io module done

2 files changed, 104 insertions, 3 deletions

diff --git a/robot/io.c b/robot/io.c
index 4a85458..5757ffd 100644
--- a/robot/io.c
+++ b/robot/io.c
@@ -1,3 +1,52 @@
 #include "io.h"
+#include <pololu/orangutan.h>
 
-void w2_io_main() {}
+
+w2_io_all global;
+
+void w2_io_main() {
+    global.button[0] = get_single_debounced_button_press(BUTTON_A);
+    global.button[1] = get_single_debounced_button_press(BUTTON_B);
+    global.button[2] = get_single_debounced_button_press(BUTTON_C);
+    global.button[3] = get_single_debounced_button_press(TOP_BUTTON);
+    global.button[4] = get_single_debounced_button_press(BOTTOM_BUTTON);
+    unsigned int sensor_values[5];
+    qtr_read(sensor_values, QTR_EMITTERS_ON);
+    for(int i = 0; i <5; i++){
+         global.qtrSensor[i] = sensor_values[i];
+    }
+    // TODO average voltage over mutiple samples sensor
+    global.batteryLevel = analog_read(BATTERY_PIN);  
+    global.frontDetection = analog_read(FRONT_SENSOR_PIN); 
+    global.sideDetection = analog_read(SIDE_SENSOR_PIN);
+
+    set_motors(global.motor_left, global.motor_right);
+    red_led(global.led_red);
+    green_led(global.led_green);
+    print_character(global.lcd);   
+};
+
+void w2_io_init(){
+     pololu_3pi_init(2000):
+
+     for(counter=0;counter<80;counter++)
+        {
+            if(counter < 20 || counter >= 60)
+                {
+                    global.motor_left=40;
+                    global.motor_right=-40;
+                }
+            else
+                {
+                   global.motor_left=-40;
+                   global.motor_right=40;    
+                }
+
+              calibrate_
+              line_sensors(IR_EMITTERS_ON);
+        
+            delay_ms(20);
+        }
+    global.motor_left=0;
+    global.motor_right=0;
+}
\ No newline at end of file
diff --git a/robot/io.h b/robot/io.h
index 14fe0af..e262fa1 100644
--- a/robot/io.h
+++ b/robot/io.h
@@ -1,4 +1,56 @@
 #pragma once
+#include <stdlib.h>
+#include <stdint.h>
+#include <stdbool.h>
+#define FRONT_SENSOR_PIN 5
+#define SIDE_SENSOR_PIN 7
+#define BATTERY_PIN 6  
 
-/** i/o module main */
-void w2_io_main();
+//inputs
+
+typedef struct {
+    bool pressed;
+} w2_s_io_push;
+
+typedef struct {
+    uint16_t range;
+    
+} w2_s_io_contrast;
+
+typedef struct {
+    uint16_t detection;
+} w2_s_io_distance;
+
+//outputs
+
+typedef struct {
+    int speed;
+} w2_s_io_motor;
+
+typedef struct {
+    bool toggle;
+} w2_s_io_led;
+
+typedef struct {
+    char text[16];
+} w2_s_io_display;
+typedef struct {
+    uint8_t charged;
+} w2_s_io_battery;
+
+//all i/o
+
+typedef struct {
+    w2_s_i_push button[5];
+    w2_s_i_contrast qtrSensor[5];
+    w2_s_i_distance frontDetection;
+    w2_s_i_distance sideDetection;
+    w2_s_i_battery batteryLevel;
+
+
+    w2_s_o_motor motor_left;
+    w2_s_o_motor motor_right;
+    w2_s_o_led led_red;
+    w2_s_o_led led_green;
+    w2_s_o_display lcd;
+} w2_io_all;