/**
* ROS callback for the led service. Forwards the request to the
* board managing the leds.
*/
bool LedParser::redLedCallback(Echoes::FixedLed::Request& request,
Echoes::FixedLed::Response& response)
{
toggleRed(request.numOn);
response.requestSuccessful = true;
return true;
}
int main(void)
{
unsigned int i = 0;
// Clock (80MHz)
SysCtlClockSet(SYSCTL_SYSDIV_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ | SYSCTL_OSC_MAIN);
// GPIO
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1 | GPIO_PIN_2);
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1, 0);
// UART (Serial)
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
UARTConfigSetExpClk(UART0_BASE, SysCtlClockGet(), 115200, (UART_CONFIG_PAR_NONE | UART_CONFIG_STOP_ONE | UART_CONFIG_WLEN_8));
UARTEnable(UART0_BASE);
UARTFIFODisable(UART0_BASE);
/*I2CInit();
// PCA9557
i2c_buff[0] = 0x03;
i2c_buff[1] = 0x00; // 0: Output 1: Input
I2CWrite(0x18, i2c_buff, 2); // IO Direction
i2c_buff[0] = 0x02;
i2c_buff[1] = 0x00;
I2CWrite(0x18, i2c_buff, 2); // IO Polarity
i2c_buff[0] = 0x01;
i2c_buff[1] = 0x8F;
I2CWrite(0x18, i2c_buff, 2); // Output H/L
*/
//initLEDs();
//initMotors();
//initEncoders();
initServos();
//initBluetooth();
//invertMotor(0);
//invertMotor(1);
//invertEncoder(0);
// Do some tests
//setMotor(0, 0.85);
//setMotor(1, 0.85);
setServoLimits(5, 0.35, 0.85);
// Enable Interrupts
IntMasterEnable();
while(1)
{
//for(i=0; i<12; i++)
//{
setServo(5, 0.0);
toggleRed();
SysCtlDelay(SysCtlClockGet());
// printf("%d\r\n", i*5);
setServo(5, 0.6);
toggleRed();
SysCtlDelay(SysCtlClockGet());
//}
// LED On
/* toggleRed();
printf("0:% 6ld 1:% 6ld\r\n", readEnc(0), readEnc(1));
SysCtlDelay(SysCtlClockGet() / 3 / 5);
if (i == 10) // 5 Seconds
{
i2c_buff[0] = 0x01;
i2c_buff[1] = 0x0F | 0x00;
I2CWrite(0x18, i2c_buff, 2); // Output H/L
}
i++;
*/
/*I2CMasterSlaveAddrSet(I2C0_BASE, 0x18, false); // Set Outputs Directions
I2CMasterDataPut(I2C0_BASE, 0x01);
I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_START);
while(I2CMasterBusy(I2C0_BASE));
I2CMasterDataPut(I2C0_BASE, 0x00);
I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_FINISH);
while(I2CMasterBusy(I2C0_BASE));
I2CMasterSlaveAddrSet(I2C0_BASE, 0x18, false); // Set Outputs Directions
I2CMasterDataPut(I2C0_BASE, 0x01);
I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_START);
while(I2CMasterBusy(I2C0_BASE));
I2CMasterDataPut(I2C0_BASE, 0xF0);
I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_FINISH);
while(I2CMasterBusy(I2C0_BASE));
*/
//UART1Write("A\r\n", 3);
//UARTCharPut(UART1_BASE, 'B');
//UART1WriteChar(UARTCharGet(UART0_BASE));
/*
for (i=0; i<8; i++)
{
unsigned char tmp;
i2c_buff[0] = 0x84 | (i << 4);
I2CWrite(0x48, i2c_buff, 1);
if (I2CMasterErr(I2C0_BASE))
printf("Err: %d\r\n", (unsigned int) I2CMasterErr(I2C0_BASE));
I2CRead(0x48, &tmp, 1);
if (I2CMasterErr(I2C0_BASE))
printf("Err: %d\r\n", (unsigned int) I2CMasterErr(I2C0_BASE));
printf("% 3d ", tmp);
}*/
/* toggleRed();
for(i=0; i<=100; i++)
{
setMotor(0, 0.01 * i);
setMotor(1, 0.01 * i);
setMotor(2, 0.01 * i);
setMotor(3, 0.01 * i);
printf("%d\r\n", i);
SysCtlDelay(SysCtlClockGet() / 3 / 100);
}
toggleRed();
for(; i>0; i--)
{
setMotor(0, 0.01 * i);
setMotor(1, 0.01 * i);
setMotor(2, 0.01 * i);
setMotor(3, 0.01 * i);
printf("%d\r\n", i);
SysCtlDelay(SysCtlClockGet() / 3 / 100);
}*/
//printf("%d\r\n", (unsigned int) (((ADCRead(3) >> 4) - 45) * 0.45));
//setServo(0, (((ADCRead(3) >> 4) - 45) * 0.45) / 100.0);
/*
I2CMasterSlaveAddrSet(I2C0_BASE, 0x18, false); // Set Outputs Directions
I2CMasterDataPut(I2C0_BASE, 0x01);
I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_START);
while(I2CMasterBusy(I2C0_BASE));
if (GPIOPinRead(GPIO_PORTF_BASE, GPIO_PIN_4) == 0)
I2CMasterDataPut(I2C0_BASE, 0x80);
else
I2CMasterDataPut(I2C0_BASE, 0x70);
I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_FINISH);
while(I2CMasterBusy(I2C0_BASE));*/
/*I2CMasterSlaveAddrSet(I2C0_BASE, 0x18, false);
I2CMasterDataPut(I2C0_BASE, 0x00);
I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_SINGLE_SEND);
while(I2CMasterBusy(I2C0_BASE));
I2CMasterSlaveAddrSet(I2C0_BASE, 0x18, true);
I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_SINGLE_RECEIVE);
while(I2CMasterBusy(I2C0_BASE));
if( (I2CMasterDataGet(I2C0_BASE) & 0x01) != 0)
toggleBlue();*/
}
}
void toggleAll()
{
toggleRed();
toggleGreen();
}
