PmWiki | Student / MatthewFrykenbergsCode

/*Matthew Frykenberg Wimp mode lab*/

// Include the Command Module API

include "create.h"

// Pointer to the Sensor Data structure cr8_t *cr8;

// Main function uint8_t safe(void); int main(void) {

  // Allocate memory for sensor data structure
  cr8 = cr8_alloc();

  // Initialize the Create and Command Module
  // Sync communications settings.
  cr8_init(cr8);

  // Start Robot Code Here
  //			|
  //		   \|/

//while safe

		{

			cr8_set_leds(1,1,255,255);
			cr8_delay(20);
			cr8_update(cr8);

		if(cr8->dist_mm!=0)
			{

				while(cr8->bumper_right==0 && cr8->bumper_left==0 && cr8->dist_mm<560)
				{
				cr8_drive_direct(500,500);
				cr8_delay(20);
				cr8_update(cr8);
				}
				cr8_drive_direct(0,0);
				cr8->dist_mm=0;
				cr8_delay(20);
				cr8_update(cr8);
			}
		if(cr8->bumper_right==1)
			{
				cr8_drive_direct(-100,100);
				cr8_set_leds(1,0,255,255);
				cr8_delay(20);
				cr8_update(cr8);
				if(cr8->bumper_right==0 && cr8->bumper_left==0)
				{
				cr8_update(cr8);
				while(cr8->bumper_right==0 && cr8->bumper_left==0 && cr8->angle<90)
				{
				cr8_drive_direct(-100,100);
				cr8_delay(20);
				cr8_update(cr8);			
				}
				cr8->dist_mm=0;
				cr8_delay(20);
				cr8_update(cr8);
				while(cr8->bumper_right==0 && cr8->bumper_left==0 && cr8->dist_mm<560)
				{
				cr8_drive_direct(500,500);
				cr8_delay(20);
				cr8_update(cr8);
				}
				cr8_drive_direct(0,0);
				cr8->dist_mm=0;
				cr8->angle=0;
				cr8_delay(20);
				cr8_update(cr8);
				}
			}
		if(cr8->bumper_left==1)
			{
				cr8_drive_direct(100,-100);
				cr8_set_leds(0,1,255,255);
				cr8_delay(20);
				cr8_update(cr8);
			if(cr8->bumper_right==0 && cr8->bumper_left==0)
				{
				cr8_update(cr8);
				while(cr8->bumper_right==0 && cr8->bumper_left==0 && cr8->angle<90)
				{
				cr8_drive_direct(100,-100);
				cr8_delay(20);
				cr8_update(cr8);			
				}
				cr8->dist_mm=0;
				cr8_delay(20);
				cr8_update(cr8);
				while(cr8->bumper_right==0 && cr8->bumper_left==0 && cr8->dist_mm<560)
				{
				cr8_drive_direct(500,500);
				cr8_delay(20);
				cr8_update(cr8);
				}
				cr8_drive_direct(0,0);
				cr8->dist_mm=0;
				cr8->angle=0;
				cr8_delay(20);
				cr8_update(cr8);
				}
			}

		}	



  // release the sensor data strucutre memory and exit the program
  cr8_free(cr8);
  return 0;

uint8_t safe(void) {

	cr8_update(cr8);

	// Check for unsafe conditions:
	//    Wheel Drops
	//    Cliff Detection
	if(cr8->wheeldrop_left   || cr8->wheeldrop_right ||
	   cr8->wheeldrop_caster ||
	   cr8->cliff_right      || cr8->cliff_left      ||
	   cr8->cliff_frontright || cr8->cliff_frontleft)
	{
		cr8_drive_direct(0,0);
		cr8_beep_error();
		cr8_set_leds(off,off,255,255);
		return 0;
	}
	else {
		// No unsafe conditions found
		return 1;
	}}

}

Make All: > "make.exe" all

begin --------

avr-gcc (GCC) 4.1.2 (WinAVR 20070525) Copyright (C) 2006 Free Software Foundation, Inc. This is free software; see the source for copying conditions. There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

Compiling C: main.c avr-gcc -c -mmcu=atmega168 -I. -gdwarf-2 -DF_CPU=18432000UL -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wall -Wstrict-prototypes -Wundef -Wa,-adhlns=obj/main.lst -std=gnu99 -Wundef -MD -MP -MF .dep/main.o.d main.c -o obj/main.o

Linking: main.elf avr-gcc -mmcu=atmega168 -I. -gdwarf-2 -DF_CPU=18432000UL -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wall -Wstrict-prototypes -Wundef -Wa,-adhlns=obj/create.o -std=gnu99 -Wundef -MD -MP -MF .dep/main.elf.d obj/create.o obj/main.o --output main.elf -Wl,-Map=main.map,--cref -lm

Creating load file for Flash: main.hex avr-objcopy -O ihex -R .eeprom main.elf main.hex

Creating load file for EEPROM: main.eep avr-objcopy -j .eeprom --set-section-flags=.eeprom="alloc,load" --change-section-lma .eeprom=0 -O ihex main.elf main.eep c:\WinAVR-20070525\bin\avr-objcopy.exe: there are no sections to be copied! c:\WinAVR-20070525\bin\avr-objcopy.exe: --change-section-lma .eeprom=0x00000000 never used make.exe: [main.eep] Error 1 (ignored)

Creating Extended Listing: main.lss avr-objdump -h -S main.elf > main.lss

Creating Symbol Table: main.sym avr-nm -n main.elf > main.sym

Size after: main.elf : section size addr .data 6 8388864 .text 5882 0 .bss 18 8388870 .stab 888 0 .stabstr 113 0 .debug_aranges 64 0 .debug_pubnames 758 0 .debug_info 5265 0 .debug_abbrev 803 0 .debug_line 4635 0 .debug_frame 544 0 .debug_str 1577 0 .debug_loc 943 0 Total 21496

end --------

> Process Exit Code: 0 > Time Taken: 00:03

Make Program: > "make.exe" program

avrdude: AVR device initialized and ready to accept instructions

Reading | ################################################## | 100% 0.05s

avrdude: Device signature = 0x1e9406 avrdude: NOTE: FLASH memory has been specified, an erase cycle will be performed

         To disable this feature, specify the -D option.

avrdude: erasing chip avrdude: reading input file "main.hex" avrdude: input file main.hex auto detected as Intel Hex avrdude: writing flash (5888 bytes):

Writing | ################################################## | 100% 2.22s

avrdude: 5888 bytes of flash written avrdude: verifying flash memory against main.hex: avrdude: load data flash data from input file main.hex: avrdude: input file main.hex auto detected as Intel Hex avrdude: input file main.hex contains 5888 bytes avrdude: reading on-chip flash data:

Reading | ################################################## | 100% 1.98s

avrdude: verifying ... avrdude: 5888 bytes of flash verified

avrdude done. Thank you.

> Process Exit Code: 0 > Time Taken: 00:09