80 lines
1.8 KiB
C
80 lines
1.8 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, Guilliam and Stijn.
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*/
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#define F_CPU 10e6
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#define ROTAITION_ANGLE 512
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// rotation with a little overhead so the starting position will not miss.
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#define INIT_ROTAITION_ANGLE 600
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#define MAX_DISTANCE_INIT 20
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#define LCD_SET_DELAY 100
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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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// if true: in init mode, looking for starting point.
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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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// when X amount of steps are taken, do pulse.
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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 the SODAR is initialising, then look for close start object.
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if(initialising){
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if(value > 0 && value < MAX_DISTANCE_INIT){
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stepper_rotate_stop();
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initialising = false;
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// when found, set the initial rotation.
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stepper_rotate_angle(ROTAITION_ANGLE, 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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// initialize ultrasonic sensor driver.
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ultrasonic_init();
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// initialize LCD display in 4 bit mode.
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init_4bits_mode();
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// initialize stepper driver.
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init_stepper_driver();
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// set the event when a pulse must be sent.
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set_snap_event(&snap_event_trigger);
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// set a event for when a value has been set from the ultrasonic sensor.
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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(INIT_ROTAITION_ANGLE, ClockWise);
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while (1)
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{
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lcd_clear();
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// set the ultrasonic value to the lcd.
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lcd_write_ultrasonic_value(ultrasonic_get_timer_dist());
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wait_ms(LCD_SET_DELAY);
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}
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// stop rotating. (not necessary)
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stepper_rotate_stop();
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}
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