TempIR[4] = {0,0,0,0}; int pos[4] = {0,0,0,0}; int AddIR[4] = {0,0,0,0}; int count[4] = {0,0,0,0}; int found = 0; int x1 = 0; int x2 = 0; int x3 = 0; int x4 = 0; unsigned angle = 0; unsigned char IR = 0; volatile int i=0; volatile int x = 0; char command; char display[100]; char display1[20]; char display2[20]; char display3[20]; char display4[20]; char display5[100]; char display6[100]; while (1) { command = USART_Recieve(); USART_Transmit(command); //USART_Transmit(13); //USART_Transmit(10); if (command == '1') { found = 0; angle = 0; int t; int TempAngle[6] = {0, 0,0,0,0,0}; int TempIR[6] = {0, 0,0,0,0,0}; int pos[6] = {0, 0,0,0,0,0}; int AddIR[6] = {0, 0, 0,0,0,0}; int count[6] = {0, 0, 0,0,0,0}; for (angle = 0;angle < 181;angle++) { move_servo(angle); wait_ms(20); IR = 0; IR = 42800*pow(ADC_read(2),-1.23); sprintf(display6, "Angle: %5d IR: %5d",angle,IR); serial_puts(display6); if (IR < 80) { TempAngle[found]++; count[found]++; AddIR[found]+=IR; TempIR[found]=AddIR[found]/count[found]; } else { if(TempAngle[found] < 5) { TempAngle[found] = 0; } else { pos[found] = angle- TempAngle[found]/2; if (TempIR[found]*TempAngle[found]< 460) { USART_Transmit(13); USART_Transmit(10); for (int i = 0;i<strlen(s8);i++) { USART_Transmit(s8[i]); } sprintf(display5, "object position: %5d",pos[found]); serial_puts(display5); } sprintf(display, "object position: %5d IR: %5d object size: %5d",pos[found],TempIR[found],TempAngle[found]); serial_puts(display); USART_Transmit(13); USART_Transmit(10); found++; } } } OCR3B = 1000-1; //return to 0 degree } if (command == 'w') { move_forward(sensor_data,20); } if (command == 's') { move_backforward(sensor_data,20); } if (command == 'a') { turn_clockwise(sensor_data,82); } if (command == 'd') { turn_counterclockwise(sensor_data,82); } if (command == 'q') { turn_clockwise(sensor_data,38); } if (command == 'e') { turn_counterclockwise(sensor_data, 38); } if (command == '8') { move_forward(sensor_data,5); } if (command == '5') { move_backforward(sensor_data,5); } if (command == 'p') { oi_t* sensor = oi_alloc(); oi_init(sensor); load_songs(); oi_play_song(songings); } if(command == 'k') { oi_update(sensor_data); x1 = sensor_data->cliff_left_signal; x2 = sensor_data->cliff_right_signal; x3 = sensor_data->cliff_frontleft_signal; x4 = sensor_data->cliff_frontright_signal; sprintf (display1, "left = %d",x1); sprintf (display2, "right = %d",x2); sprintf (display3, "front left = %d",x3); sprintf (display4, "front right = %d",x4); USART_Transmit(13); USART_Transmit(10); serial_puts(display1); serial_puts(display3); serial_puts(display4); serial_puts(display2); if (x1>500||x2>500||x3>500||x4>500) { USART_Transmit(13); USART_Transmit(10); for (int i=0;i<strlen(s6);i++) { USART_Transmit(s6[i]); } } } } }