//-------------------------------------------------------------------------------
//Main Function
//-------------------------------------------------------------------------------
int main(void)
{
init_devices();
while(1)
{
sensor_data_interpretation();
//print_sensor(1,1,1); //Prints IR Proximity Sensor 1
BATT_V = ADC_Conversion(0);
BATT_Voltage = ((ADC_Conversion(0)*100)*0.07902) + 0.7; //Prints Battery Voltage Status
lcd_print(1,1,BATT_Voltage,4);
//print_sensor(1,1,0); //Prints Battery voltage binary value
print_sensor(1,6,5); //Prints IR Proximity Sensor 1
print_sensor(1,10,6); //Prints vlaue of Analog IR Proximity Sensor 2
print_sensor(1,14,7); //Prints value of Analog IR Proximity Sensor 3
print_sensor(2,2,3); //Prints value of White Line Sensor1
print_sensor(2,6,2); //Prints Value of White Line Sensor2
print_sensor(2,10,1); //Prints Value of White Line Sensor3
//print_sensor(2,9,11); //Analog Value Of Front Sharp Sensor
sharp = ADC_Conversion(11); //Stores the Analog value of front sharp connected to ADC channel 11 into variable "sharp"
value = Sharp_GP2D12_estimation(sharp); //Stores Distance calsulated in a variable "value".
lcd_print(2,14,value,3);
}
}
//-------------------------------------------------------****MAIN FUNCTION ****------------------------------------------------
int main()
{
init_devices();
lcd_set_4bit();
lcd_init();
lcd_cursor(1,1);
lcd_string("START");
_delay_ms(rand());
//--*** GRIPPER INITAL POSITION ***---
S2 = 0x73;
cli();
timer0_init();
TIMSK |= (1 << OCIE0) | (1 << TOIE0); // timer 0 compare match and overflow interrupt enable
sei();
pickup();
while(1)
{
if( bot_id_set == 1)
{
init_devices2();
init_grid();
dispersion();
localize();
region_division();
break;
}
}
}
//Main Function
int main()
{
init_devices();
while(1)
{
forward(); //both wheels forward
_delay_ms(1000);
back();
_delay_ms(1000);
/* stop();
_delay_ms(500);
back(); //bpth wheels backward
_delay_ms(1000);
stop();
_delay_ms(500);
left(); //Left wheel backward, Right wheel forward
_delay_ms(1000);
stop();
_delay_ms(500);
right(); //Left wheel forward, Right wheel backward
_delay_ms(1000);
stop();
_delay_ms(500);
soft_left(); //Left wheel stationary, Right wheel forward
_delay_ms(1000);
stop();
_delay_ms(500);
soft_right(); //Left wheel forward, Right wheel is stationary
_delay_ms(1000);
stop();
_delay_ms(500);
soft_left_2(); //Left wheel backward, right wheel stationary
_delay_ms(1000);
stop();
_delay_ms(500);
soft_right_2(); //Left wheel stationary, Right wheel backward
_delay_ms(1000);
stop();
_delay_ms(1000); */
}
}
/* Main routine */
void main(void)
{
/* Initialize everything */
init_port();
init_devices();
init_adc();
/* fading(); */
/* adctest(); */
/* Phase 1: use full power level */
const_power(POWER_FULL, 1500, LED_ON, NO_DETECT_LV);
/* Phase 2: transit from full level to holding level*/
transit_power(POWER_FULL, POWER_HOLD, 1);
/* Phase 3: Hold on holding level */
if (const_power(POWER_HOLD, DEADLOOP, LED_BLINK, DETECT_LV) < 0)
{
/* Recommended steps:
const_power(POWER_ZERO);
delay(sometime, e.g.50ms);
const_power(max); */
const_power(POWER_HOLD, DEADLOOP, LED_OFF, NO_DETECT_LV);
}
}
int main()
{
init_devices();
init_nRF24L01();
while(1)
{
cnt2 ++;
cnt2 %= 16;
display_led( NUMTOSEG7( cnt2 ), 0xf1 );
_delay_ms(500);
Tx_Packet( message, 4 );
_delay_ms(10);
cnt = SPI_r_reg ( FIFO_STATUS );
reg_d = cnt & 0xff00;
reg_d >>= 8; // STATUS
display_led( NUMTOSEG7( reg_d ), 0xf2 );
_delay_ms( 500 );
reg_d = cnt & 0x00f0; // reg high
reg_d >>= 4;
display_led( NUMTOSEG7( reg_d ), 0xf4 );
_delay_ms( 500 );
reg_d = cnt & 0x000f; // reg low
display_led( NUMTOSEG7( reg_d ), 0xf8 );
_delay_ms( 500 );
}
}
int main()
{
init_devices();
lcd_set_4bit();
lcd_init();
color_sensor_scaling();/*
threshold= calcThresh();
setIndicatorAndColor();
ct = 0; adj = 2;
lcd("Begin");
while (sorted<total)
{
canDrop();
if (visitedCount == 3)
predict();
if (sorted == total)
break;
pickup();
traverseToSort(ct, ct % 2 + 4);
sortCheck();
}
for (i = 0; i<4; i++);
//..printf("%d %d\n", term[i][0], term[i][1]);
//..printf("Sort 0=%dSort 1=%d\nArm 0=%dArm 1=%d\n", sort[0], sort[1], arm[0], arm[1]);
//..printf("Cost=%d\nSORTED!!!!!\n", cost + 7);
//getch();
*/
forwardJaa();
return 1;
}
//Main Function
int main()
{
init_devices();
lcd_set_4bit();
lcd_init();
while(1);
}
void main(void) // Main Function
{
init_devices();
int j=0;
while (1)
{
if(USART1_RX_vect() == 170) // AA 1 st Sync data
{
if(USART1_RX_vect() == 170) // AA 2 st Sync data
{
Plength = USART1_RX_vect();
if(Plength == 4) // Small Packet
{
Small_Packet ();
}
else if(Plength == 32) // Big Packet
{
Big_Packet ();
}
}
}
}
}
void
init_simple(void)
{
screenInfo.numScreens = 1;
screenInfo.screens[0] = &screen;
screen.myNum = 0;
screen.id = 100;
screen.width = 640;
screen.height = 480;
screen.DeviceCursorInitialize = device_cursor_init;
screen.DeviceCursorCleanup = device_cursor_cleanup;
screen.SetCursorPosition = set_cursor_pos;
screen.root = &root;
dixResetPrivates();
InitAtoms();
XkbInitPrivates();
dixRegisterPrivateKey(&XIClientPrivateKeyRec, PRIVATE_CLIENT,
sizeof(XIClientRec));
dixRegisterPrivateKey(&miPointerScreenKeyRec, PRIVATE_SCREEN, 0);
dixRegisterPrivateKey(&miPointerPrivKeyRec, PRIVATE_DEVICE, 0);
XInputExtensionInit();
init_window(&root, NULL, ROOT_WINDOW_ID);
init_window(&window, &root, CLIENT_WINDOW_ID);
serverClient = &server_client;
InitClient(serverClient, 0, (void *) NULL);
if (!InitClientResources(serverClient)) /* for root resources */
FatalError("couldn't init server resources");
SyncExtensionInit();
devices = init_devices();
}
void main(void)
{
init_devices();
while(1)
{
}
}
void _kmain(struct multiboot_info *mboot) {
clrscr();
// This will make sure there's about 4K of space for malloc to use until physical
// memory management is available for proper virtual memory.
kprintf("Initialising malloc()...\n");
dlmalloc_sbrk(0);
kprintf("Initialising physical memory manager...\n");
pmem_init(mboot);
kprintf("Completing virtual memory initialisation...\n");
vmem_init();
kprintf("Configuring software and hardware interrupts...\n");
interrupts_init();
kprintf("Initialising machine devices...\n");
init_devices();
kprintf("Enabling interrupts...\n");
interrupts_enable();
kprintf("Startup complete!\n");
while(1) __asm__ volatile("hlt");
}
//Main Function
int main(void)
{
double error_p = 0.0;
double error_i = 0.0;
double error_d = 0.0;
double angle;
kalman_state k = kalman_init(1, 16, 1, 137);
init_devices();
lcd_set_4bit();
lcd_init();
double preverror = 0.0;
while(1)
{
sensor2 = ADC_Conversion(2);
kalman_update(&k,(double)sensor2);
angle = k.x;
lcd_print(1,5,(int)angle,3);
error_p = (angle - 137);
error_i += error_p*dt;
error_d = (error_p - preverror)/dt;
lcd_print(1,1,abs((int)error_p),3);
Disturbance = ((error_p*kp) + (error_i*ki) + (error_d*kd));
if(angle > 137) back();
else { forward();}
if (Disturbance > MAX) Disturbance = MAX;
if (Disturbance < MIN) Disturbance = MIN;
lcd_print(2,6,abs((int)Disturbance),5);
velocity(35+abs((int)Disturbance),35+abs((int)Disturbance));
preverror = error_p;
}
}
/****************************** Main function ***************************/
void main()
{
init_devices();
rangoli_reset();
rangoli();
//i = 0;
while(1)
{
//botMove = 5;
rangoli_I_IS_DRAW(ISDRAW);
rangoli_I_MOTOR_SHAFT_LEFT(MOTOR_SHAFT_L);
rangoli_I_MAX_ROW(MAXROW);
rangoli_I_MAX_COLUMN(MAXCOLUMN);
rangoli_I_GET_COLOR(GETCOLOR);
rangoli_I_GET_LENGTH(GETLENGTH);
rangoli_I_IS_FWD(ISFWD);
rangoli_I_BOT_MOVE(BOTMOVE);
rangoli_I_MOVEMENT_STATE(MOVEMENTSTATE);
// if (i==0) help();
// if(i == 1) help2();
rangoli();
}
}
int
main(void)
{
char c;
init_devices();
comcninit();
opt_subcmd_read(NULL);
print_banner();
c = awaitkey();
if (c != '\r' && c != '\n' && c != '\0') {
printf("type \"?\" or \"h\" for help.\n");
bootmenu(); /* does not return */
}
command_boot(NULL);
/*
* command_boot() returns only if it failed to boot.
* we enter to boot menu in this case.
*/
bootmenu();
return 0;
}
int main( int argc, char **argv ) {
init_devices();
int i, r, g, b;
time_t start, end;
double elapsed;
while (1) {
for (i=REG_PWM0; i<=REG_PWM15; i++) {
for (r=0; r<=255; r+=10) {
//start = time((char *)0);
for (g=0; g<=255; g+=10) {
for (b=0; b<=255; b+=10) {
write_register(ADDR_BLUE, i, b);
}
write_register(ADDR_GREEN, i, g);
}
write_register(ADDR_RED, i, r);
//end = time((char *)0);
//elapsed = (end - start);
//printf("Elapsed %f : %5.2f K/s\n", elapsed, (191.25/elapsed));
}
write_register(ADDR_RED, i, 0);
write_register(ADDR_GREEN, i, 0);
write_register(ADDR_BLUE, i, 0);
}
}
cleanup();
}
int main(void)
{
init_devices();
lcd_set_4bit();
lcd_init();
lcd_cursor(1,5);
lcd_string("HI");
lcd_print(2,1,read,3);
while(1)
{
//white line sensing
sensor_data_interpretation();
flag=0;
if(Center_white_line<0x28)
{
flag=1;
forward();
velocity(150,150);
}
if((Left_white_line>0x28) && (flag==0))
{
flag=1;
forward();
velocity(130,50);
}
if((Right_white_line>0x28) && (flag==0))
{
flag=1;
forward();
velocity(50,130);
}
if(Center_white_line>0x28 && Left_white_line>0x28 && Right_white_line>0x28)
{
forward();
velocity(0,0);
}
if(count>=6)
break;
}
stop();
read = 0;
lcd_init();
//Printing the stored value on lcd after the count value is reached 6.
lcd_print(1,1 , store[0][0], 3);
lcd_print(1,5 , store[0][1], 3);
lcd_print(1,9 , store[0][2], 3);
lcd_print(1,13 , store[0][3], 3);
lcd_print(2,1 , store[0][4], 3);
lcd_print(2,5 , store[0][5], 3);
while(1);
}
//Main Function
int main(void)
{
init_devices();
USART_Transmit('+');
USART_Transmit('+');
USART_Transmit('+');
while(1);
}
//Main Function
int main()
{
init_devices();
velocity (100, 100); //Set robot velocity here. Smaller the value lesser will be the velocity
//Try different valuse between 0 to 255
while(1)
{
forward(); //both wheels forward
_delay_ms(1000);
stop();
_delay_ms(500);
back(); //both wheels backward
_delay_ms(1000);
stop();
_delay_ms(500);
left(); //Left wheel backward, Right wheel forward
_delay_ms(1000);
stop();
_delay_ms(500);
right(); //Left wheel forward, Right wheel backward
_delay_ms(1000);
stop();
_delay_ms(500);
soft_left(); //Left wheel stationary, Right wheel forward
_delay_ms(1000);
stop();
_delay_ms(500);
soft_right(); //Left wheel forward, Right wheel is stationary
_delay_ms(1000);
stop();
_delay_ms(500);
soft_left_2(); //Left wheel backward, right wheel stationary
_delay_ms(1000);
stop();
_delay_ms(500);
soft_right_2(); //Left wheel stationary, Right wheel backward
_delay_ms(1000);
stop();
_delay_ms(1000);
}
}
//Main Function
int main(void)
{
init_devices();
lcd_init();
lcd_set_4bit();
while(1){
detect();
}
}
link_phy_t link_phy_open(const char * name, int baudrate){
link_phy_t fd;
uint32_t pinmask;
#ifdef __PHY_USB
fd = link_phy_usb_open();
if( fd < 0){
led_error();
return -1;
}
#else
uart_attr_t attr;
fd = open("/dev/uart0", O_RDWR);
if( fd < 0){
return -1;
}
attr.baudrate = 460800;
attr.parity = UART_PARITY_EVEN;
attr.pin_assign = 0;
attr.start = UART_ATTR_START_BITS_1;
attr.stop = UART_ATTR_STOP_BITS_2;
attr.width = 8;
if( ioctl(fd, I_UART_SETATTR, &attr) < 0 ){
return -1;
}
#endif
pinmask = (1<<18);
hwpl_core_privcall(led_priv_on, &pinmask);
usleep(50*1000);
hwpl_core_privcall(led_priv_off, &pinmask);
pinmask = (1<<20);
hwpl_core_privcall(led_priv_on, &pinmask);
usleep(75*1000);
hwpl_core_privcall(led_priv_off, &pinmask);
pinmask = (1<<21);
hwpl_core_privcall(led_priv_on, &pinmask);
usleep(100*1000);
hwpl_core_privcall(led_priv_off, &pinmask);
pinmask = (1<<23);
hwpl_core_privcall(led_priv_on, &pinmask);
usleep(200*1000);
hwpl_core_privcall(led_priv_off, &pinmask);
link_phy_flush(fd);
#ifdef XIVELY
init_devices();
#endif
return fd;
}
int main()
{
cli();
//unsigned char csr = MCUCSR;
MCUCSR = 0;
#if USE_WDOG
wdt_disable();
#endif
init_devices();
flash_led2_once();
lcd_clear();
lcd_gotoxy( 0, 0 );
lcd_puts("Load EEPROM:");
lcd_gotoxy( 0, 1 );
load_eeprom_settings();
flash_led1_once();
#if USE_WDOG
wdt_enable(WDTO_2S);
#endif
for (;;)
{
modbus_process_rx();
#if 1
menu_run();
#else
lcd_gotoxy( 0, 0 );
int i;
i = adc_value[6] >> 5;
lcd_puts("vr1=");
lcd_puti(i);
i = adc_value[7] >> 5;
lcd_puts(" vr2=");
lcd_puti(i);
lcd_puts(" ");
#endif
#if USE_WDOG
wdt_reset();
#endif
}
while(1)
; // die here
return 1;
}
platform& operator=(cl_platform_id id)
{
if(id_ != id)
{
id_ = id;
devices = init_devices(id);
}
return *this;
}
int main()
{
int i=0;
init_devices();
lcd_set_4bit();
lcd_init();
color_sensor_scaling();
/*
//variable 'i' scales at 13,14 for sharp sensor for velocitty 240 240
//u turn 1600ms at 200,200 velocity
velocity(200,200);
left();
_delay_ms(1600);
stop();
while(1);
threshold=6000;
right();
while(ADC_Conversion(11)<65)
{
i++;
lcd_print(1,11,i,3);
}
stop();
lcd_print(2,11,scan(),1);
stop();
while(1);
*/
setIndicatorAndColor();
threshold=6000;
ct = 0; adj = 2;
//lcd("Begin");
while (sorted<total)
{
canDrop();
//buzzer_on();
//_delay_ms(500);
//buzzer_off();
if (visitedCount == 3)
predict();
if (sorted == total)
break;
pickup();
traverseToSort(ct, ct % 2 + 4);
sortCheck();
}
for (i = 0; i<4; i++);
//..printf("%d %d\n", term[i][0], term[i][1]);
//..printf("Sort 0=%dSort 1=%d\nArm 0=%dArm 1=%d\n", sort[0], sort[1], arm[0], arm[1]);
//..printf("Cost=%d\nSORTED!!!!!\n", cost + 7);
//getch();
return 0;
}
/****************************** Main function ***************************/
void main()
{
init_devices();
Obstacle_Avoidance_reset();
Obstacle_Avoidance();
while(1)
{
Obstacle_Avoidance_I_KINECT(GESTURE_VALUE);
Obstacle_Avoidance();
}
}
int main() {
init_devices();
while(1){
forward_mm(50);
back_mm(50);
left_degrees(90);
right_degrees(90);
}
return 0;
}
//-------------------------------------------------------------------------------
// Main Programme start here.
//-------------------------------------------------------------------------------
int main(void)
{
uint16_t x_byte = 0,y_byte = 0,z_byte = 0;
uint8_t x_byte1 = 0,x_byte2 = 0,y_byte1 = 0,y_byte2 = 0,z_byte1 = 0,z_byte2 = 0;
init_devices();
lcd_set_4bit(); // set the LCD in 4 bit mode
lcd_init(); // initialize the LCD with its commands
display_clear(); // clear the LCD
write_byte(0x0,0x2D);
write_byte(0x8,0x2D);
while(1)
{
x_byte1 = read_byte(X1);
//lcd_print(1,1,x_byte1,3);
x_byte2 = read_byte(X2);
//lcd_print(2,1,x_byte2,3);
y_byte1 = read_byte(Y1);
//lcd_print(1,6,y_byte1,3);
y_byte2 = read_byte(Y2);
//lcd_print(2,6,y_byte2,3);
z_byte1 = read_byte(Z1);
//lcd_print(1,10,z_byte1,3);
z_byte2 = read_byte(Z2);
//lcd_print(2,10,z_byte2,3);
//_delay_ms(100);
x_byte = x_byte2;
x_byte = x_byte<<8;
x_byte |= x_byte1;
pr_int(1,1,x_byte,3);
y_byte = y_byte2;
y_byte = y_byte<<8;
y_byte |= y_byte1;
pr_int(2,4,y_byte,3);
z_byte = z_byte2;
z_byte = z_byte<<8;
z_byte |= z_byte1;
pr_int(1,9,z_byte,3);
}
}
//main function
int main(void)
{
init_devices();
while(1)
{
if(count==10)
{
break;
}
}
}
int main() {
init_devices();
reset_servo();
// bot will start when user press 8 from numberpad in xbee consule in xctu
while(1) {
if (simulated) {
simulate();
break;
}
}
}
int main(void){
WDTCTL = WDTPW + WDTHOLD; // Stop WDT
init_devices();
while(1){
asm("NOP");
RF_Connection_Test2();
//RF_Connection_Test();
asm("NOP");
}
}
//Main function
int main(void)
{
//Initialize value array with 0
int i;
for(i=0;i<1000;i++){
val_array[i] = 0;
}
data_pos = 0;
bot_pos = 0;
init_devices();
//LCD_Reset_4bit();
lcd_cursor(2,1);
lcd_string("DRAWOID");
while(1){
if (bot_pos < data_pos){
lcd_print(1,9,val_array[bot_pos],3);
lcd_cursor(1,1);
if (mov_array[bot_pos] == 'F'){
lcd_string("F");
move_straight(val_array[bot_pos],1);
}
else if (mov_array[bot_pos] == 'B'){
lcd_string("B");
move_straight(val_array[bot_pos],0);
}
else if (mov_array[bot_pos] == 'R'){
lcd_string("R");
turn_right(val_array[bot_pos]);
}
else if (mov_array[bot_pos] == 'L'){
lcd_string("L");
turn_left(val_array[bot_pos]);
}
else if (mov_array[bot_pos] == 'U'){
lcd_string("U");
pen_up();
}
else if (mov_array[bot_pos] == 'D'){
lcd_string("D");
pen_down();
}
bot_pos++;
_delay_ms(1000);
}
}
return 0;
}
