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authorHoodieJeansJordans <abdaadir@gmail.com>2022-05-26 17:36:48 +0200
committerHoodieJeansJordans <abdaadir@gmail.com>2022-05-26 17:36:48 +0200
commitb1beaab2e943ba3ad30de22bcc8259f268e2bdae (patch)
treecc177f6861d58e0037ab5a5fe1f2e9acf5e5f3c0 /robot/io.c
parentb359fadf54f11c551d529e0bdd438f653418341f (diff)
io module done
Diffstat (limited to 'robot/io.c')
-rw-r--r--robot/io.c51
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