root / branches / autonomous_recharging / code / projects / autonomous_recharging / dragonfly / main.c @ 213
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1 | 105 | bcoltin | #include <dragonfly_lib.h> |
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2 | 116 | bcoltin | #include <wireless.h> |
3 | #include <wl_token_ring.h> |
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4 | 198 | bcoltin | #include <rangefinder.h> |
5 | 213 | bcoltin | #include "smart_run_around_fsm.h" |
6 | 105 | bcoltin | |
7 | 116 | bcoltin | #include "recharge.h" |
8 | |||
9 | 213 | bcoltin | void do_nothing2(void) {} |
10 | int get_nothing2(void) {return 0;} |
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11 | |||
12 | 105 | bcoltin | int main(void) |
13 | { |
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14 | 138 | bcoltin | dragonfly_init(ALL_ON); |
15 | 116 | bcoltin | usb_puts("Initializing wireless.\n");
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16 | 198 | bcoltin | range_init(); |
17 | orb_enable(); |
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18 | 116 | bcoltin | wl_init(); |
19 | 210 | bcoltin | wl_set_channel(0xA);
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20 | 137 | bcoltin | //orb_set_color(YELLOW);
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21 | 116 | bcoltin | wl_token_ring_register(); |
22 | 213 | bcoltin | wl_token_ring_set_bom_functions(do_nothing2, do_nothing2, get_nothing2); |
23 | 116 | bcoltin | wl_token_ring_join(); |
24 | usb_puts("Wireless initialized.\n");
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25 | recharge_init(); |
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26 | usb_puts("Recharging initialized.\n");
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27 | 213 | bcoltin | //run_around_init();
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28 | 116 | bcoltin | while (1) |
29 | { |
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30 | wl_do(); |
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31 | int charging = recharge_do();
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32 | if (!charging)
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33 | { |
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34 | 213 | bcoltin | analog8(IR5); |
35 | //run_around_FSM();
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36 | 116 | bcoltin | } |
37 | } |
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38 | |||
39 | 105 | bcoltin | return 0; |
40 | } |