car-project

States

1 Wait_state 2 running_stete 3 find_road_state 4 road_not_found_state

Motor

• PH3 (Timer4)
• INA - PK0 (ADC8)
• INB - PK1 (ADC9)
• ENA - PK2 (INPUT)
• ENB - PK3 (INPUT)

Servo

• Timer1
• PWM - PB5 (OC1A)

Tachometer

• Timer5
• Signal - PL2 (T5)

LCD

• RX - PD2 (RXD1)
• TX - PD3 (TXD1)

Led

• PC0 - led0
• PC1 - led1

Button

*(HIGH when not pushed)

• PE5 (INT5)

#Done / ToDo List

General Logic

###Already completed

• Different states for "Find tract", "drive", "wait", "track lost permanetly"
• Set state -function
• handling routine for "find track timer" timeout
• event timer routines to setup future events
• PID
• Loop cycle time synchronizer & constant loop time value

Setup routines

Already Completed

• Timer 0 clock & mode (event timer)

• Timer 1 clock & mode (servo pwm)

• Timer 5 clock & mode (tachometer)

• enable global interrups

• servo init (center pos)

Functionalities ToDo

• DDR values (port directions)
• Timer 4 clock & mode (motor pwm)

Functionality ToDo

• Count loops
• Check if "max loops" reached
• enable timer for finding track (timeout for search)
• Calculate operation logic based on errors / states
• Calculate turning degree based on PID
• (optional) WatchDog routine

Front Bumper (reading/reporting position)

Already completed

• Read bumpers

Functions ToDo

##Servo (turning)

Already completed

• Initilize timer clock / prescaler
• Functions

##Motor & Tachometer (speed, direction, feedback)

Already completed

• Calc speed
• Read tachometer
• Calculate PI

Functions ToDo

• SetMotorSpeed
• Tachometer value to speed (scaling)

##User Interface (diagnostics)

Already completed

• Read button (ISR)
• Set next state based on current state

Functions ToDO

• Report errors
• Send text to LCD (lib?)
• Update LCD status information
• Set LED states based on "operation mode"