Date post: | 06-Jul-2018 |
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8/17/2019 Programming Used 9
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LED_BLUE=1;
mecanum_right(63,63);
}
else if(sks(_r1)==!) "
LED_#$EE%=1;
LED_&'E=1;
mecanum_*&(63,63);
}
else if(sks(_l1)==!)
"
LED_$ED=1;
LED_BLUE=1;
mecanum_**&(63,63);
}
else if(sks(_r+)==!)
"
LED_#$EE%=1;
LED_&'E=1;
mecanum_31(63,63);
}
else if(sks(_l+)==!)
"
LED_$ED=1;
LED_BLUE=1;
mecanum_++(63,63);
}
else
"
LED_BLUE=1;
LED_&'E=1;
mecanum_re-erse(63,63);
8/17/2019 Programming Used 9
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}
}
else if(sks(_right)==!)
" LED_#$EE%=1;
LED_&'E=1;
mecanum_right(63,63);
}
else if(sks(_left)==!)
"
LED_$ED=1;
LED_BLUE=1;
mecanum_left(63,63);
}
else if(sks(_r1)==!)
"
LED_$ED=1;
LED_BLUE=1;
mecanum_*&(63,63);
}
else if(sks(_l1)==!)
"
LED_#$EE%=1;
LED_&'E=1;
mecanum_**&(63,63);
}
else if(sks(_r+)==!)
"
LED_#$EE%=1;
LED_&'E=1;
mecanum_.(63,63);
}
8/17/2019 Programming Used 9
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8/17/2019 Programming Used 9
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}
}
else if(sks(_/0_rr)=!) "
ser-0+=ser-0+4;
if(ser-015=+!!)
"
ser-0+=+!!;
}
}
else if(sks(_cr0ss)==!)
"
LED_BLUE=1;
$##E$=!;
77 tem8ak();
}
else if(sks(_select)==!)
"
init_9();
LED_BLUE=LED_#$EE%=LED_&'E=LED_$ED=1;
2ela(1!!!!!);
LED_BLUE=LED_#$EE%=LED_&'E=LED_$ED=!;
}
else
"
init_9();
LED_BLUE=LED_#$EE%=LED_&'E=LED_$ED=!;
$##E$=1;
U3:$E#=!;
U.:$E#=!;
}
8/17/2019 Programming Used 9
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}
}
}
return !;}
-0i2init_9(-0i2)
"
77================E 79 $'. = !;
$'8its>$'6 = !;
$B8its>$B1. = !;
$@8its>$@13 = !;
77A99$
$E8its>$E? = !;
$E8its>$E = !;
$$
$C8its>$C! = !;
$#8its>$#? = !;
8/17/2019 Programming Used 9
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8/17/2019 Programming Used 9
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-0i2init_&A()
"
E$ = +.!.; 7H E$ = ((1 7 .!!k'I) 7 1>!.ns) = +.!., Jhere.!!k'I
is the 2esire2 sJitching freKuenc an2 1>!.ns is &A res0luti0n> H7
*9%+8its>*LCDF=6; 77!!1 = Di-i2e4846.
7H &A1 *0nMgurati0nH7
9*9%18its>E%' = 1; 7H &A1' is c0ntr0lle2 8 &A m02uleH7
9*9%18its>E%L = !; 7H &A1L is c0ntr0lle2 8 #9 m02uleH7
9*9%18its>A9D = 1; 7H elect n2een2ent 9utut &Am02e H7
77D*1 =!; 7H nitial Dut ccle H7
D$1 = 6.; 7H Dea2time setting H7
8/17/2019 Programming Used 9
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9*9%38its>E%' = 1; 7H &A1' is c0ntr0lle2 8 &A m02uleH7
9*9%38its>E%L = !; 7H &A1L is c0ntr0lle2 8 #9 m02uleH7
9*9%38its>A9D = 1; 7H elect n2een2ent 9utut &Am02e H7
D*3 =!; 7H nitial Dut ccle H7
D$3 = 6.; 7H Dea2time setting H7
E%L = !; 7H &A1L is c0ntr0lle2 8 #9 m02uleH7
9*9%8its>A9D = 1; 7H elect n2een2ent 9utut &Am02e H7
D* =!; 7H nitial Dut ccle H7
D$ = 6.; 7H Dea2time setting H7
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7H &A6 *0nMgurati0nH7
9*9%68its>E%' = 1; 7H &A1' is c0ntr0lle2 8 &A m02uleH7
9*9%68its>E%L = !; 7H &A1L is c0ntr0lle2 8 #9 m02uleH7
9*9%68its>A9D = 1; 7H elect n2een2ent 9utut &Am02e H7
D*6 =!; 7H nitial Dut ccle H7
D$6 = 6.; 7H Dea2time setting H7
8/17/2019 Programming Used 9
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U3U:E% =1;
U.A9DE8its>U
8/17/2019 Programming Used 9
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unsigne2 char uart_rec(-0i2) 77functi0n t0 Jait f0r a 8te recei-e fr0m uart
"
Jhile(U+U$:D< == !); 77Jait f0r 2ata t0 recei-e2 U+9E$$ = !;
return U+$:$E#; 77return the recei-e2 2ata
}
77 sks functi0n (rea2 an2 Jrite 2ata t0 +)
77=======================================================================
unsigne2 char sks(unsigne2 char 2ata) 77functi0n t0 rea2 8utt0n an2
/0stick
"
uart_sen2(2ata);
returnuart_rec();
}
-0i2 2ela(unsigne2 l0ng i)
"
f0r(;i!;i44)
"}
}
-0i2le2_8linking(-0i2)
"
LED_BLUE = 1;
2ela(1!!!!!);
LED_BLUE = !;
2ela(1!!!!!);
}
-0i2mecanum_f0rJar2(unsigne2 int mL, unsigne2 intm$)
8/17/2019 Programming Used 9
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"
if(sks(_triangle)==!)
"
s1L = 6. mL 4N; s1$ = 1+ m$ 4N;
U3:$E# = s1L;
U3:$E# = s1$;
s+L = 6. 4 mL N;
s+$ = 1+ 4 m$ N;
U.:$E# = s+L;
U.:$E# = s+$;
}
else if(sks(_circle)==!)
"
s1L = 6. mL 4;
s1$ = 1+ m$ 4;
U3:$E# = s1L;
U3:$E# = s1$;
s+L = 6. 4 mL ;
s+$ = 1+ 4 m$ ;
U.:$E# = s+L;
U.:$E# = s+$;
}
else
"
s1L = 6. mL;
s1$ = 1+ m$;
U3:$E# = s1L;
U3:$E# = s1$;
8/17/2019 Programming Used 9
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s+L = 6. 4 mL;
s+$ = 1+ 4 m$;
U.:$E# = s+L;
U.:$E# = s+$; }
}
-0i2mecanum_re-erse(unsigne2 int mL, unsigne2 intm$)
"
if(sks(_triangle)==!)
"
s1L = 6. 4 mL N;
s1$ = 1+ 4 m$ N;
U3:$E# = s1L;
U3:$E# = s1$;
s+L = 6. mL 4N;
s+$ = 1+ m$ 4N;
U.:$E# = s+L;
U.:$E# = s+$;
}
else if(sks(_circle)==!)
"
s1L = 6. 4 mL ;
s1$ = 1+ 4 m$ ;
U3:$E# = s1L;
U3:$E# = s1$;
s+L = 6. mL 4;
s+$ = 1+ m$ 4;
U.:$E# = s+L;
U.:$E# = s+$;
8/17/2019 Programming Used 9
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}
else
"
s1L = 6. 4 mL; s1$ = 1+ 4 m$;
U3:$E# = s1L;
U3:$E# = s1$;
s+L = 6. mL;
s+$ = 1+ m$;
U.:$E# = s+L;
U.:$E# = s+$;
}
}
-0i2mecanum_left(unsigne2 int mL, unsigne2 intm$)
"
if(sks(_triangle)==!)
"
s1L = 6. 4 mL N;
s1$ = 1+ m$ 4N;
U3:$E# = s1L;
U3:$E# = s1$;
s+L = 6. mL 4N;
s+$ = 1+ 4 m$ N;
U.:$E# = s+L;
U.:$E# = s+$;
}
else if(sks(_circle)==!)
"
s1L = 6. 4 mL ;
8/17/2019 Programming Used 9
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s1$ = 1+ m$ 4;
U3:$E# = s1L;
U3:$E# = s1$;
s+L = 6. mL 4;
s+$ = 1+ 4 m$ ;
U.:$E# = s+L;
U.:$E# = s+$;
}
else
"
s1L = 6. 4 mL;
s1$ = 1+ m$;
U3:$E# = s1L;
U3:$E# = s1$;
s+L = 6. mL;
s+$ = 1+ 4 m$;
U.:$E# = s+L;
U.:$E# = s+$;
}
}
-0i2mecanum_right(unsigne2 int mL, unsigne2 intm$)
"
if(sks(_triangle)==!)
"
s1L = 6. mL 4N;
s1$ = 1+ 4 m$ N;
U3:$E# = s1L;
U3:$E# = s1$;
8/17/2019 Programming Used 9
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s+L = 6. 4 mL N;
s+$ = 1+ m$ 4N;
U.:$E# = s+L;
U.:$E# = s+$; }
else if(sks(_circle)==!)
"
s1L = 6. mL 4;
s1$ = 1+ 4 m$ ;
U3:$E# = s1L;
U3:$E# = s1$;
s+L = 6. 4 mL ;
s+$ = 1+ m$ 4;
U.:$E# = s+L;
U.:$E# = s+$;
}
else
"
s1L = 6. mL;
s1$ = 1+ 4 m$;
U3:$E# = s1L;
U3:$E# = s1$;
s+L = 6. 4 mL;
s+$ = 1+ m$;
U.:$E# = s+L;
U.:$E# = s+$;
}
}
-0i2 mecanum_.(unsigne2 int mL, unsigne2 intm$)
8/17/2019 Programming Used 9
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"
if(sks(_triangle)==!)
"
s1L = 6. mL 4N; s1$ = 1+;
U3:$E# = s1L;
U3:$E# = s1$;
s+L = 6. 4 m$ N;
s+$ = 1+;
U.:$E# = s+L;
U.:$E# = s+$;
}
else if(sks(_circle)==!)
"
s1L = 6. mL 4;
s1$ = 1+;
U3:$E# = s1L;
U3:$E# = s1$;
s+L = 6. 4 m$ ;
s+$ = 1+;
U.:$E# = s+L;
U.:$E# = s+$;
}
else
"
s1L = 6. mL;
s1$ = 1+;
U3:$E# = s1L;
U3:$E# = s1$;
8/17/2019 Programming Used 9
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s+L = 6. 4 m$;
s+$ = 1+;
U.:$E# = s+L;
U.:$E# = s+$; }
}
-0i2 mecanum_13(unsigne2 int mL, unsigne2 intm$)
"
if(sks(_triangle)==!)
"
s1L = 6.;
s1$ = 1+ m$ 4N;
U3:$E# = s1L;
U3:$E# = s1$;
s+$ = 6.;
s+L = 1+ 4 mL N;
U.:$E# = s+L;
U.:$E# = s+$;
}
else if(sks(_circle)==!)
"
s1L = 6.;
s1$ = 1+ m$ 4;
U3:$E# = s1L;
U3:$E# = s1$;
s+$ = 6.;
s+L = 1+ 4 mL ;
U.:$E# = s+L;
U.:$E# = s+$;
8/17/2019 Programming Used 9
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}
else
"
s1L = 6.; s1$ = 1+ m$;
U3:$E# = s1L;
U3:$E# = s1$;
s+$ = 6.;
s+L = 1+ 4 mL;
U.:$E# = s+L;
U.:$E# = s+$;
}
}
-0i2 mecanum_++(unsigne2 int mL, unsigne2 intm$)
"
if(sks(_triangle)==!)
"
s1L = 6. 4 mL N;
s1$ = 1+;
U3:$E# = s1L;
U3:$E# = s1$;
s+L = 6. m$ 4N;
s+$ = 1+;
U.:$E# = s+L;
U.:$E# = s+$;
}
else if(sks(_circle)==!)
"
s1L = 6. 4 mL ;
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s1$ = 1+;
U3:$E# = s1L;
U3:$E# = s1$;
s+L = 6. m$ 4;
s+$ = 1+;
U.:$E# = s+L;
U.:$E# = s+$;
}
else
"
s1L = 6. 4 mL;
s1$ = 1+;
U3:$E# = s1L;
U3:$E# = s1$;
s+L = 6. m$;
s+$ = 1+;
U.:$E# = s+L;
U.:$E# = s+$;
}
}
-0i2 mecanum_31(unsigne2 int mL, unsigne2 intm$)
"
if(sks(_triangle)==!)
"
s1L = 6.;
s1$ = 1+ 4 m$ N;
U3:$E# = s1L;
U3:$E# = s1$;
8/17/2019 Programming Used 9
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s+$ = 6.;
s+L = 1+ mL 4N;
U.:$E# = s+L;
U.:$E# = s+$; }
else if(sks(_circle)==!)
"
s1L = 6.;
s1$ = 1+ 4 m$ ;
U3:$E# = s1L;
U3:$E# = s1$;
s+$ = 6.;
s+L = 1+ mL 4;
U.:$E# = s+L;
U.:$E# = s+$;
}
else
"
s1L = 6.;
s1$ = 1+ 4 m$;
U3:$E# = s1L;
U3:$E# = s1$;
s+$ = 6.;
s+L = 1+ mL;
U.:$E# = s+L;
U.:$E# = s+$;
}
}
-0i2mecanum_**&(unsigne2 int mL, unsigne2 intm$)
8/17/2019 Programming Used 9
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"
if(sks(_triangle)==!)
"
s1L = 6. 4 mL N; s1$ = 1+ m$ 4N;
U3:$E# = s1L;
U3:$E# = s1$;
s+L = 6. 4 mL N;
s+$ = 1+ m$ 4N;
U.:$E# = s+L;
U.:$E# = s+$;
}
else if(sks(_circle)==!)
"
s1L = 6. 4 mL ;
s1$ = 1+ m$ 4;
U3:$E# = s1L;
U3:$E# = s1$;
s+L = 6. 4 mL ;
s+$ = 1+ m$ 4;
U.:$E# = s+L;
U.:$E# = s+$;
}
else
"
s1L = 6. 4 mL;
s1$ = 1+ m$;
U3:$E# = s1L;
U3:$E# = s1$;
8/17/2019 Programming Used 9
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s+L = 6. 4 mL;
s+$ = 1+ m$;
U.:$E# = s+L;
U.:$E# = s+$; }
}
-0i2mecanum_*&(unsigne2 int mL, unsigne2 intm$)
"
if(sks(_triangle)==!)
"
s1L = 6. mL 4N;
s1$ = 1+ 4 m$ N;
U3:$E# = s1L;
U3:$E# = s1$;
s+L = 6. mL 4N;
s+$ = 1+ 4 m$ N;
U.:$E# = s+L;
U.:$E# = s+$;
}
else if(sks(_circle)==!)
"
s1L = 6. mL 4;
s1$ = 1+ 4 m$ ;
U3:$E# = s1L;
U3:$E# = s1$;
s+L = 6. mL 4;
s+$ = 1+ 4 m$ ;
U.:$E# = s+L;
U.:$E# = s+$;
8/17/2019 Programming Used 9
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8/17/2019 Programming Used 9
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s1L = 6. mL 4;
s1$ = 1+ 4 m$ ;
U3:$E# = s1L;
U3:$E# = s1$;
s+L = 6. 4 mL ;
s+$ = 1+ m$ 4;
U.:$E# = s+L;
U.:$E# = s+$;
}
else
"
s1L = 6. 4 mL;
s1$ = 1+ m$;
U3:$E# = s1L;
U3:$E# = s1$;
s+L = 6.;
s+$ = 1+;
U.:$E# = s+L;
U.:$E# = s+$;
}
}
-0i2mecanum_rela_f0rJar2 (-0i2)
"
A1
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A3
8/17/2019 Programming Used 9
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A+B=1;
77 s+=;
A3
8/17/2019 Programming Used 9
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77 s1=N;
A+
8/17/2019 Programming Used 9
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if(sks(_triangle)==!)
"
s_rela_maN();
}else if(sks(_sKuare)==!)
"
s_rela_sl0J();
}
else
"
s1=+!!!;
s+=+!!!;
s3=+!!!;
s.=+!!!;
}
}
-0i2s_rela_sl0J(-0i2)
"
s1=!!;
s+=!!;
s3=!!;
s.=!!;
}
-0i2s_rela_maN(-0i2)
"
s1=+!!;
s+=+!!;
s3=+!!;
s.=+!!;
}
-0i2tem8ak(-0i2)
8/17/2019 Programming Used 9
30/30
"
$##E$=!;
LED_BLUE=1;
2ela(1!!!!); $##E$=1;
LED_BLUE=!;
2ela(1!!!!);
$##E$=!;
LED_BLUE=1;
2ela(1!!!!);
$##E$=1;
LED_BLUE=1;
2ela(1!!!!);
}