int main(void)
{
m_clockdivide(0);
m_bus_init();
yes = m_port_init(ADDR);
int flag = 0;
set(DDRD,7);
m_port_set(ADDR,DDRH,7);
while(1)
{
if (yes){
clear(PORTD,7);
}
else {
set(PORTD,7);
}
m_wait(500);
if (flag == 0) {
m_green(TOGGLE);
m_port_set(ADDR,PORTH,7);
set(PORTD,7);
flag = 1;
} else {
m_port_clear(ADDR,PORTH,7);
clear(PORTD,7);
flag = 0;
}
}
}
int main(void)
{ m_clockdivide(0);
m_bus_init();
m_usb_init();
m_rf_open(CHANNEL,RXADDRESS,LENGTH);
m_wii_open();
sei();
OCR1A = 31999;
OCR1B = 0;
OCR1C = 0;
m_disableJTAG();
clear(ADMUX,REFS1); // Setting the reference voltage for the ADC to Vcc
set(ADMUX,REFS0); // ^
set(ADCSRA,ADPS2); // set ADC prescaler to 128
set(ADCSRA,ADPS1); // ^
set(ADCSRA,ADPS0); //^
set(DIDR0,ADC0D); // disable digital on F0 (ADC0)
set(DIDR0,ADC1D); // disable digital to F1
set(DIDR0,ADC4D); //disable digital to F4
set(DIDR0,ADC5D); //disable digital to F5
set(DIDR0,ADC6D); //disable digital to F6
set(DIDR0,ADC7D); //disable digital to F7
set(ADMUX,REFS0); // set ADC reference to Vcc
set(ADCSRA,ADIE); //Enables interrups when conversion finishes
// clear(ADMUX,MUX2); // This is the front right. Range 50-1023. Port is F1
// set(ADMUX,MUX0);
set(TCCR1B,WGM13); // Mode 15: up to OCR1A, PWM, single slope
set(TCCR1B,WGM12); // ^
set(TCCR1A,WGM11); // ^
set(TCCR1A,WGM10); // ^
set(TCCR1A,COM1B1); //clear at OCR1B, set at rollover
clear(TCCR1A,COM1B0); // ^
set(TCCR1A,COM1C1); // clear at OCR1C, set at rollover
clear(TCCR1A,COM1C0);
clear(TCCR1B,CS12); // set clock pre-scaler to /1
clear(TCCR1B,CS11); // ^
set(TCCR1B,CS10); // ^
m_port_init(0x20); // Initializes the port expander and sets all of the G pins as outputs
m_port_set(0x20, DDRG,0);
m_port_set(0x20, DDRG,1);
m_port_set(0x20, DDRG,2);
m_port_set(0x20, DDRG,3);
m_port_set(0x20, DDRG,4);
m_port_set(0x20, DDRG,5);
m_port_set(0x20, DDRG,6);
m_port_set(0x20, DDRG,7);
clearDisplay();
// Set motor output ports
set(DDRB,6);
set(DDRB,7);
set(DDRB,5);
set(DDRB,3);
// Turn off motors
clear(PORTB,6);
clear(PORTB,7);
set(ADCSRA,ADEN); // enable ADC subsystem
set(ADCSRA,ADSC); // start ADC conversion
while(1){
switch(state){
case COMM:
commtestf();
break;
case PAUSE:
pausef();
break;
case PLAY:
playf();
localizef();
defendf();
//puckfindf();
break;
case GOTOGOAL:
gotogoalf();
case HALFTIME:
pausef();
break;
case GOALA:
pausef();
break;
case GOALB:
pausef();
break;
case GAMEOVER:
pausef();
break;
default:
break;
}
defendf();
m_usb_tx_int(photo1);
m_usb_tx_string(" ");
m_usb_tx_int(photo2);
m_usb_tx_string(" ");
m_usb_tx_int(photo3);
m_usb_tx_string(" ");
m_usb_tx_int(photo4);
m_usb_tx_string(" ");
m_usb_tx_int(photo5);
m_usb_tx_string("\n");
}
}
