2. Default_Routine(); - PWM Mapping /******************************************************************** * FUNCTION NAME: Default_Routine * PURPOSE: Performs the default mappings of inputs to outputs. * CALLED FROM: this file, Process_Data_From_Master_uP routine * ARGUMENTS: none * RETURNS: void ------------------------------------------------------------------------------*/ void Default_Routine(void) { /*---------- Analog Inputs (Joysticks) to PWM Outputs----------------------- *-------------------------------------------------------------------------- * This maps the joystick axes to specific PWM outputs. */ pwm01 = p1_y; pwm02 = p2_y; pwm03 = p3_y; pwm04 = p4_y; pwm05 = p1_x; pwm06 = p2_x; pwm07 = p3_x; pwm08 = p4_x; pwm09 = p1_wheel; pwm10 = p2_wheel; pwm11 = p3_wheel; pwm12 = p4_wheel; ifi_aliases.h contains all of these macro definitions and more… OUTPUTS INPUTS unsigned char Range: 0 to 255

3. Default_Routine(); - 1 Joystick Drive /*---------- 1 Joystick Drive ---------------------------------------------- *-------------------------------------------------------------------------- * This code mixes the Y and X axes on Port 1 to allow one joystick drive. * Joystick forward = Robot forward * Joystick backward = Robot backward * Joystick right = Robot rotates right * Joystick left = Robot rotates left * Connect the right drive motors to PWM13 and/or PWM14 on the RC. * Connect the left drive motors to PWM15 and/or PWM16 on the RC. */ pwm13 = pwm14 = Limit_Mix(2000 + p1_y + p1_x - 127); pwm15 = pwm16 = Limit_Mix(2000 + p1_y - p1_x + 127);

4. Default_Routine(); - Buttons to Relays /*---------- Buttons to Relays---------------------------------------------- *-------------------------------------------------------------------------- * This default code maps the joystick buttons to specific relay outputs. * Relays 1 and 2 use limit switches to stop the movement in one direction. * The & used below is the C symbol for AND */ relay1_fwd = p1_sw_trig & rc_dig_in01; /* FWD only if switch1 is not closed. */ relay1_rev = p1_sw_top & rc_dig_in02; /* REV only if switch2 is not closed. */ relay2_fwd = p2_sw_trig & rc_dig_in03; /* FWD only if switch3 is not closed. */ relay2_rev = p2_sw_top & rc_dig_in04; /* REV only if switch4 is not closed. */ relay3_fwd = p3_sw_trig; relay3_rev = p3_sw_top; relay4_fwd = p4_sw_trig; relay4_rev = p4_sw_top; relay5_fwd = p1_sw_aux1; relay5_rev = p1_sw_aux2; relay6_fwd = p3_sw_aux1; relay6_rev = p3_sw_aux2; relay7_fwd = p4_sw_aux1; relay7_rev = p4_sw_aux2; relay8_fwd = !rc_dig_in18; /* Power pump only if pressure switch is off. */ relay8_rev = 0; ifi_aliases.h lists these aliases

5. Default_Routine(); - Limit Switches /*---------- PWM outputs Limited by Limit Switches ---------*/ Limit_Switch_Max(!rc_dig_in05, &pwm03); Limit_Switch_Min(!rc_dig_in06, &pwm03); Limit_Switch_Max(!rc_dig_in07, &pwm04); Limit_Switch_Min(!rc_dig_in08, &pwm04); Limit_Switch_Max(!rc_dig_in09, &pwm09); Limit_Switch_Min(!rc_dig_in10, &pwm09); Limit_Switch_Max(!rc_dig_in11, &pwm10); Limit_Switch_Min(!rc_dig_in12, &pwm10); Limit_Switch_Max(!rc_dig_in13, &pwm11); Limit_Switch_Min(!rc_dig_in14, &pwm11); Limit_Switch_Max(!rc_dig_in15, &pwm12); Limit_Switch_Min(!rc_dig_in16, &pwm12); void Limit_Switch_Max(unsigned char switch_state, unsigned char *input_value) { if (switch_state == CLOSED) { if(*input_value > 127) *input_value = 127; }

6. Default_Routine(); - Feedback LEDs I /*---------- ROBOT FEEDBACK LEDs------------------------------------------------ *------------------------------------------------------------------------------ * This section drives the "ROBOT FEEDBACK" lights on the Operator Interface. * The lights are green for joystick forward and red for joystick reverse. * These may be changed for any use that the user desires. */ if (user_display_mode == 0) /* User Mode is Off */ { /* Check position of Port 1 Joystick */ if (p1_y >= 0 && p1_y <= 56) { /* Joystick is in full reverse position */ Pwm1_green = 0; /* Turn PWM1 green LED - OFF */ Pwm1_red = 1; /* Turn PWM1 red LED - ON */ } else if (p1_y >= 125 && p1_y <= 129) { /* Joystick is in neutral position */ Pwm1_green = 1; /* Turn PWM1 green LED - ON */ Pwm1_red = 1; /* Turn PWM1 red LED - ON */ } else if (p1_y >= 216 && p1_y <= 255) { /* Joystick is in full forward position*/ Pwm1_green = 1; /* Turn PWM1 green LED - ON */ Pwm1_red = 0; /* Turn PWM1 red LED - OFF */ } else { /* In either forward or reverse position */ Pwm1_green = 0; /* Turn PWM1 green LED - OFF */ Pwm1_red = 0; /* Turn PWM1 red LED - OFF */ } /*END Check position of Port 1 Joystick

7. Default_Routine(); - Feedback LEDs II /* This drives the Relay 1 and Relay 2 "Robot Feedback" lights on the OI. */ Relay1_green = relay1_fwd; /* LED is ON when Relay 1 is FWD */ Relay1_red = relay1_rev; /* LED is ON when Relay 1 is REV */ Relay2_green = relay2_fwd; /* LED is ON when Relay 2 is FWD */ Relay2_red = relay2_rev; /* LED is ON when Relay 2 is REV */ Switch1_LED = !(int)rc_dig_in01; Switch2_LED = !(int)rc_dig_in02; Switch3_LED = !(int)rc_dig_in03; } /* (user_display_mode = 0) (User Mode is Off) */ else /* User Mode is On - displays data in OI 4-digit display*/ { User_Mode_byte = backup_voltage*10; /* so that decimal doesn't get truncated. */ } } /* END Default_Routine(); */

8. Places to modify: Add variables Initialization Modify Default_Routine() Add to slow loop Add to fast loop Add to Autonomous code in: user_routines.c in: user_routines_fast.c