Submitted version of the thesis - Airlab, the Artificial Intelligence ...

104 Appendix B. Documentation of the programming
}
/*Enable TIM0 Output Compare1 interrupt*/
TIM_ITConfig(TIM0, TIM_IT_TO | TIM_IT_OC1 | TIM_IT_OC2,
ENABLE);
/*Enable TIM1 Output Compare1 interrupt*/
TIM_ITConfig(TIM1, TIM_IT_TO | TIM_IT_OC1 | TIM_IT_OC2,
ENABLE);
/*Enable TIM3 Output Compare1 interrupt*/
TIM_ITConfig(TIM3, TIM_IT_TO | TIM_IT_OC1 | TIM_IT_OC2,
ENABLE);
VIC_Config(TIM0_ITLine, VIC_IRQ, 9);
VIC_ITCmd(TIM0_ITLine, ENABLE);
VIC_Config(TIM1_ITLine, VIC_IRQ, 10);
VIC_ITCmd(TIM1_ITLine, ENABLE);
VIC_Config(TIM3_ITLine, VIC_IRQ, 11);
VIC_ITCmd(TIM3_ITLine, ENABLE);
/*Start*/
TIM_CounterCmd(TIM0, TIM_START);
TIM_CounterCmd(TIM1, TIM_START);
TIM_CounterCmd(TIM3, TIM_START);
u8 i;
s16 speed[3];
for (i = 0; i < NUM_MOTORS; i++) {
speed[i] = 0;
}
Set_Speed(speed, CLOSE);
void Position_Camera(u8 position) {
servo_flag = 0;
servo_position = position;
}
void Init_Bumpers() {
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3;
GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;
GPIO_Init(GPIO5, &GPIO_InitStructure);
GPIO_StructInit(&GPIO_InitStructure);