int main(void)
{
_delay_ms(2000);
init();
initialize_motors();
/* CONVENSION TO RUN THE MOTORS
=> Set the rotation direction
=> call the function reach_to_ticks with "final_ticks" and "motor_number" as arguments*/
while(1)
{
switch (usart_data)
{
case 'a': reset_ticks();flash_on();break;
case 'b': reset_ticks();flash_off();break;
case 'c': reset_ticks();ground_left();break;
case 'd': reset_ticks();ground_right();break;
case 'e': reset_ticks();ground_front();break;
case 'f': reset_ticks();ground_reset();break;
case 'g': reset_ticks();stairs_left();break;
case 'h': reset_ticks();stairs_right();break;
case 'i': reset_ticks();stairs_front();break;
case 'j': reset_ticks();stairs_reset();break;
case 'k': reset_ticks();break;
case 'n': reset_ticks();ground_reverse();break;
case 'o': reset_ticks();stairs_reverse();break;
default: break;
}
}
}
void enter_node_stop(void) {
// turn off RF
tat_enter_sleep_mode();
hal_set_rst_high();
HAL_SS_HIGH();
// turn off flash
//set_spi_flash_state(SPI_FLASH_OFF);
GPIO_SetBits(GPIOB, PIN_RST);
GPIO_SetBits(GPIOB, PIN_CS);
flash_off();
// testing...
#ifdef MY_DEBUG
hal_clear_net_led();
hal_clear_data_led();
#endif
testing();
RTC_WakeUpCmd(ENABLE);
}
