Colony

#include <inttypes.h>

#include <avr/interrupt.h>

#include "serial.h"

#include "timer.h"

#include "analog.h"

#include <stdlib.h>

#include "delay.h"

#include "servo.h"

#include "motor.h"

#define __STDIO_FDEVOPEN_COMPAT_12

#include <stdio.h>

extern int16_t error_global;

extern uint16_t mot_global;

/** @brief Main function - initializes and then runs a simple button controlled

 *	test.

 */

int main(void)

{

	uint16_t angle;

	uint16_t pyro_reading;

	analog_init();

	servo_init();

	angle = 8000;

	motor_init();

	timer_init();

	serial_init(BAUD9600);

	// Make the LED an output

	DDRG |= _BV(PG2);

	DDRE |= _BV(PE6);

	fdevopen(&serial_putchar, &serial_getchar, 0);

	// Enable interrupts

	sei();

	delay_ms(2000);

	motor_set(1,255,1);

	delay_ms(2000);

	motor_set(1,0,1);

	while (1)

	{

		pyro_reading = analog8(1);

		printf("Pyro =   %3u\r\n", pyro_reading);

		if (pyro_reading > 133)

		{

			angle = angle - 500;

			if (angle < 1000)

				angle = 1000;

			servo_set_angle(angle);

		}

		else if (pyro_reading < 100)

		{

			angle = angle + 500;

			if (angle > 15000)

				angle = 15000;

			servo_set_angle(angle);

		}		

		//printf("Knob =   %3u\t", analog8(6));

		//printf("Accel0 = %3u\t", analog8(1));

		//printf("Accel1 = %3u\t", analog8(2));

		//printf("Gyro =   %3u\r\n", analog8(0));

		delay_ms(200);

	}

}