Final Report - Claymore - Grand Valley State University

Offensive Robot Controller Program
// AUTHOR: TEAM 6
// COURSE: EGR345 PROJECT
// DATE: 11-12-06
// FILENAME: OFFENSE_V1.C
// DESCRIPTION: THIS PROGRAM IMPLEMENTS A MOSTLY-AUTONOMOUS MOTION CONTROLLER FOR
// THE DEFENSIVE ROBOT.
#include
#include
#include
#include
#define C_MAX 255 // Maximum PWM output
#define C_MIN 255 // Minimum PWM output
#define CLK_ms 10 // update every 10 ms
#define US_OFF 1
#define THEM_OFF 3
#define THEM_DEF 4
#define OPEN 1
#define CLOSED 0
#define BALL 1
#define NO_BALL 0
#define PLAY_GAME 1
#define END_GAME 0
int accel = 16,
direction = 0,
moving = 0, // Motor starts from rest
pwm_out = 0, // PWM output
SNEG = 0x80, // PWM output that overcomes static friction, negative direction
SPOS = 0x80, // PWM output that overcomes static friction, positive direction
KNEG = 0x80, // Lowest PWM output that keeps motor moving, negative direction
KPOS = 0x80, // Lowest PWM output that keeps motor moving, positive direction
rpos[5],
START = 0,
Goal[] = {0, 0, 0, 0},
gmin[] = {0, 21, 106, 191},
gmax[] = {0, 63, 149, 234};
unsigned int CNT_timer0; // The delay time
// FUNCTION PROTOTYPES
void AD_setup(void);
int db(int c_target);
void PWM_init();
void PWM_update(int value);
int v_out(int v_adj);
void IO_setup();
void IO_update();
void CLK_setup(void);
int Reload(void);
int AttackGoal(int goal);
void FireCannon(void);
void Delay(int ticks);
// FUNCTION DECLARATIONS
void Delay(int ticks)
{
// ticks are approximately 1ms
volatile int i, j;
for(i = 0; i < ticks; i++)
{
for(j = 0; j < 1000; j++){}
}
}
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