caddy.c

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/*
 * This file is part of Caddy.
 *
 *  Caddy is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  Caddy is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with Caddy.  If not, see <http://www.gnu.org/licenses/>.
 */
#include "robot_control.h"
#include "motor_control.h"
#include "camera.h"
#include "encoder.h"
#include "buttons.h"
#include "tweak_data.h"
#include "utility.h"
#include "lcd_16x2.h"

// avr-libc
#include <avr/io.h>

#define START_DELAY 5

static inline void initAtmel(void)
{
    /*
     * Initialize Timer
     */
    timerInit();

#if DEBUGGING
    /*
     * Initialize LCD
     */
    lcdInit();
    lcdWriteStr("Init:           ", 0, 0);
    lcdWriteStr("                ", 1, 0);
#endif

    /*
     * Initialize UART for CMUcam communication
     */
    cmuCamInit();

    /*
     * Initialize PWM motor control
     */
    outb(DDRD, 0xff);
    timer1PWMInit(8);
    neutral();
    enableMotors();

    /*
     * Set data direction registers
     */
    outb(DDRA, 0xF0); // Motor control and up/down buttons
    cbi(DDRD, 6);     // red button
    cbi(DDRB, 0);     // nest button
    cbi(DDRB, 1);     // break beam

    /*
     * Apply internal pull-up resister to certain digital inputs
     */
    sbi(PORTB, 0); // internal pull-up for PINB0
    sbi(PORTA, 3); // internal pull-up for PINA3
    sbi(PORTA, 2); // internal pull-up for PINA2
    sbi(PORTA, 1); // internal pull-up for PINA1
    sbi(PORTA, 0); // internal pull-up for PINA0

    /*
     * Initialize quadrature wheel encoders
     */
    cbi(DDRD, 2);
    cbi(DDRD, 3);
    encoderInit();
}

int main(void)
{
    initAtmel();
    loadTweakValues();
    initCamera();
    cameraWhiteBalance();

#if DEBUGGING
    runTetherUI();
    myDelay(START_DELAY);
    runTest();
#else
    waitFor(RED_BUTTON);
    myDelay(START_DELAY);
    runRoborodentiaCourse();
#endif

    brake(BOTH_MOTORS);
#if DEBUGGING
    lcdWriteStr("Done            ", 0, 0);
    lcdWriteStr("                ", 1, 0);
#endif

    return 0;
}