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void main (void) { #ifdef UNCHANGEABLE_DEFINITION_AREA

Example Design Programming controls for an imaginary robot. The robot will have a tower. The tower will have 3 location sensors that are digital. The design will illustrate the use of user defined PWM signals. void main (void) { #ifdef UNCHANGEABLE_DEFINITION_AREA

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void main (void) { #ifdef UNCHANGEABLE_DEFINITION_AREA

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  1. Example DesignProgramming controls for an imaginary robot.The robot will have a tower. The tower will have 3 location sensors that are digital.The design will illustrate the use of user defined PWM signals.

  2. void main (void) { #ifdef UNCHANGEABLE_DEFINITION_AREA IFI_Initialization (); /* DO NOT CHANGE! */ #endif User_Initialization(); /* You edit this in user_routines.c */ statusflag.NEW_SPI_DATA = 0; /* DO NOT CHANGE! */ while (1) /* This loop will repeat indefinitely. */ { #ifdef _SIMULATOR statusflag.NEW_SPI_DATA = 1; #endif if (statusflag.NEW_SPI_DATA) /* 26.2ms loop area */ { /* I'm slow! I only execute every 26.2ms because */ /* that's how fast the Master uP gives me data. */ Process_Data_From_Master_uP(); /* You edit this in user_routines.c */ if (autonomous_mode) /* DO NOT CHANGE! */ { User_Autonomous_Code(); /* You edit this in user_routines_fast.c */ } } Process_Data_From_Local_IO(); /* You edit this in user_routines_fast.c */ /* I'm fast! I execute during every loop.*/ } /* while (1) */ } /* END of Main */

  3. void User_Initialization (void) { //…Code Hidden CCP2CON = 0x3C; PR2 = 0xF9; CCPR2L = 0x7F; T2CON = 0; T2CONbits.TMR2ON = 1; Setup_PWM_Output_Type(USER_CCP,IFI_PWM,IFI_PWM,IFI_PWM); myInitCode(); //…CodeHidden }

  4. #include "cbt_controlMap.h" #include "cbt_robotComponents.h" Tower tower; void myInitCode() { TowerInit(&tower); }

  5. #ifndef __cbt_robotComponents_h_ #define __cbt_robotComponents_h_ #include "ifi_aliases.h" #include "ifi_default.h" #include "ifi_utilities.h" #define TOWER_TOP_POS 2 #define TOWER_MID_POS 1 #define TOWER_HOME_POS 0 #define TOWER_UNKN_POS -1 typedef struct { int destination; int position; } Tower; typedef Tower *TowerPtr; void TowerInit(TowerPtr tp); #endif

  6. #ifndef __cbt_controlMap_h_ #define __cbt_controlMap_h_ #define TOWER_TOP_SW p3_sw_top #define TOWER_MID_SW p3_sw_trig #define TOWER_HOME_SW p3_sw_aux1 #define TOWER_TOP_SENSOR rc_dig_in03 #define TOWER_MID_SENSOR rc_dig_in04 #define TOWER_HOME_SENSOR rc_dig_in05 #define TOWER_MOTOR CCPR2L #endif

  7. #include "cbt_robotComponents.h" void TowerInit(TowerPtr tp) { tp->destination = TOWER_HOME_POS; tp->position = TOWER_UNKN_POS; }

  8. void Process_Data_From_Master_uP(void) { Getdata(&rxdata); Default_Routine(); Generate_Pwms(pwm13,pwm14,pwm15,pwm16); Putdata(&txdata); }

  9. void Default_Routine(void) { driveControl(); towerControl(); }

  10. void driveControl(void) { pwm15 = p1_y; pwm16 = p2_y; }

  11. void towerControl(void) { if (TOWER_TOP_SW == 1) { tower.destination = TOWER_TOP_POS; } if (TOWER_MID_SW == 1) { tower.destination = TOWER_MID_POS; } if (TOWER_HOME_SW == 1) { tower.destination = TOWER_HOME_POS; } }

  12. void Process_Data_From_Local_IO(void) { calculateTowerPos(); moveTower(); }

  13. void calculateTowerPos(void) { int lightPos = pollPosSw(); if (tower.position == TOWER_UNKN_POS) { tower.position = lightPos; } else { if (lightPos != TOWER_UNKN_POS) { tower.position = lightPos; } } }

  14. int pollPosSw() { if (TOWER_HOME_SENSOR == 1) { return TOWER_HOME_POS; } if (TOWER_MID_SENSOR == 1) { return TOWER_MID_POS; } if (TOWER_TOP_SENSOR == 1) { return TOWER_TOP_POS; } return TOWER_UNKN_POS; }

  15. void moveTower(void) { if (tower.position != TOWER_UNKN_POS) { switch (tower.destination) { case TOWER_HOME_POS: if (tower.position != TOWER_HOME_POS) { TOWER_MOTOR = 0; } else { TOWER_MOTOR = 127; } break; case TOWER_MID_POS: if (tower.position == TOWER_HOME_POS) { TOWER_MOTOR = 255; } else { if (tower.position == TOWER_TOP_POS) { TOWER_MOTOR = 0; } else { TOWER_MOTOR = 127; } } break; case TOWER_TOP_POS: if (tower.position != TOWER_TOP_POS) { TOWER_MOTOR = 255; } else { TOWER_MOTOR = 127; } break; default: tower.destination = TOWER_HOME_POS; break; } } else { TOWER_MOTOR = 0; } }

  16. Encoder Counter #include "cbt_sensors.h“ void startCounting() { T1CONbits.TMR1ON = 1; } void stopCounting() { T1CONbits.TMR1ON = 0; } void resetCounter() { TMR1L = 0; TMR1H = 0; } int bump(CountingEncoderPtr_T1 ce, int n) { int count = TMR1H * 256 + TMR1L; ce->totalCount += count - ce->totalCount; ce->runningCount++; return 1; } void CountingEncoderInit_T1(CountingEncoderPtr_T1 cep) { cep->startCounting = startCounting; cep->stopCounting = stopCounting; cep->resetCounter = resetCounter; T1CON = 0b10000010; cep->resetCounter(); cep->totalCount = 0; cep->runningCount = 0; }

  17. Encoder Counter #ifndef __cbt_sensors_h_ #define __cbt_sensors_h_ #include "ifi_aliases.h" #include "ifi_default.h" #include "ifi_utilities.h" struct _countingEncoder; typedef struct _countingEncoder *CountingEncoderPtr_T1; void startCounting(); void stopCounting(); void resetCounter(); int bump(CountingEncoderPtr_T1 ce, int n); void CountingEncoderInit_T1(CountingEncoderPtr_T1 cep); typedef struct _countingEncoder { int totalCount; int runningCount; int (*bump)(int); void (*startCounting)(void); void (*stopCounting)(void); void (*resetCounter)(void); } CountingEncoder_T1; #endif

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