root / trunk / code / projects / object_manipulation / obj_detect_swarm / main.c.txt @ 1899
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1 | 746 | bneuman | #include <inttypes.h> |
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2 | #include <avr/interrupt.h> |
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3 | #include "serial.h" |
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4 | #include "timer.h" |
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5 | #include "analog.h" |
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6 | #include <stdlib.h> |
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7 | #include "delay.h" |
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8 | #include "servo.h" |
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9 | #include "motor.h" |
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10 | |||
11 | #define __STDIO_FDEVOPEN_COMPAT_12 |
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12 | #include <stdio.h> |
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13 | |||
14 | extern int16_t error_global; |
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15 | extern uint16_t mot_global; |
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16 | |||
17 | |||
18 | /** @brief Main function - initializes and then runs a simple button controlled |
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19 | * test. |
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20 | */ |
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21 | int main(void) |
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22 | { |
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23 | |||
24 | uint16_t angle; |
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25 | uint16_t pyro_reading; |
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26 | |||
27 | analog_init(); |
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28 | |||
29 | servo_init(); |
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30 | angle = 8000; |
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31 | |||
32 | motor_init(); |
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33 | |||
34 | timer_init(); |
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35 | |||
36 | serial_init(BAUD9600); |
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37 | |||
38 | // Make the LED an output |
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39 | DDRG |= _BV(PG2); |
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40 | |||
41 | DDRE |= _BV(PE6); |
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42 | |||
43 | fdevopen(&serial_putchar, &serial_getchar, 0); |
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44 | |||
45 | // Enable interrupts |
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46 | sei(); |
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47 | |||
48 | delay_ms(2000); |
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49 | |||
50 | motor_set(1,255,1); |
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51 | |||
52 | delay_ms(2000); |
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53 | |||
54 | motor_set(1,0,1); |
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55 | while (1) |
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56 | { |
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57 | pyro_reading = analog8(1); |
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58 | printf("Pyro = %3u\r\n", pyro_reading); |
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59 | if (pyro_reading > 133) |
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60 | { |
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61 | angle = angle - 500; |
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62 | if (angle < 1000) |
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63 | angle = 1000; |
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64 | servo_set_angle(angle); |
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65 | } |
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66 | else if (pyro_reading < 100) |
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67 | { |
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68 | angle = angle + 500; |
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69 | if (angle > 15000) |
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70 | angle = 15000; |
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71 | servo_set_angle(angle); |
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72 | } |
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73 | //printf("Knob = %3u\t", analog8(6)); |
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74 | //printf("Accel0 = %3u\t", analog8(1)); |
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75 | //printf("Accel1 = %3u\t", analog8(2)); |
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76 | //printf("Gyro = %3u\r\n", analog8(0)); |
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77 | |||
78 | delay_ms(200); |
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79 | |||
80 | |||
81 | } |
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82 | } |