[add] init check

Microcontrollers/Eindopdracht/main.c

@@ -10,29 +10,51 @@
 #include <avr/io.h>
 #include <util/delay.h>
 #include <avr/interrupt.h>
+#include <stdbool.h>
 
 #include "lcd_control.h"
 #include "ultrasonic_sensor.h"
+#include "stepper_driver.h"
 
+bool initialising = true;
 
 ISR(INT0_vect)
 {
 	ultrasonic_handle_interrupt();
 }
 
+static void snap_event_trigger(uint8_t rotation){
+	ultrasonic_send_pulse();
+}
+
+static void ultrasoon_value_set_event(uint16_t value){
+	if(initialising){
+		if(value > 0  && value < 20){
+			stepper_rotate_stop();
+			initialising = false;
+			stepper_rotate_angle(512, CounterClockWise);
+		}
+	}
+}
+
 int main(void)
 {
     /* Replace with your application code */
 	ultrasonic_init();
 	init_4bits_mode();
+	init_stepper_driver();
+	set_snap_event(&snap_event_trigger);
+	set_value_trigger_event(&ultrasoon_value_set_event);
 	
 	_delay_ms(10);
 	
 	lcd_clear();
+	
+	stepper_rotate_angle(600, ClockWise);
     while (1) 
     {
 		// TODO change to use the stepper motor
-		ultrasonic_send_pulse(); 
+		//ultrasonic_send_pulse(); 
 		
 		lcd_clear();
 		lcd_write_int(ultrasonic_get_timer_dist());
@@ -40,5 +62,6 @@ int main(void)
 		
 		wait_ms(100);
     }
+	stepper_rotate_stop();
 }