/paintboard/code/main.c - Annotate - Colony Scout EE - Robotics Club

root / paintboard / code / main.c @ 11c945d9

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1	4319e0bc	Tom Mullins	#include "twi.h"
2			#include "motor.h"
3	351481ed	Tom Mullins	#include "servo.h"
4			#include "sol.h"
5	11c945d9	Julian Binder	#include "geiger.h"
6	4319e0bc	Tom Mullins	#include <avr/io.h>
7			#include <avr/interrupt.h>
8	d9b50611	Tom Mullins	#include <util/delay.h>
9	4319e0bc	Tom Mullins
10			#define TRACKING_ID 0x43
11			#define SERIAL_NUMBER 0x12
12
13			// indicies for paintboard internal data
14			#define PAINT_TRACKING_ID 0 // ro
15			#define PAINT_SERIAL_NUMBER 1 // ro
16			#define PAINT_MOTOR_A 2 // r/w
17			#define PAINT_MOTOR_B 3 // r/w
18			#define PAINT_SERVO_A 4 // r/w
19			#define PAINT_SERVO_B 5 // r/w
20			#define PAINT_12V_1 6 // r/w
21			#define PAINT_12V_2 7 // r/w
22			#define PAINT_12V_3 8 // r/w
23			#define PAINT_12V_4 9 // r/w
24	1af81271	Julian Binder	#define PAINT_INPUT_1 10 //ro
25			#define PAINT_INPUT_2 11 //ro
26			#define PAINT_INPUT_3 12 //ro
27	4319e0bc	Tom Mullins
28	1af81271	Julian Binder
29			#define PAINT_DATA_LEN 13
30
31	d9b50611	Tom Mullins	#define METAL_DETECT PD5
32	4319e0bc	Tom Mullins
33			uint8_t internal_index = 0;
34			uint8_t internal_data[PAINT_DATA_LEN] = {
35			TRACKING_ID,
36			SERIAL_NUMBER,
37			0,
38			0,
39			0,
40			0,
41			0,
42			0,
43			0,
44	c874b753	Tom Mullins	0,
45			0,
46			0,
47	4319e0bc	Tom Mullins	0
48			};
49
50			void slave_rx(uint8_t* data, int len)
51			{
52			uint8_t value;
53			if (len > 0 && data[0] < PAINT_DATA_LEN)
54			{
55			internal_index = data[0];
56			if (len > 1 && internal_index > 1)
57			{
58			value = data[1];
59			internal_data[internal_index] = value;
60			switch (internal_index) {
61			case PAINT_MOTOR_A:
62	351481ed	Tom Mullins	set_motor1(value);
63	4319e0bc	Tom Mullins	break;
64			case PAINT_MOTOR_B:
65	351481ed	Tom Mullins	set_motor2(value);
66	4319e0bc	Tom Mullins	break;
67			case PAINT_SERVO_A:
68	351481ed	Tom Mullins	set_servo1(value);
69	4319e0bc	Tom Mullins	break;
70			case PAINT_SERVO_B:
71	351481ed	Tom Mullins	set_servo2(value);
72	4319e0bc	Tom Mullins	break;
73			case PAINT_12V_1:
74	351481ed	Tom Mullins	set_sol1(value);
75	4319e0bc	Tom Mullins	break;
76			case PAINT_12V_2:
77	351481ed	Tom Mullins	set_sol2(value);
78	4319e0bc	Tom Mullins	break;
79			case PAINT_12V_3:
80	351481ed	Tom Mullins	set_sol3(value);
81	4319e0bc	Tom Mullins	break;
82			case PAINT_12V_4:
83	351481ed	Tom Mullins	set_sol4(value);
84	4319e0bc	Tom Mullins	break;
85			}
86			}
87			}
88			}
89
90			void slave_tx(void)
91			{
92			twi_transmit(&internal_data[internal_index], 1);
93			internal_index++;
94			if (internal_index >= PAINT_DATA_LEN)
95			internal_index = 0;
96			}
97
98			int main()
99			{
100			sei();
101			twi_attachSlaveRxEvent(slave_rx);
102			twi_attachSlaveTxEvent(slave_tx);
103			twi_setAddress(TRACKING_ID);
104			twi_init();
105	11c945d9	Julian Binder	geiger_init();
106	4319e0bc	Tom Mullins	motor_init();
107	c874b753	Tom Mullins	servo_init();
108	4319e0bc	Tom Mullins	while (1)
109			{
110	11c945d9	Julian Binder	geiger_tick();
111			internal_data[PAINT_INPUT_2] = geiger_rate();
112	1af81271	Julian Binder	internal_data[PAINT_INPUT_1] = !(!(_BV(METAL_DETECT) & PIND));
113	d9b50611	Tom Mullins	if (internal_data[PAINT_INPUT_1]) {
114			set_servo1(-128);
115	fcddafaf	Julian Binder	set_motor1(0);
116			set_motor2(0);
117	d9b50611	Tom Mullins	} else {
118			set_servo1(127);
119	fcddafaf	Julian Binder	set_motor1(127);
120			set_motor2(127);
121	d9b50611	Tom Mullins	}
122			servo_pulse();
123			_delay_ms(20);
124	4319e0bc	Tom Mullins	}
125			return 0;
126			}

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root / paintboard / code / main.c @ 11c945d9