Team Ship Happens
HC_Controller.c
/****************************************************************************
Module
HC_Controller.c
Description
Main module for HC state machine.
Notes
History
When Who What/Why
-------------- --- --------
April 2010 NRM Started Coding
****************************************************************************/
/*----------------------------- Include Files -----------------------------*/
#include <hidef.h> /* common defines and macros */
#include <mc9s12e128.h> /* derivative information */
#include <stdio.h>
#include <S12E128bits.h>
#include <stdlib.h>
#include "ADS12.h"
#include "SCI.h"
#include "HC_Controller.h"
#include "EventChecker.h"
#include "S12eVec.h"
#include "Servo.h"
#pragma LINK_INFO DERIVATIVE "SampleS12"
/*----------------------------- Module Defines ----------------------------*/
#define _FORW_BACK_ 0
#define _RHT_LFT_ 1
#define _CANNON_ 2
#define _RHT_AIM_ 3
#define _LFT_AIM_ 4
#define _TURBO_Prop_ 5
#define _PERIOD_ 38000
#define _Voltage_At_Full_Thrust_ 5
#define _SCALE_ 2
#define _MAX_TURN_ 50
#define _CRAB_ID_SERVO_ 0
#define _CRAB_ACUM_SERVO_ 1
/*---------------------------- Module Functions ---------------------------*/
static void E128_Port_Init(void);
static void during_WAITING_FOR_SWITCH(Event_t);
static void during_WAITING_FOR_FLEET_VALIDATION(Event_t);
static void during_WAIT_FOR_NEPTUNE_GO(Event_t);
static void during_GAME_ON(Event_t);
void Update_Indicators(unsigned char, unsigned char);
void Get_User_Inputs(void);
static void printTheCurrentStateEvent(void);
char Query_Time_To_Send_Inputs_Flag(void);
static void Reset_To_Waiting(void);
/*---------------------------- Module Variables ---------------------------*/
State_t Current_State; // Variable for current state
Event_t Event; // Variable for event
Event_t Previous_Event; // previous event
static unsigned char Inputs[6]; // array containing user input values
unsigned char Previous_Switch_State;
char Time_To_Send_Inputs_Flag = 0; // flag which gets set at 5Hz
/*------------------------------ Module Code ------------------------------*/
/****************************************************************************
Function
Main
Parameters
None
Returns
None.
Description
Notes
Author
Nick Musser
****************************************************************************/
void main(void)
{
// Initializations
SCI_Init(); // Initialize SCI
E128_Port_Init(); // Initialize E128 Ports
Servo_Init(); // Initialize Servos
Current_State = WAITING_FOR_SWITCH; // Initialize Current State to Waiting for switch
Event = NO_EVENT; // Initialize Event to No-Event
Previous_Event = NO_EVENT; // INitialize Previous Event to No_Event
printTheCurrentStateEvent(); // Print out state info
while (1) // while forever
{
if((Event = Check_Events()) != NO_EVENT) // if a new event happened
{
Previous_Event = Event; // assign the Event to Previous Event
switch(Current_State) // switch on Current_State
{
case WAITING_FOR_SWITCH:
during_WAITING_FOR_SWITCH(Event);
break;
case WAITING_FOR_FLEET_VALIDATION:
during_WAITING_FOR_FLEET_VALIDATION(Event);
break;
case WAIT_FOR_NEPTUNE_GO:
during_WAIT_FOR_NEPTUNE_GO(Event);
break;
case GAME_ON:
during_GAME_ON(Event);
break;
} // end of switch
printTheCurrentStateEvent(); // print out state info
} // end of if
} // end of while
} // end of main
/****************************************************************************
Function
E128_Port_Init()
Parameters
Returns
None.
Description
Initializes the Data Direction for the Ports on the E128. Sets up the
Analog channels as well.
Notes
Author
Nick Musser
****************************************************************************/
void E128_Port_Init(void)
{
//(void)printf("Initializing ports\n\r");
// Set Data Direction for Port
DDRP &= BIT0LO; // Input for Cannon Fire
DDRP &= BIT2LO; // Input for start key
DDRP &= BIT5LO; // Input for extra joystick button
DDRP |= BIT1HI; // Output for Fleet Cipher Received
DDRP |= BIT3HI; // Output for GAME ON!! LED
DDRP |= BIT4HI; // Output for system Unlocked LED
// Set up Analog Ports. Ports 0-4 are Analog and Ports 5-7 are Digital Input (but can be changed)
// Analog Input for Forward/Backward = AD0
// Analog Input for Left/Right Steer = AD1
// Analog Input for Gun Power = AD2
// Analog Input for Cannon Right Aim = AD3
// Analog Input for Cannon Left Aim = AD4
(void)ADS12_Init("IIIAAAAA");
// Initialize Timer System
TIM1_TSCR1 = _S12_TEN; // turn the timer system on
TIM1_TSCR2 = (_S12_PR0 | _S12_PR1 | _S12_PR2 ); // set prescaler to 128
TIM1_TIOS = _S12_IOS4; // set cap/comp 4 to output compare
TIM1_TCTL1 = TIM1_TCTL1 & ~(_S12_OL4 | _S12_OM4); // no pin connected
TIM1_TC4 = TIM1_TCNT + _PERIOD_; /* schedule first event */
TIM1_TFLG1 = _S12_C4F; // Clear 0C4 flag
}
/****************************************************************************
Function
during_WAITING_FOR_SWITCH()
Parameters
Returns
None.
Description
Notes
Author
Nick Musser
****************************************************************************/
void during_WAITING_FOR_SWITCH(Event_t EVENT)
{
switch(EVENT)
{
case SWITCH_ON:
PTP |= BIT4HI; // Raise pin 4 to turn on LED
Current_State = WAITING_FOR_FLEET_VALIDATION; // Change state
SCI1CR2 |= _S12_RIE; // Enable Interrupt for incoming messages. Start listening for broadcasts from team and Neptune
break;
case SKIP_MODE_ON:
PTP |= BIT3HI; // Raise pin 3 to turn on LED for Game ON
SCI1CR2 |= _S12_RIE; // Enable Interrupt for incoming messages. Start listening for broadcasts from team and Neptune
TIM1_TIE |= _S12_C4I; // enable OC4 interrupt so we can start sending user inputs
Current_State = GAME_ON; // Change state
break;
} // end of switch
} // end of function
/****************************************************************************
Function
during_WAITING_FOR_FLEET_VALIDATION()
Parameters
Returns
None.
Description
Notes
Author
Nick Musser
****************************************************************************/
void during_WAITING_FOR_FLEET_VALIDATION(Event_t EVENT)
{
switch(EVENT)
{
case CIPHER_RECEIVED:
PTP |= BIT1HI; // Raise pin 1 to turn on LED for cipher received
Current_State = WAIT_FOR_NEPTUNE_GO; // Change state
break;
case SKIP_MODE_ON:
PTP |= BIT3HI; // Raise pin 3 to turn on LED for Game ON
TIM1_TIE |= _S12_C4I; // enable OC4 interrupt so we can start sending user inputs
Current_State = GAME_ON; // Change state
break;
case NEW_MESSAGE:
Process_Message(); // process new message
break;
case SWITCH_OFF:
Current_State = WAITING_FOR_SWITCH; // change state
Reset_To_Waiting(); // reset lights, etc...
break;
} // end of switch
} // end of function
/****************************************************************************
Function
during_WAIT_FOR_NEPTUNE_GO()
Parameters
Returns
None.
Description
Notes
Author
Nick Musser
****************************************************************************/
void during_WAIT_FOR_NEPTUNE_GO(Event_t EVENT)
{
switch(EVENT)
{
case GO:
PTP |= BIT3HI; // Raise pin 3 to turn on LED for Game ON
TIM1_TIE |= _S12_C4I; // enable OC4 interrupt so we can start sending user inputs
Current_State = GAME_ON; // Change state
break;
case SKIP_MODE_ON:
PTP |= BIT3HI; // Raise pin 3 to turn on LED for Game ON
TIM1_TIE |= _S12_C4I; // enable OC4 interrupt so we can start sending user inputs
Current_State = GAME_ON; // Change state
break;
case NEW_MESSAGE:
Process_Message(); // process new message
break;
case SWITCH_OFF:
Current_State = WAITING_FOR_SWITCH; // change state to "Waiting for Switch"
Reset_To_Waiting(); // reset lights, etc...
break;
} // end of switch
} // end of function
/****************************************************************************
Function
during_WAIT_FOR_NEPTUNE_GO()
Parameters
Returns
None.
Description
Notes
Author
Nick Musser
****************************************************************************/
void during_GAME_ON(Event_t EVENT)
{
switch(EVENT)
{
case NEW_MESSAGE:
Process_Message(); // process new message
break;
case TIME_TO_SEND_INPUTS:
Get_User_Inputs(); // sample user inputs
Compile_Message(Inputs); // Compile message with user inputs
Send_Message(); // Initiate sending of message
break;
case SWITCH_OFF:
Current_State = WAITING_FOR_SWITCH; // change state to "Waiting for Switch"
Reset_To_Waiting(); // reset lights, etc...
break;
} // end of switch
} // end of function
/****************************************************************************
Function
Update_Indicators()
Parameters
First parameter is the crab pot ID. The second parameter is the crab accumulation
rate.
Returns
None.
Description
Notes
Author
Nick Musser
****************************************************************************/
void Update_Indicators(unsigned char CRAB_POT_ID, unsigned char CRAB_ACCUM_RATE)
{
Servo_Set_Position(CRAB_POT_ID,_CRAB_ID_SERVO_);// Update Crab pot ID indicator
Servo_Set_Position((unsigned char)((((unsigned int)CRAB_ACCUM_RATE * 17)/250) + 1),_CRAB_ACUM_SERVO_);// update crab accumulation rate indicator
} // end of function
/****************************************************************************
Function
Get_User_Inputs()
Parameters
Returns
None.
Description
Notes
A little messy... sorry :)
Author
Nick Musser
****************************************************************************/
void Get_User_Inputs(void)
{
short Before_Conversion_Inputs[6];
short After_Conversion_Inputs[6];
short ForwardSpeed;
static int i;
Before_Conversion_Inputs[0] = ADS12_ReadADPin(_FORW_BACK_); // Read forward/backward
Before_Conversion_Inputs[1] = ADS12_ReadADPin(_RHT_LFT_); // Read right/left steer
if((PTP & BIT0HI) != 0)// if cannon button is pressed
{
Before_Conversion_Inputs[2] = ADS12_ReadADPin(_CANNON_); // Read cannon power
} else
{
Before_Conversion_Inputs[2] = 0x00; //else assign a zero to cannon power
}
Before_Conversion_Inputs[3] = ADS12_ReadADPin(_RHT_AIM_); // Read Right cannon Aim
Before_Conversion_Inputs[4] = ADS12_ReadADPin(_LFT_AIM_); // Read Left cannon Aim
Before_Conversion_Inputs[5] = ADS12_ReadADPin(_TURBO_Prop_); // Read Turbo Prop
// Make conversion from 10 bit digital to a number between 0 and 100 that represents duty cycle
for(i = 0; i <=5; i++)
{
After_Conversion_Inputs[i] = ((Before_Conversion_Inputs[i])/(2*_Voltage_At_Full_Thrust_));
if(After_Conversion_Inputs[i] > 100)
After_Conversion_Inputs[i] = 100;
if(After_Conversion_Inputs[i] < 0)
After_Conversion_Inputs[i] = 0;
}
ForwardSpeed = After_Conversion_Inputs[0]*2;
// Calculate Motor speeds based on the forward set point and steering setpoint
// Turning Right
if(After_Conversion_Inputs[1] >= 50 )
{
After_Conversion_Inputs[0] = ForwardSpeed + (_MAX_TURN_ * (After_Conversion_Inputs[1] - 50))/(_SCALE_*50); // right motor
After_Conversion_Inputs[1] = ForwardSpeed - (_MAX_TURN_ * (After_Conversion_Inputs[1] - 50))/(_SCALE_*50); // left motor
}
else
{
After_Conversion_Inputs[0] = ForwardSpeed - (_MAX_TURN_ * (50 - After_Conversion_Inputs[1]))/(_SCALE_*50); // right motor
After_Conversion_Inputs[1] = ForwardSpeed + (_MAX_TURN_ * (50 - After_Conversion_Inputs[1]))/(_SCALE_*50); // left motor
}
for(i=0; i<=1; i++)
{
if(After_Conversion_Inputs[i] > 200)
After_Conversion_Inputs[i] = 200;
if(After_Conversion_Inputs[i] < 0)
After_Conversion_Inputs[i] = 0;
}
if((After_Conversion_Inputs[0] > 95) && (After_Conversion_Inputs[0] < 105) && (After_Conversion_Inputs[0] > 95) && (After_Conversion_Inputs[0] < 105) && (After_Conversion_Inputs[1] > 95) && (After_Conversion_Inputs[1] < 105) )
{
After_Conversion_Inputs[0] = 100;
After_Conversion_Inputs[1] = 100;
}
// for Left and Right Servo Aim, adjust to a number between 1 and 12
for(i = 3; i<=4; i++)
{
//After_Conversion_Inputs[i] = ((11*After_Conversion_Inputs[i])/60)-6;
After_Conversion_Inputs[i] = ((2*After_Conversion_Inputs[i])/3)-24;
}
for (i = 0; i <=2; i++)
{
Inputs[i] = (unsigned char)After_Conversion_Inputs[i];
}
for (i = 3; i <=5; i++)
{
Inputs[i] = (unsigned char)After_Conversion_Inputs[i];
if(Inputs[i] > 42)
Inputs[i] = 0;
}
}
/****************************************************************************
Function
printTheCurrentStateEvent()
Parameters
Returns
None.
Description
Prints the current state, last event, and last user inputs
Notes
Author
Nick Musser
****************************************************************************/
void printTheCurrentStateEvent(void)
{
//system("cls");
switch(Current_State)
{
case WAITING_FOR_SWITCH:
(void)printf("Current State is: Waiting for Switch. ");
break;
case WAITING_FOR_FLEET_VALIDATION:
(void)printf("Current State is: Waiting for Fleet Validation ");
break;
case WAIT_FOR_NEPTUNE_GO:
(void)printf("Current State is: Waiting for Neptune ");
break;
case GAME_ON:
(void)printf("Current State is: Game ON!!! ");
break;
}
switch(Event)
{
case SWITCH_ON:
(void)printf("Event_ Was: Switch On\n\r");
break;
case CIPHER_RECEIVED:
(void)printf("Event_ Was: Cipher Received\n\r");
break;
case GO:
(void)printf("Event_ Was: Go\n\r");
break;
case SKIP_MODE_ON:
(void)printf("Event_ Was: Skip Mode On\n\r");
break;
case NEW_MESSAGE:
(void)printf("Event_ Was: New Message\n\r");
break;
case TIME_TO_SEND_INPUTS:
(void)printf("Event_ Was: Time to Send Inputs_\n\r");
break;
case NO_EVENT:
(void)printf("Event_ Was: No Event\n\r");
break;
case SWITCH_OFF:
(void)printf("Event_ Was: Switch OFF\n\r");
break;
}
(void)printf("Right Motor DC is %i\n\r", Inputs[0]);
(void)printf("Left Motor DC is %i\n\r", Inputs[1]);
(void)printf("Cannon Power Command is %i\n\r", Inputs[2]);
(void)printf("Right Aim Command is %i\n\r", Inputs[3]);
(void)printf("Left Aim Command is %i\n\r", Inputs[4]);
}
/****************************************************************************
Function
Query_New_Message_Flag()
Parameters
None.
Returns
1 if the 5Hz timer flag has been set. 0 otherwise
Description
Notes
None.
Author
Nick Musser
****************************************************************************/
char Query_Time_To_Send_Inputs_Flag(void)
{
if(Time_To_Send_Inputs_Flag == 1) // if flag has been set
{
Time_To_Send_Inputs_Flag = 0; // clear flag
return 1; // return 1
}
else
return 0;
}
/****************************************************************************
Function
Reset_To_Waiting()
Parameters
None.
Returns
None.
Description
Resets the LEDs and interrupts as if the game had started over again.
Notes
None.
Author
Nick Musser
****************************************************************************/
void Reset_To_Waiting(void)
{
TIM1_TIE &= (~_S12_C4I); // disable OC4 interrupt so we stop sending user inputs
SCI1CR2 &= (~_S12_RIE); // disable Interrupt for incoming messages. Stop listening for broadcasts from team and Neptune
PTP &= BIT4LO; // Lower pin 4 to turn OFF system unlocked LED
PTP &= BIT3LO; // Lower pin 3 to turn OFF LED for Game ON
PTP &= BIT1LO; // Lower pin 1 to turn OFF LED for Cipher Received
} // end of function
/****************************************************************************
Function
Timer
Parameters
None.
Returns
None.
Description
This is the interrupt response associated with the timer for sending user inputs at 5Hz
Notes
None.
Author
Nick Musser
****************************************************************************/
void interrupt _Vec_tim1ch4 Timer(void)
{
Time_To_Send_Inputs_Flag = 1; // set flag
TIM1_TFLG1 = _S12_C4F; // clear OC4 flag
EnableInterrupts; // enable interrupts
TIM1_TC4 = TIM1_TCNT + _PERIOD_; // program next compare
}
Module
HC_Controller.c
Description
Main module for HC state machine.
Notes
History
When Who What/Why
-------------- --- --------
April 2010 NRM Started Coding
****************************************************************************/
/*----------------------------- Include Files -----------------------------*/
#include <hidef.h> /* common defines and macros */
#include <mc9s12e128.h> /* derivative information */
#include <stdio.h>
#include <S12E128bits.h>
#include <stdlib.h>
#include "ADS12.h"
#include "SCI.h"
#include "HC_Controller.h"
#include "EventChecker.h"
#include "S12eVec.h"
#include "Servo.h"
#pragma LINK_INFO DERIVATIVE "SampleS12"
/*----------------------------- Module Defines ----------------------------*/
#define _FORW_BACK_ 0
#define _RHT_LFT_ 1
#define _CANNON_ 2
#define _RHT_AIM_ 3
#define _LFT_AIM_ 4
#define _TURBO_Prop_ 5
#define _PERIOD_ 38000
#define _Voltage_At_Full_Thrust_ 5
#define _SCALE_ 2
#define _MAX_TURN_ 50
#define _CRAB_ID_SERVO_ 0
#define _CRAB_ACUM_SERVO_ 1
/*---------------------------- Module Functions ---------------------------*/
static void E128_Port_Init(void);
static void during_WAITING_FOR_SWITCH(Event_t);
static void during_WAITING_FOR_FLEET_VALIDATION(Event_t);
static void during_WAIT_FOR_NEPTUNE_GO(Event_t);
static void during_GAME_ON(Event_t);
void Update_Indicators(unsigned char, unsigned char);
void Get_User_Inputs(void);
static void printTheCurrentStateEvent(void);
char Query_Time_To_Send_Inputs_Flag(void);
static void Reset_To_Waiting(void);
/*---------------------------- Module Variables ---------------------------*/
State_t Current_State; // Variable for current state
Event_t Event; // Variable for event
Event_t Previous_Event; // previous event
static unsigned char Inputs[6]; // array containing user input values
unsigned char Previous_Switch_State;
char Time_To_Send_Inputs_Flag = 0; // flag which gets set at 5Hz
/*------------------------------ Module Code ------------------------------*/
/****************************************************************************
Function
Main
Parameters
None
Returns
None.
Description
Notes
Author
Nick Musser
****************************************************************************/
void main(void)
{
// Initializations
SCI_Init(); // Initialize SCI
E128_Port_Init(); // Initialize E128 Ports
Servo_Init(); // Initialize Servos
Current_State = WAITING_FOR_SWITCH; // Initialize Current State to Waiting for switch
Event = NO_EVENT; // Initialize Event to No-Event
Previous_Event = NO_EVENT; // INitialize Previous Event to No_Event
printTheCurrentStateEvent(); // Print out state info
while (1) // while forever
{
if((Event = Check_Events()) != NO_EVENT) // if a new event happened
{
Previous_Event = Event; // assign the Event to Previous Event
switch(Current_State) // switch on Current_State
{
case WAITING_FOR_SWITCH:
during_WAITING_FOR_SWITCH(Event);
break;
case WAITING_FOR_FLEET_VALIDATION:
during_WAITING_FOR_FLEET_VALIDATION(Event);
break;
case WAIT_FOR_NEPTUNE_GO:
during_WAIT_FOR_NEPTUNE_GO(Event);
break;
case GAME_ON:
during_GAME_ON(Event);
break;
} // end of switch
printTheCurrentStateEvent(); // print out state info
} // end of if
} // end of while
} // end of main
/****************************************************************************
Function
E128_Port_Init()
Parameters
Returns
None.
Description
Initializes the Data Direction for the Ports on the E128. Sets up the
Analog channels as well.
Notes
Author
Nick Musser
****************************************************************************/
void E128_Port_Init(void)
{
//(void)printf("Initializing ports\n\r");
// Set Data Direction for Port
DDRP &= BIT0LO; // Input for Cannon Fire
DDRP &= BIT2LO; // Input for start key
DDRP &= BIT5LO; // Input for extra joystick button
DDRP |= BIT1HI; // Output for Fleet Cipher Received
DDRP |= BIT3HI; // Output for GAME ON!! LED
DDRP |= BIT4HI; // Output for system Unlocked LED
// Set up Analog Ports. Ports 0-4 are Analog and Ports 5-7 are Digital Input (but can be changed)
// Analog Input for Forward/Backward = AD0
// Analog Input for Left/Right Steer = AD1
// Analog Input for Gun Power = AD2
// Analog Input for Cannon Right Aim = AD3
// Analog Input for Cannon Left Aim = AD4
(void)ADS12_Init("IIIAAAAA");
// Initialize Timer System
TIM1_TSCR1 = _S12_TEN; // turn the timer system on
TIM1_TSCR2 = (_S12_PR0 | _S12_PR1 | _S12_PR2 ); // set prescaler to 128
TIM1_TIOS = _S12_IOS4; // set cap/comp 4 to output compare
TIM1_TCTL1 = TIM1_TCTL1 & ~(_S12_OL4 | _S12_OM4); // no pin connected
TIM1_TC4 = TIM1_TCNT + _PERIOD_; /* schedule first event */
TIM1_TFLG1 = _S12_C4F; // Clear 0C4 flag
}
/****************************************************************************
Function
during_WAITING_FOR_SWITCH()
Parameters
Returns
None.
Description
Notes
Author
Nick Musser
****************************************************************************/
void during_WAITING_FOR_SWITCH(Event_t EVENT)
{
switch(EVENT)
{
case SWITCH_ON:
PTP |= BIT4HI; // Raise pin 4 to turn on LED
Current_State = WAITING_FOR_FLEET_VALIDATION; // Change state
SCI1CR2 |= _S12_RIE; // Enable Interrupt for incoming messages. Start listening for broadcasts from team and Neptune
break;
case SKIP_MODE_ON:
PTP |= BIT3HI; // Raise pin 3 to turn on LED for Game ON
SCI1CR2 |= _S12_RIE; // Enable Interrupt for incoming messages. Start listening for broadcasts from team and Neptune
TIM1_TIE |= _S12_C4I; // enable OC4 interrupt so we can start sending user inputs
Current_State = GAME_ON; // Change state
break;
} // end of switch
} // end of function
/****************************************************************************
Function
during_WAITING_FOR_FLEET_VALIDATION()
Parameters
Returns
None.
Description
Notes
Author
Nick Musser
****************************************************************************/
void during_WAITING_FOR_FLEET_VALIDATION(Event_t EVENT)
{
switch(EVENT)
{
case CIPHER_RECEIVED:
PTP |= BIT1HI; // Raise pin 1 to turn on LED for cipher received
Current_State = WAIT_FOR_NEPTUNE_GO; // Change state
break;
case SKIP_MODE_ON:
PTP |= BIT3HI; // Raise pin 3 to turn on LED for Game ON
TIM1_TIE |= _S12_C4I; // enable OC4 interrupt so we can start sending user inputs
Current_State = GAME_ON; // Change state
break;
case NEW_MESSAGE:
Process_Message(); // process new message
break;
case SWITCH_OFF:
Current_State = WAITING_FOR_SWITCH; // change state
Reset_To_Waiting(); // reset lights, etc...
break;
} // end of switch
} // end of function
/****************************************************************************
Function
during_WAIT_FOR_NEPTUNE_GO()
Parameters
Returns
None.
Description
Notes
Author
Nick Musser
****************************************************************************/
void during_WAIT_FOR_NEPTUNE_GO(Event_t EVENT)
{
switch(EVENT)
{
case GO:
PTP |= BIT3HI; // Raise pin 3 to turn on LED for Game ON
TIM1_TIE |= _S12_C4I; // enable OC4 interrupt so we can start sending user inputs
Current_State = GAME_ON; // Change state
break;
case SKIP_MODE_ON:
PTP |= BIT3HI; // Raise pin 3 to turn on LED for Game ON
TIM1_TIE |= _S12_C4I; // enable OC4 interrupt so we can start sending user inputs
Current_State = GAME_ON; // Change state
break;
case NEW_MESSAGE:
Process_Message(); // process new message
break;
case SWITCH_OFF:
Current_State = WAITING_FOR_SWITCH; // change state to "Waiting for Switch"
Reset_To_Waiting(); // reset lights, etc...
break;
} // end of switch
} // end of function
/****************************************************************************
Function
during_WAIT_FOR_NEPTUNE_GO()
Parameters
Returns
None.
Description
Notes
Author
Nick Musser
****************************************************************************/
void during_GAME_ON(Event_t EVENT)
{
switch(EVENT)
{
case NEW_MESSAGE:
Process_Message(); // process new message
break;
case TIME_TO_SEND_INPUTS:
Get_User_Inputs(); // sample user inputs
Compile_Message(Inputs); // Compile message with user inputs
Send_Message(); // Initiate sending of message
break;
case SWITCH_OFF:
Current_State = WAITING_FOR_SWITCH; // change state to "Waiting for Switch"
Reset_To_Waiting(); // reset lights, etc...
break;
} // end of switch
} // end of function
/****************************************************************************
Function
Update_Indicators()
Parameters
First parameter is the crab pot ID. The second parameter is the crab accumulation
rate.
Returns
None.
Description
Notes
Author
Nick Musser
****************************************************************************/
void Update_Indicators(unsigned char CRAB_POT_ID, unsigned char CRAB_ACCUM_RATE)
{
Servo_Set_Position(CRAB_POT_ID,_CRAB_ID_SERVO_);// Update Crab pot ID indicator
Servo_Set_Position((unsigned char)((((unsigned int)CRAB_ACCUM_RATE * 17)/250) + 1),_CRAB_ACUM_SERVO_);// update crab accumulation rate indicator
} // end of function
/****************************************************************************
Function
Get_User_Inputs()
Parameters
Returns
None.
Description
Notes
A little messy... sorry :)
Author
Nick Musser
****************************************************************************/
void Get_User_Inputs(void)
{
short Before_Conversion_Inputs[6];
short After_Conversion_Inputs[6];
short ForwardSpeed;
static int i;
Before_Conversion_Inputs[0] = ADS12_ReadADPin(_FORW_BACK_); // Read forward/backward
Before_Conversion_Inputs[1] = ADS12_ReadADPin(_RHT_LFT_); // Read right/left steer
if((PTP & BIT0HI) != 0)// if cannon button is pressed
{
Before_Conversion_Inputs[2] = ADS12_ReadADPin(_CANNON_); // Read cannon power
} else
{
Before_Conversion_Inputs[2] = 0x00; //else assign a zero to cannon power
}
Before_Conversion_Inputs[3] = ADS12_ReadADPin(_RHT_AIM_); // Read Right cannon Aim
Before_Conversion_Inputs[4] = ADS12_ReadADPin(_LFT_AIM_); // Read Left cannon Aim
Before_Conversion_Inputs[5] = ADS12_ReadADPin(_TURBO_Prop_); // Read Turbo Prop
// Make conversion from 10 bit digital to a number between 0 and 100 that represents duty cycle
for(i = 0; i <=5; i++)
{
After_Conversion_Inputs[i] = ((Before_Conversion_Inputs[i])/(2*_Voltage_At_Full_Thrust_));
if(After_Conversion_Inputs[i] > 100)
After_Conversion_Inputs[i] = 100;
if(After_Conversion_Inputs[i] < 0)
After_Conversion_Inputs[i] = 0;
}
ForwardSpeed = After_Conversion_Inputs[0]*2;
// Calculate Motor speeds based on the forward set point and steering setpoint
// Turning Right
if(After_Conversion_Inputs[1] >= 50 )
{
After_Conversion_Inputs[0] = ForwardSpeed + (_MAX_TURN_ * (After_Conversion_Inputs[1] - 50))/(_SCALE_*50); // right motor
After_Conversion_Inputs[1] = ForwardSpeed - (_MAX_TURN_ * (After_Conversion_Inputs[1] - 50))/(_SCALE_*50); // left motor
}
else
{
After_Conversion_Inputs[0] = ForwardSpeed - (_MAX_TURN_ * (50 - After_Conversion_Inputs[1]))/(_SCALE_*50); // right motor
After_Conversion_Inputs[1] = ForwardSpeed + (_MAX_TURN_ * (50 - After_Conversion_Inputs[1]))/(_SCALE_*50); // left motor
}
for(i=0; i<=1; i++)
{
if(After_Conversion_Inputs[i] > 200)
After_Conversion_Inputs[i] = 200;
if(After_Conversion_Inputs[i] < 0)
After_Conversion_Inputs[i] = 0;
}
if((After_Conversion_Inputs[0] > 95) && (After_Conversion_Inputs[0] < 105) && (After_Conversion_Inputs[0] > 95) && (After_Conversion_Inputs[0] < 105) && (After_Conversion_Inputs[1] > 95) && (After_Conversion_Inputs[1] < 105) )
{
After_Conversion_Inputs[0] = 100;
After_Conversion_Inputs[1] = 100;
}
// for Left and Right Servo Aim, adjust to a number between 1 and 12
for(i = 3; i<=4; i++)
{
//After_Conversion_Inputs[i] = ((11*After_Conversion_Inputs[i])/60)-6;
After_Conversion_Inputs[i] = ((2*After_Conversion_Inputs[i])/3)-24;
}
for (i = 0; i <=2; i++)
{
Inputs[i] = (unsigned char)After_Conversion_Inputs[i];
}
for (i = 3; i <=5; i++)
{
Inputs[i] = (unsigned char)After_Conversion_Inputs[i];
if(Inputs[i] > 42)
Inputs[i] = 0;
}
}
/****************************************************************************
Function
printTheCurrentStateEvent()
Parameters
Returns
None.
Description
Prints the current state, last event, and last user inputs
Notes
Author
Nick Musser
****************************************************************************/
void printTheCurrentStateEvent(void)
{
//system("cls");
switch(Current_State)
{
case WAITING_FOR_SWITCH:
(void)printf("Current State is: Waiting for Switch. ");
break;
case WAITING_FOR_FLEET_VALIDATION:
(void)printf("Current State is: Waiting for Fleet Validation ");
break;
case WAIT_FOR_NEPTUNE_GO:
(void)printf("Current State is: Waiting for Neptune ");
break;
case GAME_ON:
(void)printf("Current State is: Game ON!!! ");
break;
}
switch(Event)
{
case SWITCH_ON:
(void)printf("Event_ Was: Switch On\n\r");
break;
case CIPHER_RECEIVED:
(void)printf("Event_ Was: Cipher Received\n\r");
break;
case GO:
(void)printf("Event_ Was: Go\n\r");
break;
case SKIP_MODE_ON:
(void)printf("Event_ Was: Skip Mode On\n\r");
break;
case NEW_MESSAGE:
(void)printf("Event_ Was: New Message\n\r");
break;
case TIME_TO_SEND_INPUTS:
(void)printf("Event_ Was: Time to Send Inputs_\n\r");
break;
case NO_EVENT:
(void)printf("Event_ Was: No Event\n\r");
break;
case SWITCH_OFF:
(void)printf("Event_ Was: Switch OFF\n\r");
break;
}
(void)printf("Right Motor DC is %i\n\r", Inputs[0]);
(void)printf("Left Motor DC is %i\n\r", Inputs[1]);
(void)printf("Cannon Power Command is %i\n\r", Inputs[2]);
(void)printf("Right Aim Command is %i\n\r", Inputs[3]);
(void)printf("Left Aim Command is %i\n\r", Inputs[4]);
}
/****************************************************************************
Function
Query_New_Message_Flag()
Parameters
None.
Returns
1 if the 5Hz timer flag has been set. 0 otherwise
Description
Notes
None.
Author
Nick Musser
****************************************************************************/
char Query_Time_To_Send_Inputs_Flag(void)
{
if(Time_To_Send_Inputs_Flag == 1) // if flag has been set
{
Time_To_Send_Inputs_Flag = 0; // clear flag
return 1; // return 1
}
else
return 0;
}
/****************************************************************************
Function
Reset_To_Waiting()
Parameters
None.
Returns
None.
Description
Resets the LEDs and interrupts as if the game had started over again.
Notes
None.
Author
Nick Musser
****************************************************************************/
void Reset_To_Waiting(void)
{
TIM1_TIE &= (~_S12_C4I); // disable OC4 interrupt so we stop sending user inputs
SCI1CR2 &= (~_S12_RIE); // disable Interrupt for incoming messages. Stop listening for broadcasts from team and Neptune
PTP &= BIT4LO; // Lower pin 4 to turn OFF system unlocked LED
PTP &= BIT3LO; // Lower pin 3 to turn OFF LED for Game ON
PTP &= BIT1LO; // Lower pin 1 to turn OFF LED for Cipher Received
} // end of function
/****************************************************************************
Function
Timer
Parameters
None.
Returns
None.
Description
This is the interrupt response associated with the timer for sending user inputs at 5Hz
Notes
None.
Author
Nick Musser
****************************************************************************/
void interrupt _Vec_tim1ch4 Timer(void)
{
Time_To_Send_Inputs_Flag = 1; // set flag
TIM1_TFLG1 = _S12_C4F; // clear OC4 flag
EnableInterrupts; // enable interrupts
TIM1_TC4 = TIM1_TCNT + _PERIOD_; // program next compare
}
