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motorcontrol.c
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motorcontrol.c
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#include "sumovore.h"
#include "motor_control.h"
#include <timers.h>
#include <delays.h>
void spin_left(void);
void turn_left(void);
void straight_fwd(void);
void turn_right(void);
void spin_right(void);
void turn180 (void);
void onetwenty_degree_left_turn (void);
void thirty_degree_left_turn(void);
void thirty_degree_right_turn(void);
void onetwenty_degree_right_turn (void);
void big_gap(void);
void turn_slightright(void);
void turn_harshleft(void);
void turn_harshright(void);
void turn_slightleft(void);
void motor_control(void)
{
OpenTimer0(TIMER_INT_OFF & T0_16BIT & T0_SOURCE_INT & T0_PS_1_32);
if ( (SeeLine.B) == 0b00100u) straight_fwd();
else if ( SeeLine.b.CntLeft ) onetwenty_degree_left_turn();
else if ( SeeLine.b.Left ) thirty_degree_left_turn();
else if ( SeeLine.b.Right ) thirty_degree_right_turn();
else if (SeeLine.b.CntRight) onetwenty_degree_right_turn();
else if ((SeeLine.B ) == 0b00000u) big_gap();
else if ((SeeLine.B ) == 0b11111u) motors_brake_all();
}
void onetwenty_degree_left_turn (void) //This is function for 120 degree
{
WriteTimer0(0); //clear the timer
INTCONbits.TMR0IF = 0; //clear the flah
while(ReadTimer0() <= 12763) //This will move the robot fotward 1.70003cm
{
straight_fwd();
}
while(ReadTimer0() >= 12763) //This will move past the tape
{
if (SeeLine.b.Left & ReadTimer0() < 15000) //The max distance
if (SeeLine.b.Center|| SeeLine.b.Right || SeeLine.b.CntRight) //This will have it if any of these sensors are tripped it will move //forward
{
straight_fwd();
}
if ((SeeLine.B ) == 0b00000u) //If the track does not continue //Then the robot will know to turn left
{
turn_slightleft();
}
}
}
void thirty_degree_left_turn (void) //function for 30 degree trun
{
WriteTimer0(0); //starts the timer at 0
INTCONbits.TMR0IF = 0; //clears the flag
while(ReadTimer0() <= 12763) //move the robot straight forward
{
straight_fwd();
}
while(ReadTimer0() >= 12763) //once past the tape
{
if (SeeLine.b.CntLeft & ReadTimer0() < 14000)
if (SeeLine.b.Center || SeeLine.b.Right || SeeLine.b.CntRight)
//This will have so that if any of these are tripped
{
straight_fwd();
}
if ((SeeLine.B ) == 0b00000u) //if the robot sees the board it //will know that this is what is happening
{
turn_harshleft();
}
}
}
void thirty_degree_right_turn (void) //function for 30 degree trun
{
WriteTimer0(0); //starts the timer at 0
INTCONbits.TMR0IF = 0; //clears the flag
while(ReadTimer0() <= 12763) //move the robot straight forward
{
straight_fwd();
}
while(ReadTimer0() >= 12763) //once past the tape
{
if (SeeLine.b.CntRight & ReadTimer0() < 14000)
if (SeeLine.b.Center || SeeLine.b.Left || SeeLine.b.CntLeft)
//This will have so that if any of these are tripped
{
straight_fwd();
}
if ((SeeLine.B ) == 0b00000u) //if the robot sees the board it //will know that this is what is happening
{
turn_harshright();
}
}
}
void onetwenty_degree_right_turn (void) //This is function for 120 degree
{
WriteTimer0(0); //clear the timer
INTCONbits.TMR0IF = 0; //clear the flah
while(ReadTimer0() <= 12763) //This will move the robot fotward
{
straight_fwd();
}
while(ReadTimer0() > 12763) //This will move past the tape
{
if (SeeLine.b.Right & ReadTimer0() < 14000) //The max distance
if (SeeLine.b.Center|| SeeLine.b.Left || SeeLine.b.CntLeft)
//This will have it if any of these sensors are tripped it will move //forward
{
straight_fwd();
}
if ((SeeLine.B ) == 0b00000u) //If the track does not continue
//Then the robot will know to turn right
{
turn_slightright();
}
}
}
void big_gap(void)
{
if (((SeeLine.B ) == 0b00000u))
{
WriteTimer0(0);
INTCONbits.TMR0IF = 0; //clear the flag
}
while (ReadTimer0() < 60060)
{
straight_fwd();
}
while ( ReadTimer0() >= 60060)
if ((SeeLine.B ) == 0b00000u)
{
turn180();
}
if ((SeeLine.B ) == 0b00111u)
{
turn_left();
}
if ((SeeLine.B ) == 0b11100u)
{
turn_right();
}
}
void turn_slightright(void)
{
set_motor_speed(left, slow, 0);
set_motor_speed(right, medium, 0);
}
void turn_harshleft(void)
{
set_motor_speed(left, fast, 0);
set_motor_speed(right, stop, 0);
}
void turn_harshright(void)
{
set_motor_speed(left, stop, 0);
set_motor_speed(right, fast, 0);
}
void turn_slightleft(void)
{
set_motor_speed(left, medium, 0);
set_motor_speed(right, slow, 0);
}
void spin_left(void)
{
set_motor_speed(left, rev_fast, 0);
set_motor_speed(right, fast, 0);
}
void turn180(void)
{
set_motor_speed(left, rev_fast, 0);
set_motor_speed(right, fast, 0);
}
void turn_left(void)
{
set_motor_speed(left, stop, 0);
set_motor_speed(right, fast, 0);
}
void straight_fwd(void)
{
set_motor_speed(left, fast, 0);
set_motor_speed(right, fast, 0);
}
void spin_right(void)
{
set_motor_speed(left, fast, 0);
set_motor_speed(right, rev_fast, 0);
}
void turn_right(void)
{
set_motor_speed(left, fast, 0);
set_motor_speed(right, stop, 0);
}