void wmp_init (void)
{
/* Initialize I2C at 400 kHz. */
i2cm_init( I2C_FREQ_400K );
/* Initializes the WM+ */
i2cm_start( 0x53, I2C_WRITE );
i2cm_transmitChar( 0xFE );
i2cm_transmitChar( 0x04 );
i2cm_end();
/* Set event for when it's on. */
event_setCallback( EVENT_TYPE_I2C, wmp_on );
}
//////////////////////////////////////
// Main
/////////////////////////////////////
int main(void)
{
//int a = 0;
/////////////////////////////////////
///TODO//////////////////////////////
/////////////////////////////////////
//
//participer a la coupe
/////////////////////////////////////
/////////////////////////////////////
//Initialisations////////////////////
/////////////////////////////////////
uart_init();
time_init(128);
printf("fdevopen \n");
fdevopen(uart0_send,uart0_recv, 1);
// Affichage uart: tip -s 9600 -l /dev/ttyS0
// prog usb :
// avarice -j /dev/ttyUSB0 --erase --program -f ./main.hex
adc_init();
DDRE |= 0x00;
PORTE |= 0x10;//active le pull up
//initialisation du fpga
sbi(XMCRA,SRW11);
sbi(XMCRA,SRW00);
sbi(MCUCR,SRE);
wait_ms(1000);
//on reset le fpga
U_RESET = 0x42;
sbi(PORTB,0);
wait_ms(100);
//on relache le reset
cbi(PORTB,0);
sbi(PORTE,3);
wait_ms(100);
//printf("stack begin :%d \n", &a);
//init des interruptions
printf("init i2c \n");
scheduler_init();
position_init(&pos);
asserv_init(&asserv,&pos);
trajectory_init(&traj,&pos,&asserv);
i2cm_init();
//autorise les interruptions
sei();
//infinite loop!!!
//get_enc_value();
//init communication
#ifdef ENABLE_MECA
printf("init com \n");
initCom();
printf("end init com \n");
#endif
//init A*
initObstacle();
//init méca
#ifdef ENABLE_MECA
mecaCom(TIROIR_FERMER);
mecaCom(PEIGNE_FERMER);
#endif
team = getTeam();
while(MAXIME);//boucle anti_maxime
// while(1)
// {
// printf("gp2r = %d ,gp2l = %d ,gp2m = %d \n",adc_get_value(ADC_REF_AVCC | MUX_ADC0),adc_get_value(ADC_REF_AVCC | MUX_ADC1),adc_get_value(ADC_REF_AVCC | MUX_ADC2));
// }
//avoidance_init();
//antipatinage_init();
// homologation();
// while(1);
// test_evitement();
// while(1);
if(team == RED)
{
disableSpinning();
findPosition(team);
enableSpinning();
trajectory_goto_d(&traj, END, 20);
trajectory_goto_a(&traj, END, 55);
while(!trajectory_is_ended(&traj));
//
// trajectory_goto_a(&traj, END, 90);
//
// trajectory_goto_a(&traj, END, 0);
// while(!trajectory_is_ended(&traj));
asserv_set_vitesse_normal(&asserv);
initTaskManager(&tkm);
//addTask(&tkm, &returnFire, LOW_PRIORITY, R1);
addTask(&tkm, &throwSpears, LOW_PRIORITY, RED);
addTask(&tkm, &putPaint, HIGH_PRIORITY, team);
// addTask(&tkm, &returnFire, LOW_PRIORITY, R3);
// addTask(&tkm, &returnFire, HIGH_PRIORITY, R2);
addTask(&tkm, &takeFruitRed, HIGH_PRIORITY, team);
// addTask(&tkm, &takeFruitYellow, HIGH_PRIORITY, team);
// addTask(&tkm, &findPosition, HIGH_PRIORITY, REDPAINT);
// addTask(&tkm, &returnFire, HIGH_PRIORITY, Y1);
//addTask(&tkm, &throwSpears, HIGH_PRIORITY, YELLOW);
addTask(&tkm, &putFruit, HIGH_PRIORITY, team);
// addTask(&tkm, &returnFire, HIGH_PRIORITY, Y3);
// addTask(&tkm, &takeFruitYellow, HIGH_PRIORITY, team);
// addTask(&tkm, &putFruit, HIGH_PRIORITY, team);
// addTask(&tkm, &returnFire, HIGH_PRIORITY, Y2);
while (TIRETTE);
printf("begin match \n");
avoidance_init();
while(doNextTask(&tkm));
printf("finish \n");
}
else // Team jaune
{
disableSpinning();
findPosition(team);
enableSpinning();
trajectory_goto_d(&traj, END, 20);
trajectory_goto_a(&traj, END, -55);
while(!trajectory_is_ended(&traj));
// addTask(&tkm, &returnFire, LOW_PRIORITY, R1);
addTask(&tkm, &returnFire, LOW_PRIORITY, Y2);
addTask(&tkm, &throwSpears, LOW_PRIORITY, YELLOW);
addTask(&tkm, &putPaint, HIGH_PRIORITY, team);
// addTask(&tkm, &returnFire, HIGH_PRIORITY, Y3);
// addTask(&tkm, &takeFruitRed, HIGH_PRIORITY, team);
addTask(&tkm, &takeFruitYellow, HIGH_PRIORITY, team);
// addTask(&tkm, &returnFire, LOW_PRIORITY, R1);
addTask(&tkm, &putFruit, HIGH_PRIORITY, team);
// addTask(&tkm, &findPosition, HIGH_PRIORITY, YELLOWPAINT);
//addTask(&tkm, &returnFire, HIGH_PRIORITY, R1);
//addTask(&tkm, &throwSpears, HIGH_PRIORITY, RED);
// addTask(&tkm, &returnFire, HIGH_PRIORITY, R3);
// addTask(&tkm, &takeFruitRed, HIGH_PRIORITY, team);
// addTask(&tkm, &putFruit, HIGH_PRIORITY, team);
// addTask(&tkm, &returnFire, HIGH_PRIORITY, R2);
while (TIRETTE);
printf("begin match \n");
avoidance_init();
while(doNextTask(&tkm));
printf("finish \n");
// // attend que la tirette soit retirée
// printf("begin match \n");
// printf("start pos: x %lf pos y %lf \n",position_get_x_cm(&pos),position_get_y_cm(&pos));
}
printf("time: %ld \n",time_get_s());
while(1);//attention boucle infinie
}