Lab 2: Motor Exploration

/* 

 * File:   motors_exploration_main.c

 * Author: Sam Lin & Jerry Xu

 *

 * Created on July 17, 2018, 10:09 AM

 */

#include <stdio.h>

#include <stdlib.h>

#include "serial.h"

#include "BOARD.h"

#include "roach.h"

#include "timers.h"

/*

 * 

 */

int main(int argc, char** argv) {

    SERIAL_Init();

    BOARD_Init();

    Roach_Init();

    TIMERS_Init();

    while (1) {

        Roach_LeftMtrSpeed(48); //minimum speed of 48 to turn the wheels

    /*while (1) {

        int speed = 100;

        while (speed != -100) {

            TIMERS_SetTimer(0, 25);

            TIMERS_StartTimer(0);

            while (TIMERS_IsTimerActive(0)) {

            };

            Roach_LeftMtrSpeed(speed);

            Roach_RightMtrSpeed(speed);

            printf("%d\r\n", speed);

            speed--;

        }

        while (speed != 100) {

            TIMERS_SetTimer(0, 25);

            TIMERS_StartTimer(0);

            while (TIMERS_IsTimerActive(0)) {

            };

            Roach_LeftMtrSpeed(speed);

            Roach_RightMtrSpeed(speed);

            printf("%d\r\n", speed);

            speed++;

        }

     */

    /*            if (TIMERS_GetTime % 2000 > 1000){

        time = (TIMERS_GetTime % 2000) / 20

        Roach_LeftMtrSpeed(time);

        Roach_RightMtrSpeed(time);

    }

    if (TIMERS_GetTime % 2000 <= 1000){

        time = (TIMERS_GetTime % 2000) / 20

        Roach_LeftMtrSpeed(time);

        Roach_RightMtrSpeed(time);

    }

        Roach_LeftMtrSpeed(100);

    Roach_RightMtrSpeed(100);

}

TIMERS_InitTimer(0, 2000);

while (TIMERS_IsTimerActive(0)) {

    Roach_LeftMtrSpeed(-100);

    Roach_RightMtrSpeed(-100);

}

     */

}

return (EXIT_SUCCESS);

}