line/main.cpp

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/* Project info here */

#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include "../lib/usart/usart.h"

#define min(a,b) ((a) < (b) ? (a) : (b))

USART32(usb);

unsigned char command = 0;
int pwm_value = 0;
char dir = 0;
volatile int adc_value =0, enc_value=0;

SIGNAL (SIG_INTERRUPT0){
        if(PINB & (1 << PB0)) enc_value--;
        else enc_value++;
}

SIGNAL (SIG_ADC){
        adc_value = (ADCL | (ADCH << 8));
        ADCSRA |= _BV(ADSC);
}

void init(){
        MCUCR |= (1 << ISC01) | (1 << ISC00); // encoder, raising edge fires interrupt
        GICR  |= (1 << INT0); // INT0 enabled
        
        // TCNT1 = 0xC2F7;
        // TIMSK = _BV(TOIE1);
        // TIFR |= _BV(TOV1);
        
        // pwm interrupt offblast
        TCCR1A = _BV(WGM10) | _BV(WGM11) | _BV(COM1A1);
        TCCR1B = _BV(CS11);
        
        // ADC init
        ADCSRA = _BV(ADEN) | _BV(ADIE) | _BV(ADSC) | _BV(ADPS0) | _BV(ADPS1) | _BV(ADPS2); //INIT ADC
        ADMUX = _BV(REFS0);
        
        DDRB &= ~(1 << PB0);
        DDRD = (1 << PD6) | (1 << PD5);
        
        OCR1A = 0;
}


int main(void){
        init();
    sei();
        
        
        for(;;){
                
                if(usb.gotLine()){
                        usb >> command;
                        usb >> pwm_value;
                        
                        while(!usb.empty()){
                                unsigned char c;
                                usb >> c;
                                if(c == '\n') break;
                        }
                        
                        char d =- 1;
                        
                        switch(command){
                                case 'S': // stop
                                        pwm_value = 0;
                                        break;
                                case 'F': // forward
                                        d = 1;
                                        break;
                                case 'B': // backward
                                        d = 0;
                                        break;
                        }
                        
                        if(d != dir){
                                dir = d;
                                if(dir >= 0){
                                        // stop, change dir
                                        OCR1A = 0;
                                        _delay_ms(100);
                                        PORTD |= (dir << PD6);
                                        PORTD = (1 << PD5) | (dir << PD6);
                                }
                        }
                        
                        OCR1A = min(pwm_value, 500);
                }
                
                usb << "A=" << adc_value << ":E=" << enc_value << "\n";
        }
        
    return 0;
}