/*
* main.c
*/
void main(void) {
WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer
initializeSensors();
P1DIR |= 0x41; // Set P1.0 to output direction
for (;;) {
checkRightSensor();
if (ADC10MEM < 0x222) {
P1OUT &= ~BIT6; // Clear P1.6 LED off
} else {
P1OUT |= BIT6; // Set P1.6 LED on
}
_delay_cycles(100000);
checkLeftSensor();
if (ADC10MEM < 0x222) {
P1OUT &= ~BIT0; // Clear P1.0 LED off
} else {
P1OUT |= BIT0; // Set P1.0 LED on
}
_delay_cycles(100000);
}
}
/*
* main.c
*/
void main(void) {
WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer
initializeSensors();
setUpTimerA();
turnLeftSlight();
for (;;) {
int left = checkLeftSensor(), center = checkCenterSensor(), right =
checkRightSensor();
if (left > 0x240) {
fullStop();
turnRightSlight();
fullStop();
} else if (center > 0x2FF) {
fullStop();
__delay_cycles(10000);
reverse();
__delay_cycles(10000);
fullStop();
__delay_cycles(10000);
turnRightSlight();
__delay_cycles(10000);
turnRightSlight();
__delay_cycles(10000);
fullStop();
} else {
turnLeftSlight();
}
}
}
/*
* main.c
*/
void main(void) {
WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer
initializeSensors();
P1DIR |= 0x41; // Set P1.0 to output direction
for (;;) {
//__bis_SR_register(CPUOFF + GIE);
// LPM0, ADC10_ISR will force exit
checkRightSensor();
if (ADC10MEM < 0x222) {
P1OUT &= ~BIT6; // Clear P1.6 LED off
} else {
P1OUT |= BIT6; // Set P1.6 LED on
}
_delay_cycles(100000);
checkLeftSensor();
if (ADC10MEM < 0x222) {
P1OUT &= ~BIT0; // Clear P1.0 LED off
} else {
P1OUT |= BIT0; // Set P1.0 LED on
}
_delay_cycles(100000);
}
}
//Main
void main(void) {
initBoard();
backlightOn();
//Configure interrupts
//Interrupt on RB1 = SW_E
OpenRB1INT(PORTB_CHANGE_INT_ON & FALLING_EDGE_INT & PORTB_PULLUPS_OFF & PORTB_INT_PRIO_HIGH);
//Interrupt on RB0 = SW_W
OpenRB0INT(PORTB_CHANGE_INT_ON & FALLING_EDGE_INT & PORTB_PULLUPS_OFF & PORTB_INT_PRIO_LOW);
//Enable button input => not needed, see dwengoBoard.c->initBoard();
TRISB = 0xFF;
//Init motors
initializeMotors();
initializeSensors();
while (TRUE)
{
if(SW_N == 0)
{
mode = 0;
clearLCD();
printStringToLCD("Doing moves brah", 1, 0);
leftMotor(700);
rightMotor(700);
delay_s(4);
leftMotor(1000);
rightMotor(700);
delay_s(4);
leftMotor(700);
rightMotor(1000);
delay_s(4);
leftMotor(-700);
rightMotor(700);
delay_s(4);
}
else if(mode == 1)
{
//Light eating
}
else if(SW_S == 0)
{
//Start light eating
//mode = 1;
clearLCD();
printStringToLCD("Going to send string", 0, 0);
initializeRS232();
sendData();
}
else
{
//printStringToLCD("Cool story bro", 0, 0);
}
}
}
SensorModule::SensorModule():shouldRead(true), readInterval(5){
if ((this->i2cBus = open("/dev/i2c-1", O_RDWR)) < 0)
{
//TODO log in error log
printf("Failed to open the bus. \n");
}
initializeSensors();
std::thread reader([this]{this->readWorker();});
reader.detach();
};
ScreenPrivate::ScreenPrivate(Screen *qq) :
q_ptr(qq),
desktop(QApplication::desktop()),
screenRotation(0.0),
rotationCorrection(0.0),
orientation(Screen::Portrait),
orientationLocked(false)
{
appScreen = desktop->primaryScreen();
screenCount = desktop->screenCount();
QObject::connect(desktop, SIGNAL(screenCountChanged(int)), qq, SLOT(_q_updateScreenCount(int)));
initializeSensors();
// emit displayChanged
QMetaObject::invokeMethod(q_ptr, "displayChanged", Qt::QueuedConnection);
}
int main( void )
{
halInit();
moduleInit();
HAL_DISABLE_INTERRUPTS();
printf("\r\n****************************************************\r\n");
printf("Simple Application Example - END DEVICE\r\n");
uint16_t vlo = calibrateVlo();
printf("VLO = %u Hz\r\n", vlo);
timerIsr = &handleTimer;
clearLeds();
HAL_ENABLE_INTERRUPTS();
/* Most of the of infoMessage are the same, so we can create most of the message ahead of time. */
hdr.sequence = 0; //this will be incremented each message
hdr.version = INFO_MESSAGE_VERSION;
hdr.flags = INFO_MESSAGE_FLAGS_NONE;
initializeSensors();
delayMs(100);
stateMachine();
}
//------------[AUTO:RAMP START]------------//
//Position: Centered on the ramp //
//Orientation: Intake forward, sensor forward//
task main()
{
initializeRobot();
waitForStart();
initializeSensors();
calibrateSensors();
startTask(display);
startTask(sensorPoll);
startTask(DCControl);
startTask(servoControl);
//1. Go down Ramp//
rampMove();
//2. Move to IR checking Position//
spinDeg(-85.0);
moveStraight(70.0, 25.0);
//3. IR Beacon Position Search//
for(int i = 0; i < 20; i++)
{
/*writeDebugStreamLine("irSeeker.acValues[0]: %d", irSeeker.acValues[0]);
wait1Msec(100);
writeDebugStreamLine("irSeeker.acValues[1]: %d", irSeeker.acValues[1]);
wait1Msec(100);
writeDebugStreamLine("irSeeker.acValues[2]: %d", irSeeker.acValues[2]);
wait1Msec(100);
writeDebugStreamLine("irSeeker.acValues[3]: %d", irSeeker.acValues[3]);
wait1Msec(100);
writeDebugStreamLine("irSeeker.acValues[4]: %d", irSeeker.acValues[4]);
wait1Msec(100);*/
readSensor(&irSeeker);
if(irSeeker.acValues[2] >= 40)
{
irCounter1++;
}
else if(irSeeker.acValues[2] >= 28 || irSeeker.acValues[3] > 20)
{
irCounter2++;
}
else if(irSeeker.acValues[2] < 28)
{
irCounter3++;
}
}
if(irCounter1 > irCounter3 && irCounter1 > irCounter2)
{
pos = 3;
}
else if(irCounter2 > irCounter3 && irCounter2 > irCounter1)
{
pos = 2;
}
else if(irCounter3 > irCounter1 && irCounter3 > irCounter2)
{
pos = 1;
}
/*writeDebugStreamLine("irCounter1 : %d", irCounter1);
writeDebugStreamLine("irCounter2 : %d", irCounter2);
writeDebugStreamLine("irCounter3 : %d", irCounter3);
writeDebugStreamLine("pos: %d", pos);*/
switch(pos)
{
//4a. Knock kickstand Down//
case 1:
spinDeg(-5.0);
moveStraight(70.0, 60.0);
spinDeg(-87.0);
moveStraight(70.0, 20.0);
moveStraight(-70.0, 10.0);
break;
//4b. Knock kickstand Down//
case 2:
moveStraight(70.0, 45.0);
spinDeg(-45.0);
moveStraight(70.0, 40.0);
moveStraight(-70.0, 20.0);
break;
//4c. Knock kickstand Down//
case 3:
spinDeg(-45.0);
moveStraight(70.0, 73.0);
spinDeg(45.0);
moveStraight(70.0, 45.0);
moveStraight(-70.0, 20.0);
break;
//4d. Go to goal//
default:
moveStraight(70.0, 61.0);
spinDeg(90.0);
moveStraight(70.0, 61.0);
spinDeg(45.0);
break;
}
//5. Tubes Go Up//
//plateOpen = true;
//intakeDown = true;
//tubesUp = true;
//Edit this sleep variable with the tubesUp timing//
//sleep(6000);
//6. Head Goes Up//
//headUp = true;
while(true){}
}
// Declare Global variables
int main(void) {
// Set up Create and module
initializeCommandModule();
powerOnRobot();
// Is the Robot on
byteTx(CmdStart);
// Start the create
baud(Baud57600);
// Set the baud rate for the Create and Command Module
defineSongs();
// Define some songs so that we know the robot is on.
byteTx(CmdControl);
// Deprecated form of safe mode. I use it because it will
// turn of all LEDs, so it's essentially a reset.
byteTx(CmdFull);
// We are operating in FULL mode.
// Play the reset song and wait while it plays.
byteTx(CmdPlay);
byteTx(RESET_SONG);
delayMs(750);
// Turn the power button on to something.
initializeSensors(); // Sets up sensors.
delayMs(200); // Gives the robot time to process.
allowDriving(); // Enables Driving.
enableOrders(); // Enables driveOrders()
initializePlanner(); // Sets up the planner.
decidePlanState(); // Decide on an initial state of the planner.
disableIntegral(); // Integral term only used for state MAKETURN.
//int16_t speed = DRIVESPEED; // Standard speed.
delayMs(500); // Gives the robot time to process all of the above before continuing.
// Infinite operation loop
while(1) {
compileSensors(); // Build the sensor Struct. Automatic Polling.
decidePlanState();
delayMs(50); // The above operations are time-consuming, so wait.
switch (getPlanState()) {
case FINDWALL:
debugLEDOff();
delayMs(10);
break;
case REPOSITION:
buildInfrared();
buoyLights();
doDocking();
break;
case STOP:
driveOrders(0, 0, 50);
debugLEDOff();
delayMs(10);
break;
default:
debugLEDOff(); // Turn on the lights.
delayMs(10);
break;
}
}
}
