示例#1
0
/* Inits motion library. Basically connects your motor settings
 * to motor driver and inits mutex for FreeRTOS. */
void motion_init (void)
	{
	/* TODO: MUTEX INIT*/
	
	/* Init motors */
	motor_init(&l_motors[0]);
	motor_init(&l_motors[1]);
	
	/* Set current motor acces stationary (free). */
	l_cur_access = MOTION_ACCESS_FREE;
	}
示例#2
0
文件: test_cmos.c 项目: aarzho/k60
int main(int argc, char **argv)
{   
    /* 模块初始化 */
    exc_init();                                          /* 中断初始化 */
    sys_timer_init();                                    /* 系统时钟初始化 */
    light_init();                                        /* LED灯初始化 */
    switch_init();                                       /* 开关初始化 */
    speaker_init();                                      /* 蜂鸣器初始化 */
    motor_init();                                        /* 电机初始化 */
    steer_init();                                        /* 舵机初始化 */
    decoder_init();                                      /* 编码器初始化 */
    serial_initialize((intptr_t)(NULL));                 /* 初始化串口 */
    //sd_init(&Fatfs);                                   /* 初始化SD卡,并创建文件 */
    //sd_create_file(&test_data, test_data_name);
    
    /* 命令注册 */
    help_cmd_initialize((intptr_t)(NULL));
    light_cmd_initialize((intptr_t)(NULL));
    switch_cmd_initialize((intptr_t)(NULL));
    speaker_cmd_initialize((intptr_t)(NULL));
    motor_cmd_initialize((intptr_t)(NULL));
    decoder_cmd_initialize((intptr_t)(NULL));
    control_cmd_initialize((intptr_t)(NULL));
    //sd_cmd_initialize((intptr_t)(NULL));

    printf("\n Welcome to k60 software platform!");
    printf("\n Press 'help' to get the help! \n");
    
    //light_open(LIGHT4); 

    /* ntshell测试 */
    task_ntshell((intptr_t)(NULL));
}
/**********************************************************************//**
*  Purpose	  :  Constructor.  This runs 1 motor.
*  @param 	  :  motor_index [1..8]
*  Return	  :  none
*************************************************************************/
DC_Motor::DC_Motor(byte motor_index) : 
  ForwardDirection( true ),
  Enabled   ( false ),
  MotorIndex( motor_index-1 )
{
	motor_init();
};
示例#4
0
//-------------------------------------------------------------------
// Musicplayer_Init
//-------------------------------------------------------------------
void vInitMusicplayer (void)
{
  // Initialize Audio interface
  EVAL_AUDIO_SetAudioInterface( AUDIO_INTERFACE_I2S );
  EVAL_AUDIO_Init( OUTPUT_DEVICE_BOTH, 60, I2S_AudioFreq_48k );    // Volume 80%, 44Khz samplefrequentie
  Audio_MAL_Play((uint32_t)AUDIO_SAMPLE, sizeof(AUDIO_SAMPLE) );  // Speel stilte, waarover de toongenerator de toon speelt
  EVAL_AUDIO_PauseResume(AUDIO_RESUME);                            // Start met spelen
  
  // Motor init
  motor_init();
  
  // User button init
  GPIO_InitTypeDef GPIO_InitStructure;
  
#if 0
  EXTI_InitTypeDef EXTI_InitStructure;
  NVIC_InitTypeDef NVIC_InitStructure;
#endif 
  
  /* Enable the BUTTON Clock */
  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);

  /* Configure Button pin as input */
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
  GPIO_Init(GPIOA, &GPIO_InitStructure);

#if 0
    /* Connect Button EXTI Line to Button GPIO Pin */
    SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOA, EXTI_PinSource0);

    /* Configure Button EXTI line */
    EXTI_InitStructure.EXTI_Line = EXTI_Line2;
    EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
    EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;  
    EXTI_InitStructure.EXTI_LineCmd = ENABLE;
    EXTI_Init(&EXTI_InitStructure);

    /* Enable and set Button EXTI Interrupt to the lowest priority */
    NVIC_InitStructure.NVIC_IRQChannel = EXTI2_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

    NVIC_Init(&NVIC_InitStructure); 
#endif
  
  
  // Motor test
  // Dit staat hier omdat een van de andere init's niet werkt zonder evdk
  //motor_init();
  //setLedBlink();
  //{int i; for(i=0;i<1000000;i++);}  // Small delay for the motor control board to accept the previous command
  //// Motor ייn rondje
  //SMC_step(1600,1,1000,1);

  
}
示例#5
0
void main(void) {
    char buffer[SCI_BUFSIZ+1] = {0};
    
    // Initialize all nessesary modules
    timer_init();
    SCIinit();
    encoder_init();
    motor_init();
    msleep(16); LCDinit();
    //start_heartbeat();    // Not used, TCNT overflow interrupts causing issues
    
    DDRP |= PTP_PTP0_MASK;  // Set DDR for laser GPIO
    
    // Motors off initially
    motor_set_speed(MOTOR1C, 0);
    motor_set_speed(MOTOR2C, 0);
    
    EnableInterrupts;
    
    LCDclear(); LCDputs("Ready.");
    SCIputs("HCS12 ready to go!");
    
    
    for(EVER) {
        SCIdequeue(buffer);
        cmdparser(buffer);
        memset(buffer, 0, SCI_BUFSIZ+1);    // Clear out the command buffer after each command parsed
        //LCDclear(); LCDprintf("\r%7d  %7d\n%7d  %7d", drive_value1, drive_value2, speed_error1, speed_error2);
    }
}
示例#6
0
void lf_init() {
	motor_init();
	ir_init();
	
	sum = 0;
	previous = 0;
}
示例#7
0
文件: mctl.c 项目: etorri/mctl
int main(void) {
  WDTCTL = WDTPW + WDTHOLD;   // Stop WDT
  // configure the CPU clock (MCLK)
  // to run from SMCLK: DCO @ 16MHz and SMCLK = DCO
  // If no DCO calibration => stop here by loop
  if(CALBC1_16MHZ==0xff)
    while(1)
      _NOP();
  _BIC_SR(GIE);
  DCOCTL = 0;
  BCSCTL1= CALBC1_16MHZ;
  DCOCTL = CALDCO_16MHZ;
  
  clock_init();
  uart_init();
  motor_init();
  protocols_init();
  pwm_init();

  // ----------
  // **action**
  // ----------
  _BIS_SR(GIE);
  
  FOREVER {
    // read input
    input_scanner();
    // handle any pending state changes in motor
    motor_step();
    // send status reports to pi
    reporter();
  }
}
示例#8
0
void init() {
	/**
	 * Setup default pin config:
	 *
	 * 1-16 : Digital Output
	 * 17-32: Digital Input
	 *
	 * Servos on S1 - S12
	 *
	 * Motor control on associated pins
	 */

	out_ports[0] = &PORTF;
	out_ports[1] = &PORTK;
	out_ports[2] = &PORTA;
	out_ports[3] = &PORTC;

	in_ports[0] = &PINF;
	in_ports[1] = &PINK;
	in_ports[2] = &PINA;
	in_ports[3] = &PINC;

	dir_ports[0] = &DDRF;
	dir_ports[1] = &DDRK;
	dir_ports[2] = &DDRA;
	dir_ports[3] = &DDRC;
	
	servo_init();
	motor_init();
}
示例#9
0
void init_all() {
	init();
	motor_init();
	ir_init();
	init_lcd();
	wait();
}
示例#10
0
void brain_run(void)
{
    /* initialize components */
    puts("[brain] initializing front distance sensor...");
    if (srf02_init(&dist_front, CONF_DIST_FRONT_I2C, CONF_DIST_FRONT_ADDR) < 0) {
        puts("[failed]");
        return;
    }

    puts("[brain] initializing back distance sensor...");
    if (srf02_init(&dist_back, CONF_DIST_BACK_I2C, CONF_DIST_BACK_ADDR) < 0) {
        puts("[failed]");
        return;
    }

    puts("[brain] initializing steering servo...");
    if (servo_init(&steering, CONF_STEERING_PWM, CONF_STEERING_PWM_CHAN,
                   CONF_STEERING_MIN, CONF_STEERING_MAX) < 0) {
        puts("[failed]");
        return;
    }
    servo_set(&steering, CONF_STEERING_CENTER);

    puts("[brain] initializing motor driver...");
    if (motor_init(&mot, &mot_params)) {
        puts("[failed]");
        return;
    }

    /* go and have fun */
    puts("[brain] components ready, all up an running!");
    thread_create(stack, sizeof(stack),
                  CONF_PRIO_COL_DETECT, THREAD_CREATE_STACKTEST,
                  colllision_detection, NULL, "col detect");
}
void init()
{
	ResetReason = MCUSR;		
 	cli();
    chip_init ();    				// Chip initialization
	init_leds ();
	delay(1000000);					// ~ 2 sec
	read_cal();						// Read everything including motor stops.	
	// yes can_init() needs MyInstance to be set already for filtering!
	can_init(CAN_250K_BAUD);		/* Enables Mob0 for Reception! */

    // INIT MYINSTANCE:	
	config_init();
	can_instance_init();
	
    set_rx_callback			( can_file_message );
	set_configure_callback	( config_change    );
	sei();

	OS_InitTask();
	pot_init();	
	motor_init ();

	can_prep_instance_request( &msg2, 0xBB );
	can_send_msg( 0, &msg2 );
}
示例#12
0
void r3d2_init(void)
{
	NOTICE(0,"Initializing timer");
	// initialise timer used to get ticks of sensor detection and motor rotation
	timer_init();

	NOTICE(0,"timer1 starting");
	timer1_start();
	
	// initialise port to power on and get signal of the sensor 
	NOTICE(0,"Initializing sensor");	
	init_sensor();
	
	// power on the motor that drive the mirror
	NOTICE(0,"Initializing motor");
	motor_init();

	// first there is no robot detected, neither motor error
	robot_detected_value = robot_not_detected;
	motor_error_value = no_motor_error;

	robot_detected_timout_treshold = eeprom_read_byte(&eep_robot_detected_timout_treshold);
	surface_reflection_ratio = eeprom_read_float((float*)&eep_surface_reflection_ratio);
	robot_detected_angle_offset = eeprom_read_float((float*)&eep_robot_detected_angle_offset); 
	motor_rotating_timout_treshold = eeprom_read_byte(&eep_motor_rotating_timout_treshold);

	motor_rotating_timout_value = motor_rotating_timout_treshold;
	robot_detected_timout_value = 0;
}
示例#13
0
/*
 * Main Loop
 */
int main()
{
    LOG("--------------------------------\r\n");

    /* Unmask interrupt for output compare match A on TC0 */
    timers_setup_timer(TIMER_COUNTER0, TIMER_MODE_CTC, 1000UL);
    TIMSK0 |= (1 << OCIE0A);

    lcd_load_custom_character(degree_symbol, CUSTOM_SYMBOL_DEGREE);

    cli_init();
    motor_init(&g_timers_state);
    log_init();
	scheduler_init(&g_timers_state, g_tasks, COUNT_OF(g_tasks));
	interpolator_init(&g_timers_state);
    sei();

    log_start();

	/* Main Loop: Run Tasks scheduled by scheduler */
	while (1) {
	    int i;
	    for (i = 0; i < 50; i++) {
	        serial_check(); /* needs to be called frequently */
	    }
	    scheduler_service();
	}
}
示例#14
0
void cmdBangBang(void)
{
	motor_init();
	motor_left_stop();
	motor_right_stop();

	motor_left_duty(20);
	motor_right_duty(40);
	motor_left_forward();
	motor_right_forward();
	while(1)
	{
		// start turning left
		motor_left_duty(20);
		motor_right_duty(40);
		myStringPut("Bang Left");
		myNLPut();
		while (line_status() == WHITE) // WHITE
		{
		}
		// Hits Black

		// Turns right
		motor_left_duty(40);
		motor_right_duty(20);

		myStringPut("Bang Right");
		myNLPut();
		while (line_status() == BLACK) // BLACK
		{
		}
	}
}
示例#15
0
int main(){
	
	//initialisation des variable de base
	int cont=1;
	char str[100];
	char chact;
	
	// alocation de la possition de l'evalbot
	evalbot = malloc(sizeof(t_possition));
	evalbot->x =0;
	evalbot->y = 0;
	evalbot->angle =0;
	evalbot->state =WAIT;
	
	//init
	motor_init();
	mess_init();
	bump_init();
	wheel_init();
	
	//on met l'evalbot imobile
	motor_STOP();
	
	while(cont){
		//get un message
		chact = mess_get();
		
		//fait l'action
		actionInt(chact);
		
		// detecte si l'evalbot n' a pas de PB
		if(evalbot->state != PB){
			//regarde l'ordre
			switch(chact){
				// envoie une info
				case 'i':	
				sprintf(str,"!POS:x:%4i y:%4i a:%4i",
					evalbot->x,
					evalbot->y,
					evalbot->angle);
					mess_setString(str,24);
				break;
				
				// met pause
				case 'p':	
					motor_STOP();
				break;
			}
			
			}
		
		
			/*
			tout les autres comportement sont geré 
			par les interuptions
			*/			
	}

}
示例#16
0
int main(void)
{
  motor_init();
  //while(1)
  //  rotazione1();
    
  // Initialize system upon power-up.
  serial_init();   // Setup serial baud rate and interrupts

  /*while(true) {
    serial_write('A');
    serial_write('B');
    serial_write('C');
  }*/
  
  //settings_init(); // Load grbl settings from EEPROM
  stepper_init();  // Configure stepper pins and interrupt timers
  system_init();   // Configure pinout pins and pin-change interrupt
  
  memset(&sys, 0, sizeof(sys));  // Clear all system variables
  sys.abort = true;   // Set abort to complete initialization
  //sei(); // Enable interrupts

  // Check for power-up and set system alarm if homing is enabled to force homing cycle
  // by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
  // startup scripts, but allows access to settings and internal commands. Only a homing
  // cycle '$H' or kill alarm locks '$X' will disable the alarm.
  // NOTE: The startup script will run after successful completion of the homing cycle, but
  // not after disabling the alarm locks. Prevents motion startup blocks from crashing into
  // things uncontrollably. Very bad.
  #ifdef HOMING_INIT_LOCK
    if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
  #endif

  // Grbl initialization loop upon power-up or a system abort. For the latter, all processes
  // will return to this loop to be cleanly re-initialized.
  for(;;) {

    // TODO: Separate configure task that require interrupts to be disabled, especially upon
    // a system abort and ensuring any active interrupts are cleanly reset.
  
    // Reset Grbl primary systems.
    serial_reset_read_buffer(); // Clear serial read buffer
    //spindle_init();
    //coolant_init();
    //limits_init(); 
    //probe_init();
    st_reset(); // Clear stepper subsystem variables.

    // Reset system variables.
    sys.abort = false;
    sys.execute = 0;
          
    // Start Grbl main loop. Processes program inputs and executes them.
    protocol_main_loop();
    
  }
  return 0;   /* Never reached */
}
示例#17
0
文件: avr.c 项目: ddolddoly/hknu2015
void init() {
	timer_init();
	motor_init();
	uart_init();
	queue_init();
	ultrasonic_init();
	sei();
}
示例#18
0
文件: Lab5.c 项目: cucucachu/CPE416
void all_init() {
	init();
	ir_init();
	init_lcd();
	motor_init();
	wait();
	
}
示例#19
0
int main(void) 
 {  
	_delay_ms(100);	
	LCD_Initalize();
	LCD_WriteText("Anal Intruder 1");
	LCD_GoTo(0, 1);
	LCD_WriteText("8=======D (.)(.)");
	pad_init();
	motor_init();
	brzeczyk_init();
	sensors_init();
	sei();
	play(power, 11);
	
   while(1)
   {     		
		while(!pad_get_state()) // sprawdzenie po³¹czenia z padem
		{
			m1_stop();
			m2_stop();
			LCD_Clear();
			LCD_WriteText("Pad conn error!");
			LCD_GoTo(0, 1);
			LCD_WriteText("Reconnecting...");			
			_delay_ms(500);
			pad_init();
			tryb = 0;
			lcd_old = -1;
			motor_lcd = false;
		}

		lcd_tryb();
		switch(tryb)
		{
			case 0:				
				if(!(tab[4] & (1 << 4))) // jeœli wciœniêty trojkat
					tryb = 1;
				else if(!(tab[4] & (1 << 5))) // jeœli wciœniête jest kolko
					tryb = 2;
				break;			
			case 1:	
				pad_loop();
				break;
			case 2:		
				sensors_loop();				
				break;			
		}
		
		if(!(tab[3] & (1 << 3)))
		{		// jeœli wciœniêty start
			tryb = 0;
			m1_stop();
			m2_stop();
			srednia = 0;
		}
   }  
 }
示例#20
0
文件: motor.c 项目: elleveldy/byggern
//MOTOR SPEED NEEDS TO BE TUNED FOR INDIVIDUAL GAME BOARD
void motor_controller_calibrate_by_reset(){
	
	uint8_t speed = 65;
	
	motor_init();
	
	uint16_t position;
	uint16_t prev_position;
	
	motor_speed(speed);
	motor_direction(right);
	_delay_ms(150);
	
	position =  motor_encoder_read();
	
	//go right until stopped, then set encoder to zero
	while(position != prev_position){
		
		
		position =  motor_encoder_read();
		_delay_ms(100);
		prev_position = position;
		position = motor_encoder_read();
		printf("position: %u\tPrev: %u\n", position, prev_position);

		
	}
	motor_encoder_reset();
	
	motor_speed(speed);
	motor_direction(left);
	_delay_ms(150);
	
	//go left until stopped, set max left to current position
	do{
		
		
		position =  motor_encoder_read();
		_delay_ms(100);
		prev_position = position;
		position = motor_encoder_read();
		printf("position: %d\n", position);
		
		
	} while(position != prev_position);
	
	max_left = position;
	motor_speed(0);
	
	motor_speed(speed);
	motor_direction(right);
	_delay_ms(100);
	while(motor_encoder_read() > 4500){
		_delay_ms(100);
	}
}
示例#21
0
int main(void)
{
	struct heading result;
	/*u08 k=0;
	u08 b=0;
	u08 choice=0;
	u08 button=0;*/
	u08 ir=0;
	u08 i=0;

	x = 64;
	y = 48;
	initialize();
	motor_init();
	servo_init();
	set_motor_power(0,0);
	set_motor_power(1,0);
	set_motor_power(2,0);
	set_motor_power(3,0);
	compass_init();
	sonar_init();

	calCompass();
	while(1)
	{
		clear_screen();
		result = compass();

		/* use calibration data */
		result.x -= compZero.x;
		result.y -= compZero.y;

		print_string("x ");     /*  2 */
		print_int(result.x);    /*  3 */
		print_string(" y ");    /*  3 */
		print_int(result.y);    /*  3 */
		/* print_string(" s ");  */ /*  3 */
		/* print_int(getSonar(0)); */ /*  3 */
					 /*  =17 */
		next_line();
		/* print_string("a "); */ /*  2 */
		/* print_int(IR(0)); */ /*  3 */
		/* print_string(" b "); */ /*  3 */
		/* print_int(analog(1)); */ /*  3 */
		/* print_string(" c "); */ /*  3 */
		/* print_int(analog(2)); */ /*  3 */
		/* print_int(i++); */ /*  =17 */
		/* print_int(distance(0));
		print_string(" "); */
		print_int(sizeof(int));
		delay_ms(200);
		/* print_int(i);
		i=sweep(); */

	}
}
示例#22
0
int main(void)
{

	lb_init(&lb);
	event_init();
	motor_init();
	uart_init(); 	// init USART
	enc_init();
	i2c_init();
	adc_init();
	kalman_init();
	sei();  		// enable interrupts


	// Wait a second at startup
	_delay_ms(1000);

	// send initial string
	printf_P(PSTR("Hello world!\n"));
	imu_init();

	for (;/*ever*/;)
	{
//		ADCSRA |= (1<<ADSC);								// Set start conversion bit and wait for conversion to finish
//		while(ADCSRA&(1<<ADSC));

//		OCR1AL = ADCH;										// Set ADC reading to timer 0 compare

		if(event_pending())
		{
			event_action();
		}
		else // No pending operation, do low priority tasks
		{
			// dequeue receive buffer if any bytes waiting
			while (uart_avail())
			{
				char c = uart_getc();
				if (lb_append(&lb, c) == LB_BUFFER_FULL)
				{
					lb_init(&lb); // Clear line
					printf_P(PSTR("\nMax line length exceeded\n"));
				}
				// Process command if line buffer is ready ...
				if (lb_line_ready(&lb))
				{
					strcpy(cmd_string,lb_gets(&lb));
					do_cmd(cmd_string);
					lb_init(&lb);
				}
			}
		}
		// Process command if line buffer is terminated by a line feed or carriage return
	}
	return 0;
}
示例#23
0
void ICACHE_FLASH_ATTR
motor_object_init() {
	motor_init();
	pando_object motor_object = {
		1,
		motor_object_pack,
		motor_object_unpack,
	};
	register_pando_object(motor_object);
}
示例#24
0
文件: main.c 项目: jmesmon/avrbits
static inline void init(void)
{
	power_all_disable();
	debug_led_init();
	clock_prescale_set(clock_div_1);
	spi_io_init();
	adc_init();
	motor_init();
	sei();
}
示例#25
0
文件: main.c 项目: pren-et/bldc
void init(void)
{
    hardware_lowlevel_init();
    rtc_init_flag();
    spi_drv_init();
    spi_ext_init();
    drv8301_init();
    pid_init();
    commutate_init();
    motor_init();
    EnableInterrupts;               // enable Interrupts
}
void
motor_module_init()
{
	motor_init();

	struct module_stru temp;
	temp.module_head = MOD_MOTOR_HEAD;
	temp.count_tasks = 1;
	temp.dispatch = motor_dispatch;
	temp.taks_init[0] = motor_task_init;
	module_addtolist(temp, MOD_MOTOR_HEAD);
}
示例#27
0
文件: main.cpp 项目: teamon/sumocpp
void init(){
  led_init();
  motor_init();
  switch_init();
  ground_init();
  dist_init();
  servo_init();
  if(DEBUG) usart_init();

  motor1 = Motor(&OCR1A, &MOTOR1_DIR_PORT, MOTOR1_DIR_PIN, MAX_POWER);
  motor2 = Motor(&OCR1B, &MOTOR2_DIR_PORT, MOTOR2_DIR_PIN, MAX_POWER);
}
示例#28
0
void wheel_init (void)
{
	pid_enable = TRUE; /* default enable PID */

	encoder_init(); /* initialize tacho encoders */
	motor_init(); /* initialize PWM */

	motor_set_param (WHEEL_LEFT, pid_interval*10, 1, 0, 0); /* dT=100ms, Kp=1 Ki=0, Kd=0 */
	pid_int_init (&pid_l); /* initialize PID controller (left) */

	motor_set_param (WHEEL_RIGHT, pid_interval*10, 1, 0, 0); /* dT=100ms, Kp=1 Ki=0, Kd=0 */
	pid_int_init (&pid_r); /* initialize PID controller (right) */
}
示例#29
0
void init(void){
	NUMBER_OF_PACKETS = 0;
	TIMER_OVERFLOW = 0;
	uart_init(UART_BAUD_SELECT(MASTER_UART_BAUD_RATE, F_CPU ));
	//All initiialization is to be done here.
	softuart_init(PORT_1);
	softuart_init(PORT_2);

	adc_init();

	sei();
	motor_init(); // enable motors after both soft uart ports are enabled.
	timer_init();
}
int main(void)
{
    DDRC |= 1<<LED2;
    DDRC |= 1<<LED3;
    init_TWI();
    motor_init();
    sei();
    while(1)
    {
        if(new_cmd_flag){
            process_cmd(cmd_buf);
        }
    }
}