io module done

1 files changed, 50 insertions, 1 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