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267
RSLK/RSLKmain.c
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267
RSLK/RSLKmain.c
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/* RSLKmain.c
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* Jonathan Valvano
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* v2.0.1
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* July 19, 2025
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*
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*/
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#include <ti/devices/msp/msp.h>
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#include "../inc/LaunchPad.h"
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#include "../inc/Clock.h"
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#include "../inc/PWM1.h"
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#include "../inc/Motor.h"
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#include "../inc/Bump.h"
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#include "../inc/SSD1306.h"
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#include "../inc/ADC.h"
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#include "../inc/InputCapture.h"
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uint32_t Duty,Period,Change;
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// Motor
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// PB4 Motor_PWML=PB.4/TIMA1_C0;
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// PB1 Motor_PWMR=PB.1/TIMA1_C1;
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// PB0 Motor_DIR_L 1 means forward, 0 means backward
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// PB16 Motor_DIR_R, ***change from 2.0.0***
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// tachometer
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// PB8 ELA TA0_C0
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// PB7 ERB GPIO input TG8_C1/TG6_C1/TA1_C0N
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// PB6 ELB GPIO input TG8_C0/TG6_C0
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// PB12 ERA TA0_C1
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// Negative Logic Bumper switches
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// PA27 Left, Bump 0, ***change from 2.0.0***
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// PB15 Center Left, Bump 1, ***change from 2.0.0***
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// PA28 Center Right, Bump 2
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// PA31 Right, Bump 3
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// SSD1306 I2C OLED
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// PB2 SCL I2C clock
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// PB3 SDA I2C data
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// IR analog distance sensors
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// PA26 Right ADC0_1
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// PB24 Center ADC0_5 (remove J9)
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// PA22 Left ADC0_3
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// TF Luna TOF distance sensor
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// TM4C MSPM0
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// PB1 PA8 TxD microcontroller sensor RxD pin 2
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// PB0 PA9 RxD microcontroller sensor TxD pin 3
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// LaunchPad pins
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// PA0 red LED1
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// PB22 BLUE LED2
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// PB26 RED LED2
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// PB27 GREEN LED2
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// PA18 S1 positive logic switch
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// PB21 S2 negative logic switch
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// Remove +5V jumper from debugger to target
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// Remove J9: Disconnects thermistor from PB24
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// Remove J16 J17 J18: Disconnects light sensor from the microcontroller PA22 PA27 PA26
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// Insert J5: Connects PB22 to blue LED2
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// Insert J6: Connects PB26 to red LED2<
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// Insert J7: Connects PB27 to green LED2
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uint32_t bump;
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int main0(void){ // use main0 to test bump switches
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__disable_irq();
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Clock_Init80MHz(0);
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LaunchPad_Init();
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Bump_Init();
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__enable_irq();
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while(1){
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bump = Bump_In();
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}
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}
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int main1(void){ // use main1 to test low level motor
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uint32_t sw2,lasts2;
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__disable_irq();
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Clock_Init80MHz(0);
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LaunchPad_Init();
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__enable_irq();
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// PWM_Init(PWMUSELFCLK,0,1000,250,750); // 32.768 Hz
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// Duty = 100;
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// Period = 1000;
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// Change = 100;
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PWM1_Init(PWMUSEBUSCLK,39,10000,2500,7500); // 100Hz
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Duty = 1000;
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Period = 10000;
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Change = 1000;
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lasts2 = (~(GPIOB->DIN31_0)) & S2;
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while(1){
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Clock_Delay(1000000); // debounce switch
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sw2 = (~(GPIOB->DIN31_0)) & S2;
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if(sw2 && (lasts2==0)){ // touch s2
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Duty = Duty+Change;
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if(Duty >= Period){
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Duty = Change;
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}
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PWM1_SetDuty(Duty,Period-Duty);
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}
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lasts2 = sw2;
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}
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}
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int main2(void){ // use main2 to test motors and OLED
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uint32_t sw2,lasts2;
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__disable_irq();
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Clock_Init80MHz(0);
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LaunchPad_Init();
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SSD1306_Init(SSD1306_SWITCHCAPVCC);
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SSD1306_SetCursor(0,0);
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SSD1306_ClearBuffer();
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SSD1306_OutBuffer();
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SSD1306_OutString("RSLK 2");
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Bump_Init();
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__enable_irq();
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// PWM_Init(PWMUSELFCLK,0,1000,250,750); // 32.768 Hz
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// Duty = 100;
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// Period = 1000;
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// Change = 100;
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Motor_Init(); // 100Hz
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Duty = 1000;
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Period = 10000;
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Change = 1000;
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lasts2 = (~(GPIOB->DIN31_0)) & S2;
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SSD1306_SetCursor(0,1);
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SSD1306_OutString("Period= ");
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SSD1306_OutUDec(Period);
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SSD1306_SetCursor(0,2);
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SSD1306_OutString("Duty= ");
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SSD1306_SetCursor(6,2);
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SSD1306_OutUDec(Duty);
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while(1){
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Clock_Delay(100000); // debounce switch
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if(Bump_In()){
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Motor_Forward(4,4);
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while(Bump_In()){};
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Motor_Forward(Duty,Duty);
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}
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sw2 = (~(GPIOB->DIN31_0)) & S2;
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if(sw2 && (lasts2==0)){ // touch s2
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Duty = Duty+Change;
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if(Duty >= Period){ // 10 20 30 ... 90%
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Duty = Change;
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}
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Motor_Forward(Duty,Duty);
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SSD1306_SetCursor(6,2);
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SSD1306_OutUDec(Duty);
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}
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lasts2 = sw2;
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}
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}
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uint32_t Left,Center,Right;
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uint32_t Bump;
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int main3(void){ // use main3 to test OLED and IR sensors
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__disable_irq();
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Clock_Init80MHz(0);
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LaunchPad_Init();
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SSD1306_Init(SSD1306_SWITCHCAPVCC);
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SSD1306_SetCursor(0,0);
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SSD1306_ClearBuffer();
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SSD1306_OutBuffer();
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SSD1306_OutString("RSLK 2");
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SSD1306_SetCursor(0,1);
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SSD1306_OutString("Left =");
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SSD1306_SetCursor(0,2);
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SSD1306_OutString("Center=");
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SSD1306_SetCursor(0,3);
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SSD1306_OutString("Right =");
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SSD1306_SetCursor(0,4);
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SSD1306_OutString("Bump =");
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//PA26 IR analog distance sensor, Right ADC0_1
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//PB24 IR analog distance sensor, Center ADC0_5
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//PA22 IR analog distance sensor, Left ADC0_3
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//ADC0_Init(5,ADCVREF_VDDA);
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ADC_InitTriple(ADC0,1,5,3,ADCVREF_VDDA);
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Bump_Init();
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__enable_irq();
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while(1){
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Clock_Delay(100000); // slow down
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Bump = Bump_In();
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ADC_InTriple(ADC0,&Right,&Center,&Left);
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SSD1306_SetCursor(7,1);
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SSD1306_OutUDec(Left);
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SSD1306_SetCursor(7,2);
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SSD1306_OutUDec(Center);
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SSD1306_SetCursor(7,3);
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SSD1306_OutUDec(Right);
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SSD1306_SetCursor(7,4);
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SSD1306_OutUHex7(Bump);
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}
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}
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uint32_t Count0=0,Count1=0,Time0,Time1,Last0,Last1,Period0,Period1;
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uint32_t Data0[8],Data1[8];
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int main(void){ // use main5 to test motors and tach
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uint32_t sw2,lasts2;
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__disable_irq();
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Clock_Init80MHz(0);
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LaunchPad_Init();
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SSD1306_Init(SSD1306_SWITCHCAPVCC);
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SSD1306_SetCursor(0,0);
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SSD1306_ClearBuffer();
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SSD1306_OutBuffer();
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SSD1306_OutString("RSLK 2");
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SSD1306_SetCursor(0,1);
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SSD1306_OutString("Left = ");
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SSD1306_SetCursor(0,2);
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SSD1306_OutString("Right= ");
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SSD1306_SetCursor(0,3);
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SSD1306_OutString("Duty = ");
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SSD1306_SetCursor(0,4);
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SSD1306_OutString("Bump =");
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Bump_Init();
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__enable_irq();
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Motor_Init(); // 100Hz
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InputCapture_InitDual(INPUTCAPTUREUSEBUSCLK,79,1); // 1us resolution
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Last0 = 0xFFFFFFFF; Last1 = 0xFFFFFFFF;
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Count0=0; Count1=0;
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Duty = 500;
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Period = 10000;
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Change = 1000;
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lasts2 = (~(GPIOB->DIN31_0)) & S2;
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while(1){
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SSD1306_SetCursor(7,1);
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SSD1306_OutUDec(Period0);
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SSD1306_SetCursor(7,2);
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SSD1306_OutUDec(Period1);
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SSD1306_SetCursor(7,3);
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SSD1306_OutUDec(Duty);
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SSD1306_SetCursor(0,5);
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SSD1306_OutUHex32(Bump_In());
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if(Bump_In()){
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Motor_Forward(4,4); // stop
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SSD1306_SetCursor(0,5);
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SSD1306_OutUHex32(Bump_In());
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while(Bump_In()){Clock_Delay(80000);};
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while(Bump_In()==0){Clock_Delay(80000);};
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while(Bump_In()){Clock_Delay(80000);};
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Motor_Forward(Duty,Duty); // turn left
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}
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sw2 = (~(GPIOB->DIN31_0)) & S2;
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if(sw2 && (lasts2==0)){ // touch s2
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Duty = Duty+Change;
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if(Duty >= Period/2){ // 10 20 30 ... 90%
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Duty = 500;
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}
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Motor_Forward(Duty,Duty); // turn left
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}
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lasts2 = sw2;
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}
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}
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void TIMA0_IRQHandler(void){
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uint32_t iidx = TIMA0->CPU_INT.IIDX;// this will acknowledge
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if(iidx == 5){ // 5 means capture CCD0, PB8 ELA TA0_C0
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Time0 = TIMA0->COUNTERREGS.CC_01[0]; // time now
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Period0 = (Last0-Time0)&0xFFFF; // elapsed time since last
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Last0 = Time0;
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Data0[Count0&0x07] = Period0;
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Count0++;
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}
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if(iidx == 6){ // 6 means capture CCD1=PB12 ERA TA0_C1
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Time1 = TIMA0->COUNTERREGS.CC_01[1]; // time now
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Period1 = (Last1-Time1)&0xFFFF; // elapsed time since last
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Last1 = Time1;
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Data1[Count1&0x07] = Period1;
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Count1++;
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}
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}
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