68 lines
1.1 KiB
C
68 lines
1.1 KiB
C
/*
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* Eindopdracht.c
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*
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* Created: 31-3-2021 09:42:17
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* Author : Sem
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*/
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#define F_CPU 10e6
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#include <avr/io.h>
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#include <util/delay.h>
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#include <avr/interrupt.h>
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#include <stdbool.h>
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#include "lcd_control.h"
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#include "ultrasonic_sensor.h"
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#include "stepper_driver.h"
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bool initialising = true;
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ISR(INT2_vect)
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{
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ultrasonic_handle_interrupt();
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}
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static void snap_event_trigger(uint8_t rotation){
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ultrasonic_send_pulse();
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}
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static void ultrasoon_value_set_event(uint16_t value){
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if(initialising){
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if(value > 0 && value < 20){
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stepper_rotate_stop();
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initialising = false;
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stepper_rotate_angle(512, CounterClockWise);
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}
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}
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}
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int main(void)
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{
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/* Replace with your application code */
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ultrasonic_init();
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init_4bits_mode();
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init_stepper_driver();
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set_snap_event(&snap_event_trigger);
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set_value_trigger_event(&ultrasoon_value_set_event);
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_delay_ms(10);
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lcd_clear();
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stepper_rotate_angle(600, ClockWise);
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while (1)
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{
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// TODO change to use the stepper motor
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//ultrasonic_send_pulse();
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lcd_clear();
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lcd_write_int(ultrasonic_get_timer_dist());
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wait_ms(100);
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}
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stepper_rotate_stop();
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}
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