void servoInit()
{
// set servos to initial positions
setServo(PAN, PAN_CENTER);
setServo(BOOM, BOOM_UP);
setServo(TILT, TILT_FORWARD);
setServo(DOOR, DOOR_CLOSED);
myDelay(30);
setServo(LIFT, LIFT_UP);
myDelay(50);
disableServo(PAN);
disableServo(BOOM);
disableServo(TILT);
disableServo(DOOR);
disableServo(LIFT);
}
void setPose(uint8_t pose)
{
switch (pose)
{
case DRIVE_OPEN:
// set servos to initial positions
setServo(PAN, PAN_CENTER);
setServo(BOOM, MAX_BOOM_UP);
setServo(TILT, TILT_VERT);
setServo(DOOR, DOOR_CLOSED);
myDelay(30);
setServo(LIFT, LIFT_OPEN);
myDelay(20);
disableServo(PAN);
disableServo(BOOM);
disableServo(TILT);
disableServo(DOOR);
disableServo(LIFT);
lcdWriteStr("Drive Open", 0, 0);
break;
case DRIVE_UP:
// set servos to initial positions
setServo(PAN, PAN_CENTER);
setServo(BOOM, BOOM_UP);
setServo(TILT, TILT_VERT);
setServo(DOOR, DOOR_CLOSED);
myDelay(30);
setServo(LIFT, LIFT_UP);
myDelay(50);
disableServo(PAN);
disableServo(BOOM);
disableServo(TILT);
disableServo(DOOR);
disableServo(LIFT);
lcdWriteStr("Drive UP", 0, 0);
break;
default:
lcdWriteStr("ERROR", 0, 0);
break;
}
}
void everySecond(void) {
seconds++;
if (seconds > 59) {
seconds = 0;
everyMinute();
}
LED_PORT ^= (1 << LED0); /* blink */
printTime(hours, minutes, seconds); /*serial output */
/* Turn off servo motor after three seconds into new minute */
if (seconds == 3) {
disableServo();
}
}
int main(void)
{
//some setup code
storePin(1337); //only once needed
initPincode();
//initizialize power controle pins
initPowerControle();
//initizialize rotary.
initRotary();
//initialize shifter.
initShifter();
//initialize display code.
initDisplay();
//initialize serial comm
init_uart();
//initialize the servo code.
initServo();
//initialize time code
initTime();
//main loop.
DDRB |= (1<<PB4)|(1<<PB5);
PORTB |= (1<<PB5)|(1<<PB4);
while(1)
{
//get the input from user for pincode
getInputPinCode();
//if there is new data we check to see the commands.
if(serial_available)
{
serial_available = 0;
runSerialInputCommands(inputStr);
}
//check the servo state, disable it when it's active
//for longer then a second.7
if(isServoActive) //check to see if the state of the servo is active.
{
if(time-previousServo > timeScale)//see if a second has passed
{
if(finalServoPos != getCurrentServoState())
{
setServoPos(finalServoPos);
}
else
{
disableServo();
}
}
}
//send number if logged in and ticks changed and rotary has turned.
//to prevent spam
if(rotary_has_turned && ticks != previous_ticks && isLoggedIn)
{
previous_ticks = ticks;
rotary_has_turned = 0;
sendNumber(pin);
}
if(timeinSeconds >= 360)
{
powerOff();
}
else
{
powerOn();
}
//if pin is correctly set set green led, else red on.
if(pin == actual_pin)
{
open();
PORTB |= (1<<PB5);
PORTB &= ~(1<<PB4);
}
else
{
if(!timeinSeconds%2)
close();
PORTB |= (1<<PB4);
PORTB &= ~(1<<PB5);
}
}
return 1;
}
