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MAIN3.c
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MAIN3.c
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/*
* DONT TOUCH
* Author : Jesus Gallegos
*/
#include <avr/io.h>
#include "m_general.h"
#include "m_bus.h"
#include "m_rf.h"
#include "LOCOlization.h"
#include "m_wii.h"
#include "m_usb.h"
#include "motor_driver.h"
#include "ADC_lib.h"
#include "moving_average.h"
#include "mrf_lib.h"
#include "follow_puck.h"
#define CHANNEL 1
#define RXADDRESS 0x1C
#define PACKET_LENGTH 10
unsigned char buffer1[PACKET_LENGTH];
volatile int testing;
int main(void)
{
m_disableJTAG();
m_red(ON);
m_clockdivide(0); // clock speed 16 MHz
sei(); // enable global interrups
// initialize m_bus communications
// start wireless communications
// and open wii camera
m_bus_init();
m_wii_open();
m_usb_init();
m_rf_open(CHANNEL, RXADDRESS, PACKET_LENGTH);
setup(); // motor setup
ADC_setup();
int position[3]; // array for robot position
int x_curr;
int y_curr;
int theta_curr;
int i;
int a;
int x_pos[11];
int y_pos[11];
int theta[11];
// main LOOP
while(1)
{
// for (i=0; i < 11; i++)
// {
// current_location(position);
// x_pos[i] = position[0];
// y_pos[i] = position[1];
// theta[i] = position[2];
// }
// // calculate positions
// filter(x_pos,y_pos,theta);
// x_curr = x_pos[11];
// y_curr = y_pos[11];
// theta_curr = theta[11];
// Read in values
// ADC0();
// int D6 = ADC;
//
// ADC1();
// int F1 = ADC;
//
// ADC4();
// int F4 = ADC;
//
// ADC5();
// int F5 = ADC;
//
// ADC6();
// int F6 = ADC;
//
// ADC7();
// int F7 = ADC;
//
// ADC8();
// int D7 = ADC;
//
follow_puck();
m_green(TOGGLE);
// // usb prinitng
// m_usb_tx_string("D6: ");
// m_usb_tx_int(D6);
// m_usb_tx_string(" ");
// m_usb_tx_string("F1: ");
// m_usb_tx_int(F1);
// m_usb_tx_string(" ");
// m_usb_tx_string("F4: ");
// m_usb_tx_int(F4);
// m_usb_tx_string(" ");
// m_usb_tx_string("F5: ");
// m_usb_tx_int(F5);
// m_usb_tx_string(" ");
// m_usb_tx_string("F6: ");
// m_usb_tx_int(F6);
// m_usb_tx_string(" ");
// m_usb_tx_string("F7: ");
// m_usb_tx_int(F7);
// m_usb_tx_string(" ");
// m_usb_tx_string("D7: ");
// m_usb_tx_int(D7);
// m_usb_tx_string(" ");
// m_usb_tx_string("\n");
a = state(buffer1);
a = 2;
// COMM TEST
if (a == 1)
{
// ADD CODE
}
// PLAY
if (a == 2) {
}
// PAUSE, HALF TIME, GAME OVER
if (a == 5 || a == 6 || a == 7)
{
// STOP ROBOT
turn_robot(0,0,0,0);
m_red(OFF);
}
else
{}
}
}
// Wireless interrupt
ISR(INT2_vect)
{
// read in wireless info
m_green(TOGGLE);
m_rf_read(buffer1, PACKET_LENGTH);
testing = (unsigned char)buffer1[0];
}