1: /* Arlotto 2004 : pgm test robot chenille */

     2: 

     3: #include <pic.h>

     4: #include <stdio.h>

     5: #define __DEBUG  // à commenter pour mode autonome

     6: 

     7: #ifdef __DEBUG 

     8: __CONFIG (0x3739);

     9: #else

    10: __CONFIG(0x3D39);

    11: #endif

    12: #include "biosdem.h"

    13: #include "hardware.h"

    14: #include "move.h"

    15: #include "compass.h"

    16: #include "sonar.h"

    17: #include "serial.h"

    18: #include "tempo.h"

    19: bank1 int bearing ;

    20: bank1 int distance ;

    21: extern volatile unsigned int direction,vitesse ; // modifiable n'importe où dans le programme

    22: extern volatile signed char angle,speed ;

    23: extern volatile unsigned char move_state,turn_state;

    24: void main (void)

    25:    {

    26:      LEDS_DIR_INIT;

    27:      LEDS_ON;

    28:      SWITCH_DIR_INIT;

    29:      init_move();

    30:          init_serial();

    31:          init_compass();

    32:      init_tempo0();

    33:      DelayMs(250);   

    34:      DelayMs(250);

    35:      DelayMs(250);   

    36:      DelayMs(250);

    37:      LEDS_OFF; 

    38:      serial_puts("Hello This is Achille v0.1 !!\r");

    39:      PEIE=1;

    40:      GIE = 1 ;

    41:      switch (SW_VALUE)

    42:         {

    43:           case 0 : // avance tant que d >70 puis tourne

    44:            

    45:             for ( ; ; )

    46:                {

    47:         

    48:             distance = read_distance();

    49:             if( distance > 70)

    50:             {

    51:              angle=0;

    52:              speed = 10;

    53:              RightLed = 1 ;

    54:                 }

    55:              else

    56:             {

    57:             speed  =10 ;

    58:             angle=90;

    59:             RightLed=0;

    60:             while( turn_state!=TURN_DONE);

    61:             angle=0;

    62:             DelayMs(200); // attend une it tmr0

    63:             }                    

    64:          

    65:          }

    66:         case 1 :

    67:            for ( ; ; )

    68:             {

    69:             distance = read_distance();

    70:             if( distance > 70)

    71:             {

    72:              angle=0;

    73:              speed = 10;

    74:              RightLed = 1 ;

    75:                 }

    76:              else

    77:             {

    78:              if ( distance < 20 )

    79:                {

    80:                  angle=0;

    81:                  speed = -40 ;

    82:                  while(read_distance()<70); 

    83:                }

    84:              else

    85:               {

    86:                 speed  =10 ;

    87:                 angle=90;

    88:                 RightLed=0;

    89:                 while( turn_state!=TURN_DONE);

    90:                 angle=0;

    91:                DelayMs(200); // attend une it tmr0

    92:               }    

    93:              }                    

    94:             }

    95:           case 2 :

    96:            for ( ; ; )

    97:             {

    98:             distance = read_distance();

    99:             if( distance > 70)

   100:             {

   101:              angle=0;

   102:              speed = 10;

   103:              RightLed = 1 ;

   104:                 }

   105:              else

   106:             {

   107:              if ( distance < 20 )

   108:                {

   109:                  angle=0;

   110:                  speed = -40 ;

   111:                  BackRightLed = 0 ;

   112:                  start_tempo0(1500);

   113:                  while((read_distance()<70)&&(!tempo0_done()));

   114:                 if ( tempo0_done() )

   115:                  {

   116:                    BackRightLed = 1 ;

   117:                    speed  =10 ;

   118:                     angle=-90;

   119:                      RightLed=0;

   120:                      while( turn_state!=TURN_DONE);

   121:                      angle=0;

   122:                      DelayMs(200); // attend une it tmr0

   123:                  }

   124:                }

   125:              else

   126:               {

   127:                   speed  =10 ;

   128:                           angle=90;

   129:                           RightLed=0;

   130:                           while( turn_state!=TURN_DONE);

   131:                           angle=0;

   132:                           DelayMs(200); // attend une it tmr0

   133:               }    

   134:              }                    

   135:             }

   136:       }

   137:      

   138:    }