121 lines
2.1 KiB
C
Executable file
121 lines
2.1 KiB
C
Executable file
#include "global.h"
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#include "hal/keylcd.h"
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#include "navigation.h"
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#include "sensor/sensor.h"
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Board board;
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KeyLCD keylcd;
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Navigation navigation;
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Sensor sensor;
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int main() {
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//board.ledOn();
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sleep(1);
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uart1_puts("Hallo hier ist das RNMega128Funk-Board");
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while(true)
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{
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uart1_puts("3");
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sleep(1);
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}
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int speed = 100;
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/*for(int i=0;i<360;i+=5) {
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navigation.Aktualisieren(0,i,0);
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msleep(1000);
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}*/
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/*sleep(2);
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board.motor(0,0);
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board.motor(1,0);
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board.motor(2,0);
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board.motor(3,0);
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while(true) { sleep(1); }*/
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/*board.motor(0,speed);
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board.motor(2,speed);
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sleep(2);
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board.motor(0,speed);
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board.motor(2,0);
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board.motor(1,speed);
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sleep(2);
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for(int i=-255;i<=255;i+=10) {
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board.motor(0,i);
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board.motor(1,i);
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board.motor(2,i);
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board.motor(3,i);
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msleep(500);
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}
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board.motor(0, speed);
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board.motor(1, speed);
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board.motor(2, speed);
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board.motor(3, speed);
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while(true) { sleep(1); }*/
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/*
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//PORTB |= (1 << PB5) | (1 << PB6); // Setze PWM-Ports auf high
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//PORTE |= (1 << PE3); // | (1 << PE4);
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//PORTA |= (1 << PA5); // | (1 << PA5);
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//sleep(10);
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*/
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/*sleep(10);
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board.motor(0, 0);
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board.motor(1, 0);
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board.motor(2, 0);
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board.motor(3, 0);*/
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//while(true) { sleep(1); }
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//board.beep(450);
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//board.ledOn();
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/*keylcd.print("test");
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sleep(1);
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//board.ledOff();
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//sleep(1);
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for(int i=0;i<keylcd.error();i++) {
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board.ledOn();
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sleep(1);
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board.ledOff();
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sleep(1);
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}
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board.ledOn();
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uart1_puts("18");
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uart1_puts("Hallo Du! Hier ist dein AtMega128\n");
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sleep(1);
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board.ledOff();
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sleep(10);
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//board.ledOff();*/
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while(true) {
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navigation.Aktualisieren(0,0,speed);
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sleep(2);
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navigation.Aktualisieren(135,0,speed);
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sleep(2);
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navigation.Aktualisieren(180,0,speed);
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sleep(2);
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navigation.Aktualisieren(225,0,speed);
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sleep(2);
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board.motor(0,0);
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board.motor(1,0);
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board.motor(2,0);
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board.motor(3,0);
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sleep(2);
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}
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while(true)
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{
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//board.ledOn();
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//sleep(1);
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//board.ledOff();
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sleep(1);
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}
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//for(int i=0;i<=7;i++) board.GetADC(i);
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return 0;
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}
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