programming used 9

8/17/2019 Programming Used 9

1/30

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);


2/30

}

}

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);

}


3/30


4/30

}

}

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#=!;

}


5/30

}

}

}

return !;}

-0i2init_9(-0i2)

"

77================E 79 $'. = !;

$'8its>$'6 = !;

$B8its>$B1. = !;

$@8its>$@13 = !;

77A99$

$E8its>$E? = !;

$E8its>$E = !;

$$

$C8its>$C! = !;

$#8its>$#? = !;


6/30


7/30

-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


8/30




D*3 =!; 7H nitial Dut ccle H7


E%L = !; 7H &A1L is c0ntr0lle2 8 #9 m02uleH7


D* =!; 7H nitial Dut ccle H7

D$ = 6.; 7H Dea2time setting H7


9/30

7H &A6 *0nMgurati0nH7




D*6 =!; 7H nitial Dut ccle H7



10/30

U3U:E% =1;

U.A9DE8its>U


11/30

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$)


12/30

"

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:$E# = s1$;


13/30

s+L = 6. 4 mL;

s+$ = 1+ 4 m$;

U.:$E# = s+L;

U.:$E# = s+$; }

}

-0i2mecanum_re-erse(unsigne2 int mL, unsigne2 intm$)

"


"

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.:$E# = s+$;

}


"

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.:$E# = s+$;


14/30

}

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$)

"


"

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.:$E# = s+$;

}


"

s1L = 6. 4 mL ;


15/30

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$)

"


"

s1L = 6. mL 4N;

s1$ = 1+ 4 m$ N;

U3:$E# = s1L;

U3:$E# = s1$;


16/30

s+L = 6. 4 mL N;

s+$ = 1+ m$ 4N;

U.:$E# = s+L;

U.:$E# = s+$; }


"

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$)


17/30

"


"

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.:$E# = s+$;

}


"

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:$E# = s1$;


18/30

s+L = 6. 4 m$;

s+$ = 1+;

U.:$E# = s+L;

U.:$E# = s+$; }

}

-0i2 mecanum_13(unsigne2 int mL, unsigne2 intm$)

"


"

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.:$E# = s+$;

}


"

s1L = 6.;

s1$ = 1+ m$ 4;

U3:$E# = s1L;

U3:$E# = s1$;

s+$ = 6.;

s+L = 1+ 4 mL ;

U.:$E# = s+L;

U.:$E# = s+$;


19/30

}

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$)

"


"

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.:$E# = s+$;

}


"

s1L = 6. 4 mL ;


20/30

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$)

"


"

s1L = 6.;

s1$ = 1+ 4 m$ N;

U3:$E# = s1L;

U3:$E# = s1$;


21/30

s+$ = 6.;

s+L = 1+ mL 4N;

U.:$E# = s+L;

U.:$E# = s+$; }


"

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$)


22/30

"


"

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.:$E# = s+$;

}


"

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:$E# = s1$;


23/30

s+L = 6. 4 mL;

s+$ = 1+ m$;

U.:$E# = s+L;

U.:$E# = s+$; }

}

-0i2mecanum_*&(unsigne2 int mL, unsigne2 intm$)

"


"

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.:$E# = s+$;

}


"

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.:$E# = s+$;


24/30


25/30

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


26/30

A3


27/30

A+B=1;

77 s+=;

A3


28/30

77 s1=N;

A+


29/30


"

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)


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!!!!);

}

programming used 9

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