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171 changes: 169 additions & 2 deletions AutomaticCarRobot.X/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,9 @@
#define LED3 LATBbits.LATB4 //Define LED3
#define LED4 LATBbits.LATB5 //Define LED4

#define SensorA1 PORTCbits.RC3 //Define the SCL of the sensor array
#define SensorA2 PORTCbits.RC4 //Define the SDA of the sensor array

#define LOOKUP [[1 0 0 0 0 0] [1 1 1 1 1 1]]
#define ENCTURNVAL 8 //defines constant for the number of rotations that is required to turn 90 degrees
#define COLLISION_THRESH 800 //defines constant to begin to avoid collision advoidance
Expand All @@ -44,9 +47,22 @@ void EncoderChecker(int encVal);
void MotorBrake(void);
unsigned int readLADC(void); //Read ADC
unsigned int readRADC(void); //Read ADC
void MotorAngle(void); //Governs the motor turning based on the angle determined from sensor array
void AddSpeed(int u, int sOra); //Performs speed adding to motors depending on the situation

void wait10ms(int del); //delay function

unsigned char readSensorArray(); //Reads and returns the sensor array.

//I2C setup functions prototype
void I2C_Initialise(void); //Initialise I2C
void I2C_checkbus_free(void); //Wait until I2C bus is free
void I2C_Start(void); //Generate I2C start condition
void I2C_RepeatedStart(void); //Generate I2C Repeat start condition
void I2C_Stop(void); //Generate I2C stop condition
void I2C_Write(unsigned char write); //Generate I2C write condition
unsigned char I2C_Read(void); //Generate I2C read condition

void main(void) {
Setup();
return;
Expand All @@ -70,7 +86,12 @@ void Setup(){
ADCON1=0b00001101; //Set voltage reference and port A0 as analogue input
ADCON2=0b10000010; // Fosc/32, A/D result right justified
LATB=0; //Turn all Leds off
FlashLED();

TRISCbits.RC3=1; //Set the RC3 pin as input
TRISCbits.RC4=4; //Set the RC4 pin as output
I2C_Initialise(); //Initialise the I2C

FlashLED(); //Flash the LED after set up

//NEED TO ALTER CODE TO SET UP PARTS CORRECTLy FOR I2C
}
Expand Down Expand Up @@ -183,4 +204,150 @@ void wait10ms(int del){ //delay function
for(c=0;c<del;c++)
__delay_ms(10);
return;
}
}

unsigned char readSensorArray() {
unsigned char linesensor[];
I2C_Start(); //Send Start condition to slave
I2C_Write(0x7C); //Send 7 bit address + Write to slave
I2C_Write(0x11); //Write data, select RegdataA and send to slave
I2C_RepeatedStart(); //Send repeat start condition
I2C_Write(0x7D); //Send 7 bit address + Read
linesensor[]=I2C_Read();
I2C_Stop(); //Send Stop condition
return linesensor[];
}

void MotorAngle() {
int angle = 999; //Set a default angle
while (angle != 0) {
int colourArray[] = ReadSensorArray(); //Import array data
switch colourArray[] { //For each condition
case {1, 1, 1, 1, 1, 1, 1, 0}:
angle = 12;
break;
case {1, 1, 1, 1, 1, 1, 0, 0}:
angle = 10;
break;
case {1, 1, 1, 1, 1, 1, 0, 1}:
angle =9;
break;
case {1, 1, 1, 1, 1, 0, 0, 1}:
angle = 7;
break;
case {1, 1, 1, 1, 1, 0, 1, 1}:
angle = 5;
break;
case {1, 1, 1, 1, 0, 0, 1, 1}:
angle = 3;
break;
case {1, 1, 1, 1, 0, 1, 1, 1}:
angle = 2;
break;
case {1, 1, 1, 0, 1, 1, 1, 1}:
angle = -2;
break;
case {1, 1, 0, 0, 1, 1, 1, 1}:
angle = -3;
break;
case {1, 1, 0, 1, 1, 1, 1, 1}:
angle = -5;
break;
case {1, 0, 0, 1, 1, 1, 1, 1}:
angle = -7;
break;
case {1, 0, 1, 1, 1, 1, 1, 1}:
angle = -9;
break;
case {0, 0, 1, 1, 1, 1, 1, 1}:
angle = -10;
break;
case {0, 1, 1, 1, 1, 1, 1, 1}:
angle = -12;
break;
default:
angle = 0;
break;
}
int Error = 0 - angle; //Error math
int u = 4*Error; //Gain = 4
AddSpeed(u,0); //Add speed to the motor and set mode to Angle
}
}

void AddSpeed(int u, int sOra) {
if ((CCPR1L+u) > 1023){
CCPRL = 1023;
} else if ((CCPR1L+u)<0) {
CCPR1L = 0;
} else {
CCPR1L = CCPR1L + u;
}
if (sOrA == 0){
u = -u;
}
if (CCPR2L+u)>1023){
CCPR2L=1023;
}
else if ((CCPR2L+u)<0){
CCPR2L=0;
} else {
CCPR2L= CCPR2L+ u;
}
}


//------I2C setup functions as given in sample code------
void I2C_Initialise(void) //Initialise I2C
{
SSPCON1 = 0b00101000; //set to master mode, enable SDA and SCL pins
SSPCON2 = 0; //reset control register 2
SSPADD = 0x63; //set baud rate to 100KHz
SSPSTAT = 0; //reset status register
}

void I2C_checkbus_free(void) //Wait until I2C bus is free, this is WaitI2C in the flowchart
{
while ((SSPSTAT & 0x04) || (SSPCON2 & 0x1F)); //wait until I2C bus is free
}


void I2C_Start(void) //Generate I2C start condition
{
I2C_checkbus_free(); //Test to see I2C bus is free
SEN = 1; //Generate start condition,SSPCON2 bit 0 = 1
}


void I2C_RepeatedStart(void) //Generate I2C Repeat start condition
{
I2C_checkbus_free(); //Test to see I2C bus is free
RSEN = 1; //Generate repeat start, SSPCON2 bit1 = 1
}


void I2C_Stop(void) //Generate I2C stop condition
{
I2C_checkbus_free(); //Test to see I2C bus is free
PEN = 1; // Generate stop condition,SSPCON2 bit2 = 1
}


void I2C_Write(unsigned char write) //Write to slave
{
I2C_checkbus_free(); //check I2C bus is free
SSPBUF = write; //Send data to transmit buffer
}


unsigned char I2C_Read(void) //Read from slave
{
unsigned char temp[];
I2C_checkbus_free(); //Test to see I2C bus is free
RCEN = 1; //enable receiver,SSPCON2 bit3 = 1
I2C_checkbus_free(); //Test to see I2C bus is free
temp = SSPBUF; //Read slave
I2C_checkbus_free(); //Test to see I2C bus is free
ACKEN = 1; //Acknowledge
return temp[]; //return sensor array data
}