Final Blog - Kuba Kozluk

 This final stretch was concerned with implementing code that takes input from the ADCs corresponding to the distance sensors, and using that input to control the two motors using a state machine approach. This involved connecting the sensors to the correct pins corresponding to the ADCs, connecting all power and ground terminals, and conneting PWM output pins to the motor controllers. 

The next course of action was adapting the code we got from Jason to get the ADC inputs and use them to control the motor speed. I developed the below script, which contains an input task that reads the two ADC inputs, and sends a message to two independent output tasks. In this way the right distance sensor controls the right motor's speed, and similar for the left. This code makes the wheels turn backwards when the distance detected to an object is close, and forwards for when the distance is far. The range in between scales appropriately. 

************************************


#include <16f877a.h>
#device *=16 ADC=8
#use delay(clock=20000000)
#use rs232(baud=9600, xmit=PIN_C6, rcv=PIN_C7,ERRORS,DISABLE_INTS)
#use rtos(timer=1,minor_cycle=100ms,)

#include <stdio.h>
#include <stdlib.h>
#include "BENGLCD420.C"
//#include <stdint.h>

#define RED PIN_B5
#define GREEN PIN_A5

#include <string.h>

// this character array will be used to take input from the prompt
char input [10];
// this will hold the current position in the array
int index;
// this will signal to the kernal that input is ready to be processed
int8 input_ready;

int8 task1_toggle=0;
int8 task2_toggle=0;
int8 task3_toggle=0;
int8 task4_toggle=0;
int8 task5_toggle=0;

//input pin pressed
int8 pressed =0;

//pwm signals for motors
int16 pwm1 = 1500; //1500us 1.5ms pwm pinb3
int16 pwm2 = 1500; //1500us 1.5ms pwm pinb4

//inputs
#define INPUT_1_ON      1

//outputs
#define STATE_STARTUP 0
#define STATE_1 1
#define STATE_2 2
#define STATE_3 3
#define STATE_4 4
#define STATE_5 5

//#define STATE_1 1state machine input
unsigned int8 state_machine_input1 = 0;
unsigned int8 state_machine_input2 = 0;

//state machine state variable
unsigned int8 state = STATE_STARTUP;

unsigned int8 input_task2 = 0;
int ctrl = 0;



#task(rate=200ms,max=100ms)
void input1_rtos_task ( );

#task(rate=200ms,max=100ms)
void input2_rtos_task ( );

#task(rate=200ms,max=100ms,queue=2)
void output1_rtos_task ( );

#task(rate=200ms,max=100ms,queue=2)
void output2_rtos_task ( );

#task(rate=100ms,max=100ms,queue=2)
void state_machine_rtos_task ( );


void input1_rtos_task ( ) 
{


int8 input_task1;

while(1)
   {

   //send value of switch
   if( (!input(PIN_A4)) && (pressed == 0) ) // pin is active high low
      {  
      pressed = 1;
     
      input_task1 = INPUT_1_ON;         
      //rtos_msg_send(state_machine_rtos_task,input_task1);  
   
      }
   else if(input(PIN_A4))
   {
    pressed = 0;
   }
   
//task debud info on lcd
if(task1_toggle == 0)
  {
  lcd_gotoxy( 1,1);
  printf(lcd_putc,"in1  >>%u ",pressed);
  task1_toggle = 1;
  }
else
  {
  lcd_gotoxy( 1,1);
  printf(lcd_putc,"in1  >>>");  
  task1_toggle = 0;
  }
  
  rtos_yield();
  }
}

void input2_rtos_task ( ) 
{
   int8 input_task2;
   int8 adc_value1 = 0;
   int8 adc_value2 = 0;
   int8 scaled1;
   int8 scaled2;

   set_adc_channel(1);
   delay_ms(1);
   
   adc_value1 = read_adc();
   if(adc_value1 > 120){
      adc_value1 = 120;
   }
   if(adc_value1 < 20){
      adc_value1 = 20;
   }
   
   set_adc_channel(2);
   delay_ms(1);
   
   adc_value2 = read_adc();
   if(adc_value2 > 120){
      adc_value2 = 120;
   }
   if(adc_value2 < 20){
      adc_value2 = 20;
   }
   
   scaled1 = adc_value1 + 80;
   scaled2 = adc_value2 + 80;

   printf("adc output: %u\n\r", input_task2);

   // 3. Send processed value
   rtos_msg_send(state_machine_rtos_task, scaled1);
   rtos_msg_send(state_machine_rtos_task, scaled2);

   // LCD debug unchanged...
}

void output1_rtos_task ()
{
while(1)
   {
   
   if(rtos_msg_poll ( )>0)
      {   
      pwm1 = rtos_msg_read ( );
      // the function rtos_msg_read, reads the first value in the queue
      //printf("messages recieved by out1      : %lu\n\r",pwm1);
      
      pwm1 = pwm1 * 10; // turn 200 into 2000 for us, min should be 100
      //printf("messages recieved by out1      : %lu\n\r",pwm1);
   
      // the funciton rtos_msg_send, sends the value given as the
      // second parameter to the function given as the first
      }
   
 
   //pwm 1 drive motor 1 on robot pin 36 on pic
   output_bit(PIN_B3,1);
   delay_us(pwm1);
   output_bit(PIN_B3,0);
   
   



   //task debud info on lcd
   ////////////////////////
   if(task3_toggle == 0)
      {
      lcd_gotoxy( 1,2);
      printf(lcd_putc,"out1 >> ");
      task3_toggle = 1;
      }
   else
      {
      lcd_gotoxy( 1,2);
      printf(lcd_putc,"out1 >>>");  
      task3_toggle = 0;
      }
      
   rtos_yield();
   }//end of while 1
}



void output2_rtos_task()
{
unsigned int8 message = 0;

//some reason message ques does not work for another output
// so we will pass to it using a protected variable
while(1)
   {
   if(rtos_msg_poll ( )>0)
      {  
      pwm2 = rtos_msg_read ( );
   
      // the function rtos_msg_read, reads the first value in the queue
      //printf("messages recieved by out2      : %lu\n\r",pwm2);
      
      pwm2 = pwm2 * 10; // turn 200 into 2000 for us, min should be 100
      //printf("messages recieved by out1      : %lu\n\r",pwm2);
   
      // the funciton rtos_msg_send, sends the value given as the
      // second parameter to the function given as the first
      }
   
   //second pwm pin b4 pin 40 on pic
   output_bit(PIN_B4,1);
   delay_us(pwm2);
   output_bit(PIN_B4,0);

   //task debud info on lcd
   ////////////////////////
   if(task4_toggle == 0)
     {
     lcd_gotoxy( 10,2);
     printf(lcd_putc,"out2 >> ");
     task4_toggle = 1;
     }
   else
     {
     lcd_gotoxy( 10,2);
     printf(lcd_putc,"out2 >>>");  
     task4_toggle = 0;
     } 
   rtos_yield();
       
   }//end of while (1)
}

void state_machine_rtos_task()
{


   if(rtos_msg_poll ( )>1){
      
      state_machine_input1 = rtos_msg_read ( );
      state_machine_input2 = rtos_msg_read ( );

      // the function rtos_msg_read, reads the first value in the queue
      //printf("messages recieved by state_mc  : %u\n\r",state_machine_input);
      // the funciton rtos_msg_send, sends the value given as the
      // second parameter to the function given as the first
      
      
   
   
   //state machine here
   if(state == STATE_STARTUP)
      {
      //startup outputs
      lcd_gotoxy( 1,4);
      printf(lcd_putc,"starting sm");

      
      //Set next state
      state = STATE_5;
      
      }
   else if((state == STATE_1)&& (state_machine_input1  == INPUT_1_ON))
    {
    //outputs
      lcd_gotoxy( 1,4);
      printf(lcd_putc,"send 100 to out1 pwm1");
      rtos_msg_send(output1_rtos_task,100);  
    
    //next state
    state = STATE_2;
    
    }
   else if((state == STATE_2)&& (state_machine_input1  == INPUT_1_ON))
    {
    //outputs
      lcd_gotoxy( 1,4);
      printf(lcd_putc,"send 200 to out1 pwm1");
      rtos_msg_send(output1_rtos_task,200);  
    
    //next state
    state = STATE_3;
    
    
    }
   else if((state == STATE_3)&& (state_machine_input1  == INPUT_1_ON))
    {
    //outputs
      lcd_gotoxy( 1,4);
      printf(lcd_putc,"send 50 to out2 pwm 2");
      rtos_msg_send(output2_rtos_task,50);  
    
    
    //next state
    state = STATE_4;
    
    
    }
   else if((state == STATE_4)&& (state_machine_input1  == INPUT_1_ON))
    {
    //outputs
        //outputs
      lcd_gotoxy( 1,4);
      printf(lcd_putc,"send 200 to out2 pwm 2");
      rtos_msg_send(output2_rtos_task,200);  
    
    
    //next state
    state = STATE_5;
    }
    
   else if((state == STATE_5))
    {
    //outputs
        //outputs
      lcd_gotoxy( 1,4);
      printf(lcd_putc,"state 5");
      rtos_msg_send(output2_rtos_task,state_machine_input2);
      rtos_msg_send(output1_rtos_task,state_machine_input1);
    
    
    //next state
    state = STATE_5;
    }
    
    
   }//end fo received messasage 


//task debud info on lcd
if(task5_toggle == 0)
  {
  lcd_gotoxy( 1,3);
  printf(lcd_putc,"state_mc >> ");
  task5_toggle = 1;
  }
else
  {
  lcd_gotoxy( 1,3);
  printf(lcd_putc,"state_mc >>> ");  
  task5_toggle = 0;
  }

} 

void main ( ) {

   // initialize input variables
   index=0;
   input_ready=FALSE;
   
   //initialise portb to be outputs
   SET_TRIS_B( 0x00 );

   //initialse pin a4 to be an input
   SET_TRIS_a( 0xdf ); // 11011111

   //initialise pin a0 as analog input and select ad channel 0
   setup_adc(ADC_CLOCK_INTERNAL );
   setup_adc_ports( AN0 );
   set_adc_channel(0);
   
   // initialize interrupts
   enable_interrupts(int_rda);
   enable_interrupts(global);
   
   
   //init lcd
   lcd_init();
   lcd_putc('\f');
   printf ( "starting..rtos" );#
   lcd_gotoxy( 1,4);
   printf (lcd_putc, "starting..rtos" );
   delay_ms(1000);
   lcd_putc('\f');
   rtos_run();
}

*******************************************************

This state machine is fairly simple as it essentially stays in one state, but it is sufficient to showcase the proper operation and interaction between the sensors and motors. A video showcasing the independent control of each motor is shown below. 




Following this the state machine was adapted in a way where after startup the state goes to "Radar". In this state the bot rotates slowly, scanning for, let's say its "victim". Once a threshold value is surpassed from both ADCs, i.e. both snesors detect an object close, let's say a box, the input task sends a message to both outputs tasks to go full forward, i.e. push the box. Once at least one of the sensors no longer reads a value above the threshold, the state machine goes to either state "chase right", or "chase left", depending on which sensor still reads a value above the threshold, so as to continue chasing the object in the appropriate direction. Once the one sensor no longer reads a value above the threshold, the state machine goes back to state "radar", and rotates in the last known direction of the object. For added context, the PWM values sent to the motors are the opposite of what might be expected, sine the motors are mounted backwards on the bot. The code, as well as the FSM diagram for this code are shown below.

*******************************************************
#include <16f877a.h>
#device *=16 ADC=8
#use delay(clock=20000000)
#use rs232(baud=9600, xmit=PIN_C6, rcv=PIN_C7,ERRORS,DISABLE_INTS)
#use rtos(timer=1,minor_cycle=100ms,)

#include <stdio.h>
#include <stdlib.h>
#include "BENGLCD420.C"
//#include <stdint.h>

#define RED PIN_B5
#define GREEN PIN_A5

#include <string.h>

// this character array will be used to take input from the prompt
char input [10];
// this will hold the current position in the array
int index;
// this will signal to the kernal that input is ready to be processed
int8 input_ready;

int8 task1_toggle=0;
int8 task2_toggle=0;
int8 task3_toggle=0;
int8 task4_toggle=0;
int8 task5_toggle=0;

//input pin pressed
int8 pressed =0;

//pwm signals for motors
int16 pwm1 = 1500; //1500us 1.5ms pwm pinb3
int16 pwm2 = 1500; //1500us 1.5ms pwm pinb4

//inputs
//!#define INPUT_1_ON 1
//!#define BOX 2
//!#define BOX_GONE 3
//!#define BOX_LEFT 4
//!#define BOX_RIGHT 5

//#define INPUT_1_ON      1
//#define INPUT_2_ADC_GREATER_THAN_100 2

//states
#define START 0
#define RADAR 1
#define CHASE 2
#define CHASE_LEFT 3
#define CHASE_RIGHT 4
//!#define STATE_5 5

#define BOX_GONE 0
#define BOX 1
#define BOX_LEFT 2
#define BOX_RIGHT 3

//#define STATE_1 1state machine input
unsigned int8 state_machine_input1 = 0;
//unsigned int8 state_machine_input2 = 0;

//state machine state variable
unsigned int8 state = START;

unsigned int8 input_task2 = 0;
int ctrl = 0;
int8 adc_value1 = 0;
int8 adc_value2 = 0;



//#task(rate=200ms,max=100ms)
//void input1_rtos_task ( );

#task(rate=200ms,max=100ms)
void input2_rtos_task ( );

#task(rate=200ms,max=100ms,queue=2)
void output1_rtos_task ( );

#task(rate=200ms,max=100ms,queue=2)
void output2_rtos_task ( );

#task(rate=100ms,max=100ms,queue=2)
void state_machine_rtos_task ( );


//!void input1_rtos_task ( )
//!{
//!
//!
//!int8 input_task1;
//!
//!while(1)
//!{
//!
//!//send value of switch
//!if( (!input(PIN_A4)) && (pressed == 0) ) // pin is active high low
//!{
//!pressed = 1;
//!
//!input_task1 = INPUT_1_ON;
//!//rtos_msg_send(state_machine_rtos_task,input_task1);
//!
//!}
//!else if(input(PIN_A4))
//!{
//!pressed = 0;
//!}
//!
//!//task debud info on lcd
//!if(task1_toggle == 0)
//!{
//!lcd_gotoxy( 1,1);
//!printf(lcd_putc,"in1 >>%u ",pressed);
//!task1_toggle = 1;
//!}
//!else
//!{
//!lcd_gotoxy( 1,1);
//!printf(lcd_putc,"in1 >>>");
//!task1_toggle = 0;
//!}
//!
//!rtos_yield();
//!}
//!}

void input2_rtos_task ( )
{
//int8 input_task2;
//int8 adc_value1 = 0;
//int8 adc_value2 = 0;
//!int8 box;
//!int8 box_gone1;
//!int8 box_gone2;
//!int8 box_left;
//!int8 box_right;
//!int8 default1;
//!int8 default2;

set_adc_channel(1);
delay_ms(1);

adc_value1 = read_adc();

if(adc_value1 > 120)
{
adc_value1 = 120;
}
if(adc_value1 < 20)
{
adc_value1 = 20;
}

set_adc_channel(2);
delay_ms(1);
adc_value2 = read_adc();

if(adc_value2 > 120)
{
   adc_value2 = 120;
}

if(adc_value2 < 20)
{
   adc_value2 = 20;
}

// Box gone
if (adc_value1 <= 20 && adc_value2 <= 20)
{
   //adc_value1 = 170;
   //adc_value2 = 150;
   //box_gone1 = adc_value1;
   //box_gone2 = adc_value2;
   //rtos_msg_send(state_machine_rtos_task, box_gone1);
   //rtos_msg_send(state_machine_rtos_task, box_gone2);
   rtos_msg_send(state_machine_rtos_task, BOX_GONE);
   printf(" MESSAGE:%u\n\r", BOX_GONE);
}
else if (adc_value1 > 20 && adc_value2 > 20) // change values?
{
   rtos_msg_send(state_machine_rtos_task, BOX);
   printf(" MESSAGE:%u\n\r", BOX);
  //adc_value1 + 80;
  //adc_value2 + 80;
}

else if (adc_value1 > adc_value2 + 20) // change values
{
   rtos_msg_send(state_machine_rtos_task, BOX_LEFT);
   printf(" MESSAGE:%u\n\r", BOX_LEFT);
}

else if (adc_value2 > adc_value1 + 20) // change values
{
   rtos_msg_send(state_machine_rtos_task, BOX_RIGHT);
   printf(" MESSAGE:%u\n\r", BOX_RIGHT);
}

//printf("adc box_gone1: %u\n\r", box_gone1);
//printf("adc box_gone2: %u\n\r", box_gone2);
//printf("adc default1: %u\n\r", default1);
//printf("adc default2: %u\n\r", default2);

// 3. Send processed value
//rtos_msg_send(state_machine_rtos_task, default1);
//rtos_msg_send(state_machine_rtos_task, default2);



// LCD debug unchanged...
}

void output1_rtos_task ()
{
while(1)
{

if(rtos_msg_poll ( )>0)
{
pwm1 = rtos_msg_read ( );
// the function rtos_msg_read, reads the first value in the queue
//printf("messages recieved by out1 : %lu\n\r",pwm1);

pwm1 = pwm1 * 10; // turn 200 into 2000 for us, min should be 100
//printf("messages recieved by out1 : %lu\n\r",pwm1);

// the funciton rtos_msg_send, sends the value given as the
// second parameter to the function given as the first
}


//pwm 1 drive motor 1 on robot pin 36 on pic
output_bit(PIN_B3,1);
delay_us(pwm1);
output_bit(PIN_B3,0);





//task debud info on lcd
////////////////////////
if(task3_toggle == 0)
{
lcd_gotoxy( 1,2);
printf(lcd_putc,"out1 >> ");
task3_toggle = 1;
}
else
{
lcd_gotoxy( 1,2);
printf(lcd_putc,"out1 >>>");
task3_toggle = 0;
}

rtos_yield();
}//end of while 1
}



void output2_rtos_task()
{
unsigned int8 message = 0;

//some reason message ques does not work for another output
// so we will pass to it using a protected variable
while(1)
{
if(rtos_msg_poll ( )>0)
{
pwm2 = rtos_msg_read ( );

// the function rtos_msg_read, reads the first value in the queue
//printf("messages recieved by out2 : %lu\n\r",pwm2);

pwm2 = pwm2 * 10; // turn 200 into 2000 for us, min should be 100
//printf("messages recieved by out1 : %lu\n\r",pwm2);

// the funciton rtos_msg_send, sends the value given as the
// second parameter to the function given as the first
}

//second pwm pin b4 pin 40 on pic
output_bit(PIN_B4,1);
delay_us(pwm2);
output_bit(PIN_B4,0);

//task debud info on lcd
////////////////////////
if(task4_toggle == 0)
{
lcd_gotoxy( 10,2);
printf(lcd_putc,"out2 >> ");
task4_toggle = 1;
}
else
{
lcd_gotoxy( 10,2);
printf(lcd_putc,"out2 >>>");
task4_toggle = 0;
}
rtos_yield();

}//end of while (1)
}

void state_machine_rtos_task()
{
set_adc_channel(1);
delay_ms(1);
adc_value1 = read_adc();
set_adc_channel(2);
delay_ms(1);
adc_value2 = read_adc();

if(rtos_msg_poll ( )>1){

state_machine_input1 = rtos_msg_read ( );
//state_machine_input2 = rtos_msg_read ( );

// the function rtos_msg_read, reads the first value in the queue
//printf("messages recieved by state_mc : %u\n\r",state_machine_input);
// the funciton rtos_msg_send, sends the value given as the
// second parameter to the function given as the first




//state machine here
if((state == START))
   {
   //startup outputs
   adc_value1 = 140;
   adc_value2 = 160;
   
   rtos_msg_send(output2_rtos_task,adc_value1);
   rtos_msg_send(output1_rtos_task,adc_value2);
   
   lcd_gotoxy( 1,4);
   printf(lcd_putc,"RADAR");
   
   state = RADAR;
   }

else if ((state == RADAR)&& state_machine_input1 == BOX)
   {
   //outputs
   adc_value1 = 100;
   adc_value2 = 100;
   
   rtos_msg_send(output2_rtos_task,adc_value1);
   rtos_msg_send(output1_rtos_task,adc_value2);
   
   lcd_putc('\f');
   lcd_gotoxy( 1,4);
   printf(lcd_putc,"CHASE");
   
   state = CHASE;

}
else if((state == CHASE)&& (state_machine_input1 == BOX_LEFT))
   {
   //outputs
   adc_value1 = 140;
   adc_value2 = 160;
   
   rtos_msg_send(output2_rtos_task,adc_value1);
   rtos_msg_send(output1_rtos_task,adc_value2);
   
   lcd_putc('\f');
   lcd_gotoxy( 1,4);
   printf(lcd_putc,"CHASE LEFT");
   
   state = CHASE_LEFT;
   }
   
else if((state == CHASE)&& (state_machine_input1 == BOX_RIGHT))
   {
   //outputs
   adc_value1 = 160;
   adc_value2 = 140;
   
   rtos_msg_send(output2_rtos_task,adc_value1);
   rtos_msg_send(output1_rtos_task,adc_value2);
   
   lcd_putc('\f');
   lcd_gotoxy( 1,4);
   printf(lcd_putc,"CHASE RIGHT");
   
   state = CHASE_RIGHT;
   }
   
else if((state == CHASE_LEFT)&& (state_machine_input1 == BOX))
   {
   //outputs
   adc_value1 = 100;
   adc_value2 = 100;
   
   rtos_msg_send(output2_rtos_task,adc_value1);
   rtos_msg_send(output1_rtos_task,adc_value2);
   
   lcd_putc('\f');
   lcd_gotoxy( 1,4);
   printf(lcd_putc,"CHASE (L)");
   
   state = CHASE;
   }
   
else if((state == CHASE_RIGHT)&& (state_machine_input1 == BOX))
   {
   //outputs
   adc_value1 = 100;
   adc_value2 = 100;
   
   rtos_msg_send(output2_rtos_task,adc_value1);
   rtos_msg_send(output1_rtos_task,adc_value2);
   
   lcd_putc('\f');
   lcd_gotoxy( 1,4);
   printf(lcd_putc,"CHASE (R)");
   
   state = CHASE;
   }
else if((state == CHASE_LEFT)&& (state_machine_input1 == BOX_GONE))
   {
   //outputs
   adc_value1 = 140;
   adc_value2 = 160;
   
   rtos_msg_send(output2_rtos_task,adc_value1);
   rtos_msg_send(output1_rtos_task,adc_value2);
   
   lcd_putc('\f');
   lcd_gotoxy( 1,4);
   printf(lcd_putc,"RADAR (L)");
   
   state = RADAR;
   }
else if((state == CHASE_RIGHT)&& (state_machine_input1 == BOX_GONE))
   {
   //outputs
   adc_value1 = 160;
   adc_value2 = 140;
   
   rtos_msg_send(output2_rtos_task,adc_value1);
   rtos_msg_send(output1_rtos_task,adc_value2);
   
   lcd_putc('\f');
   lcd_gotoxy( 1,4);
   printf(lcd_putc,"RADAR (R)");
   
   state = RADAR;
   }
else if((state == CHASE)&& (state_machine_input1 == BOX_GONE))
   {
   //outputs
   adc_value1 = 160;
   adc_value2 = 140;
   
   rtos_msg_send(output2_rtos_task,adc_value1);
   rtos_msg_send(output1_rtos_task,adc_value2);
   
   lcd_putc('\f');
   lcd_gotoxy( 1,4);
   printf(lcd_putc,"RADAR (CHASE)");
   
   state = RADAR;
   }
else if((state == CHASE_LEFT)&& (state_machine_input1 == BOX_GONE))
   {
   //outputs
   adc_value1 = 160;
   adc_value2 = 140;
   
   rtos_msg_send(output2_rtos_task,adc_value1);
   rtos_msg_send(output1_rtos_task,adc_value2);
   
   lcd_putc('\f');
   lcd_gotoxy( 1,4);
   printf(lcd_putc,"RADAR (L)");
   
   state = RADAR;
   }
 }
}
   
//!//task debud info on lcd
//!if(task5_toggle == 0){
//!{
//!lcd_gotoxy( 1,3);
//!printf(lcd_putc,"state_mc >> ");
//!task5_toggle = 1;
//!}
//!else
//!{
//!lcd_gotoxy( 1,3);
//!printf(lcd_putc,"state_mc >>> ");
//!task5_toggle = 0;
//!}
//!}

void main ( ) {

// initialize input variables
index=0;
input_ready=FALSE;

//initialise portb to be outputs
SET_TRIS_B( 0x00 );

//initialse pin a4 to be an input
SET_TRIS_a( 0xdf ); // 11011111

//initialise pin a0 as analog input and select ad channel 0
setup_adc(ADC_CLOCK_INTERNAL );
setup_adc_ports( AN0 );
set_adc_channel(0);

// initialize interrupts
enable_interrupts(int_rda);
enable_interrupts(global);


//init lcd
lcd_init();
lcd_putc('\f');
printf ( "starting..rtos" );
lcd_gotoxy( 1,4);
printf (lcd_putc, "starting..rtos" );
delay_ms(1000);
lcd_putc('\f');


rtos_run();
}
*******************************************************



Below are videos showcasing this code working properly.






This project can be improved in certain ways in the future. One of the ways I thought of is using a vision system instead of sensors. This could allow for fellow sweeper bots to identify each other, so that they don't try to attack each other. This could also help in locating the binbot, i.e. the "queen" of the hive, and help protecting it. Another good addition would be a light beacon on top of the bot, to indicate when it is attacking. THis could be achieved with relays that are activated by output tasks.

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