int main(void){ SYSTEMConfigPerformance(40000000); initTimer1(); initTimer3(); initPWM(); #ifdef PWM setPwm3(100); setPwm1(0); delayUs(100000); setPwm4(100); setPwm2(0); #endif #ifdef run initADC(); initLCD(); clearLCD(); writeLCD(0b00001111, 0, 50); // enableInterrupts(); disableInterrupts(); while(1){ clearLCD(); IFS0bits.AD1IF = 0; // reset adc thing while(AD1CON1bits.SSRC == 0 ); ADCBufferValue = ADC1BUF0; // get buffer value printVoltage(ADCBufferValue); delayUs(100000); // wait one second leftMotorForward(50); delayUs(100000); // wait one second delayUs(100000); // wait one second rightMotorForward(50); delayUs(100000); // wait one second } #endif return 0; }
void moveRobotLeft() { rightMotorForward(); }
void moveRobotSharpLeft() { rightMotorForward(); leftMotorBackwards(); }
void moveRobotForward() { leftMotorForward(); rightMotorForward(); }
void moveForward() { leftMotorForward(); rightMotorForward(); }
void leftTurn() { leftMotorBackward(); rightMotorForward(); }
void turnRobotLeft(){ leftMotorBackward(); rightMotorForward(); }
void turnRobotLeft() { leftMotorReverse(); rightMotorForward(); }
void rightMotorStop(){ rightMotorForward(0); }