Remote-Control Robot

OrkMain.c

/*************************************************************************
 *
 * OrkMain.c
 * ORKWare Wired RC Control Code
 * Library for use with 2011 OSURC Robotics Kit (ORK).
 *
 * Copyright (C) 2011 OSURC. Released under the GNU LGPL3.
 * http://oregonstate.edu/groups/osurc/
 *
 * Written by Emily Dunham <dunhame@onid.orst.edu>
 * Created 10/21/2011
 *************************************************************************/

 //#define L298 1 //Uncomment this definition to use the L298 (Upgrade Motor Driver) motor driver code
 
#include "OrkLib/OrkCore.h"

//Correlate button inputs with pins to which their buttons are attached
#define UP 6
#define DOWN 7
#define LEFT 4
#define RIGHT 5

//Option of fancy turning speeds, disable it by setting both to 127
#define FAST 127
#define SLOW 100

int main(void)
{	
	initializeCore(); 
	PORTF=0b11110000;//Make it so we can read the buttons

        //For storing results that we read from the buttons
	unsigned char up;
	unsigned char down;
	unsigned char left;
	unsigned char right;

	while(1){
		//Wait a little so the motor duty cycle doesn't get all confused
		_delay_ms(50);

		//Get correct button vals for this time through the loop
		up=0;down=0;left=0;right=0;
		if((~PINF)&(1<<UP)){up=1;}
		if((~PINF)&(1<<DOWN)){down=1;}
		if((~PINF)&(1<<LEFT)){left=1;}
		if((~PINF)&(1<<RIGHT)){right=1;}

		//Now drive based on button vals
		//First, disregard contradictory inputs
		if(left&&right){
			left=0;
			right=0;
		}
		if(up&&down){
			up=0;
			down=0;
		}
		//Then, drive as instructed
		if(left&&up){
			setMotor(LeftMotor,SLOW); 
			setMotor(RightMotor,FAST);
		}
		else if(right&&up){
			setMotor(LeftMotor,FAST);
			setMotor(RightMotor,SLOW);
		}
		else if(left&&down){
			setMotor(LeftMotor,-SLOW);
			setMotor(RightMotor,-FAST);
		}
		else if(right&&down){
			setMotor(LeftMotor,-FAST);
			setMotor(RightMotor,-SLOW);
		}
		else if(left){
			setMotor(LeftMotor,-SLOW);
			setMotor(RightMotor,SLOW);
		}
		else if(right){
			setMotor(LeftMotor,SLOW);
			setMotor(RightMotor,-SLOW);
		}
		else if(up){
			setMotor(LeftMotor,FAST);
			setMotor(RightMotor,FAST);
		}
		else if(down){
			setMotor(LeftMotor,-SLOW);
			setMotor(RightMotor,-SLOW);
		}
		else{
			setMotor(LeftMotor,0);
			setMotor(RightMotor,0);
		}	
					
	}
	return 0;
}