Page 172 - PDA Robotics Using Your Personal Digital Assistant to Control Your Robot

PDA 07 5/27/03 8:44 AM Page 148
main() { PDA Robotics
//
// The value from the range finder
//
int range_value;

//
// The command sent from the PDA
//

char cmd;
//
// Set up port A as analog, pin A0 is connected
// to the sharp GP2D12 infrared range finder
//

setup_port_a( ALL_ANALOG );
setup_adc( ADC_CLOCK_INTERNAL );
set_adc_channel( 0 );

//
// Set the B port pins that interface to the
// L298 motor controller low to ensure no
// motor movement on startup. Pins B2 & B3
// control Motor 1 and B4 & B5 control Motor 2.
//

output_low(PIN_B2);
output_low(PIN_B3);
output_low(PIN_B4);
output_low(PIN_B5);
output_low(PIN_B6);
output_low(PIN_B7);
delay_cycles(3);

//
// Let the PDA know we are alive by sending some data (A space characater)
//

fprintf(PDA, " ");
//
// Loop indefinitely handling commands from the PDA
//

while (1){
//

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