Grounded

/** C O N F I G U R A T I O N _ B I T S **/

#pragma config FOSC = INTIO67, FCMEN = OFF, IESO = OFF
#pragma config PWRT = OFF, BOREN = OFF, BORV = 30
#pragma config WDTEN = OFF, WDTPS = 32768
#pragma config MCLRE = OFF, LPT1OSC = OFF, PBADEN = ON, CCP2MX = PORTC
#pragma config STVREN = ON, LVP = OFF, XINST = OFF
#pragma config CP0 = OFF, CP1 = OFF, CP2 = OFF, CP3 = OFF
#pragma config CPB = OFF, CPD = OFF
#pragma config WRT0 = OFF, WRT1 = OFF, WRT2 = OFF, WRT3 = OFF
#pragma config WRTB = OFF, WRTC = OFF, WRTD = OFF
#pragma config EBTR0 = OFF, EBTR1 = OFF, EBTR2 = OFF, EBTR3 = OFF
#pragma config EBTRB = OFF

/** I N C L U D E S **/

#include "p18f45k20.h"
#include "GROUNDED ADC.h"
#include "delays.h"

#define PLUNGE_1 LATBbits.LATB0
#define PLUNGE_2 LATBbits.LATB1
#define LIMITING_SWITCH LATBbits.LATB2
‍
#define CLEAR_SCREEN 0b00000001
#define FOUR_BIT 0b00101100
#define LINES_5X7 0b00111000
#define CURSOR_BLINK 0b00001111
#define CURSOR_RIGHT 0b00000110
‍
#define DATA_PORT LATD
#define RS_PIN PORTDbits.RD6
#define E_PIN PORTDbits.RD7
‍
#define IN1 LATBbits.LATB3
#define IN2 LATBbits.LATB4

/** F U N C T I O N S **/
‍
/** L I N E A R _ A C T U A T O R **/

void PLUNGE_UP ()
{
LATB=0b11111111;
PLUNGE_1=1;
PLUNGE_2=0;
}

void PLUNGE_DOWN ()
{
LATB=0b11111111;
PLUNGE_1=0;
PLUNGE_2=1;
}

void PLUNGE_STOP ()
{
LATB=0b11111111;
PLUNGE_1=1;
PLUNGE_2=1;
}

/** D C _ M O T O R **/

void CLOCKWISE ()
{
IN1=1;
IN2=0;
}

void ANTICLOCKWISE ()
{
IN1=0;
IN2=1;
}

void ROTATE_STOP ()
{
IN1=1;
IN2=1;
}

/** L C D **/

void Delay5milli(void)
{
Delay1KTCYx(2);
}

void SetAddr(unsigned char DDaddr)
{
DATA_PORT &= 0xf0;
DATA_PORT |= (((DDaddr | 0b10000000)>>4) & 0x0f);

RS_PIN = 0;
Delay5milli();
E_PIN = 1;
Delay5milli();
E_PIN = 0;

DATA_PORT &= 0xf0;
DATA_PORT |= (DDaddr&0x0f);

Delay5milli();
E_PIN = 1;
Delay5milli();
E_PIN = 0;
}

void WriteCmd(unsigned char cmd)
{
DATA_PORT &= 0xf0;
DATA_PORT |= (cmd>>4)&0x0f;
RS_PIN = 0;
Delay5milli();
E_PIN = 1;
Delay5milli();
E_PIN = 0;
‍
    DATA_PORT &= 0xf0;
DATA_PORT |= cmd&0x0f;
Delay5milli();
E_PIN = 1;
Delay5milli();
E_PIN = 0;
}

void WriteChar(char data)
{
DATA_PORT &= 0xf0;
DATA_PORT |= ((data>>4)&0x0f);
‍
RS_PIN = 1;
Delay5milli();
E_PIN = 1;
Delay5milli();
E_PIN = 0;
‍
  DATA_PORT &= 0xf0;
DATA_PORT |= (data&0x0f);
‍
       Delay5milli();
E_PIN = 1;
Delay5milli();
E_PIN = 0;
}

void WriteString(const rom char *buffer)
{
while(*buffer)
{
Delay5milli();
WriteChar( *buffer);
buffer++;
}
return;
}

void ADC_Init0(void)
{
ANSEL = 0;
ANSELH = 0;
ANSELbits.ANS0 = 1;

  ADCON1 = 0;
ADCON2 = 0b00111000;
    ADCON0 = 0b00000001;
}

void ADC_Init1(void)
{
ANSEL = 0;
ANSELH = 0;
ANSELbits.ANS1 = 1;

ADCON1 = 0;
ADCON2 = 0b00111000;
ADCON0 = 0b00000001;
}
‍
unsigned char ADC_Convert(void)
{
ADCON0bits.GO_DONE = 1;
while (ADCON0bits.GO_DONE == 1);
return ADRESH;
}

/** M A I N **/

void main(void)
{
while(1)
{

/** P I N S _ S E T  UP **/

ANSEL = 0;
ANSELH = 0;

TRISA = 0b11111111;
TRISB = 0b00000100;
TRISC = 0b00000000;
TRISD = 0b00000000;

/** S T A R T _ U S E R _ P R O C E S S **/

/** L C D _ D I S P L A Y **/

WriteCmd ( 0x02 );
WriteCmd ( CLEAR_SCREEN);
SetAddr (0x80);
WriteString("Welcome to");
SetAddr (0xC0);
WriteString("Base HQ");
Delay10KTCYx(120);

/** D C _ M O T O R **/

do
{
ANTICLOCKWISE ();
}

while(PORTAbits.RA3 == 1);

ROTATE_STOP ();

do
{
CLOCKWISE ();
}

while(PORTAbits.RA2 == 1);
ROTATE_STOP ();

Delay10KTCYx(20);

/** L I N E A R _ A C T U A T O R **/

do
{
PLUNGE_UP ();
}

while(PORTBbits.RB2 == 1);

PLUNGE_STOP ();

/** L C D _ D I S P L A Y **/

WriteCmd ( 0x02 );
WriteCmd ( CLEAR_SCREEN);
SetAddr (0x80);
WriteString("Place vessel in");
SetAddr (0xC0);
WriteString("launch pad");
Delay10KTCYx(120);

/** L D R _ S E N S O R **/

do
{
ADC_Init0();
ADC_Convert();
SetAddr (0x80);
}

while (ADRESH < 80);

/** L C D _ D I S P L A Y **/

WriteCmd ( 0x02 );
WriteCmd ( CLEAR_SCREEN);
SetAddr (0x80);
WriteString("Add rocket fuel");
SetAddr (0xC0);
WriteString("to chamber");

Delay10KTCYx(255);
WriteCmd ( CLEAR_SCREEN);

WriteCmd ( 0x02 );
WriteCmd ( CLEAR_SCREEN);
SetAddr (0x80);
WriteString("Americano or");
SetAddr (0xC0);
WriteString("Espresso?");
Delay10KTCYx(60);

WriteCmd ( 0x02 );
WriteCmd ( CLEAR_SCREEN);
SetAddr (0x80);
WriteString("Press and hold");
SetAddr (0xC0);
WriteString("selection");
Delay10KTCYx(60);

WriteCmd ( 0x02 );
WriteCmd ( CLEAR_SCREEN);
SetAddr (0x80);
WriteString("1_ Americano");
SetAddr (0xC0);
WriteString("2_ Espresso");
Delay10KTCYx(60);
‍
if (PORTAbits.RA4 == 0)
{
WriteCmd ( 0x02 );
WriteCmd ( CLEAR_SCREEN);
SetAddr  (0x80);
WriteString("Fill water to");
SetAddr (0xC0);
WriteString("level 3");
Delay10KTCYx(255);
}

else
{
WriteCmd ( 0x02 );
WriteCmd ( CLEAR_SCREEN);
SetAddr (0x80);
WriteString("Fill water to");
SetAddr (0xC0);
WriteString("level 2");
Delay10KTCYx(255);
}

do
{
WriteCmd ( 0x02 );
WriteCmd ( CLEAR_SCREEN);
SetAddr (0x80);
WriteString("Press and hold");
SetAddr (0xC0);
WriteString("if water added");
}

while(PORTAbits.RA4 == 1);
‍
do
{
ADC_Init1();
ADC_Convert();
}

while (ADRESH < 120);

/** L I N E A R _ A C T U A T O R **/

PLUNGE_DOWN ();
Delay10KTCYx(245);

PLUNGE_STOP ();

/** L C D _ D I S P L A Y _ A N I M A T I O N **/

WriteCmd ( 0x02 );
WriteCmd ( CLEAR_SCREEN);

SetAddr ( 0x80 );
WriteChar ( 0x00 );
WriteChar ( 0x01 );
WriteChar ( 0x02 );
WriteChar ( 0x03 );
SetAddr ( 0xC0 );
WriteString ("Initialising...");
WriteCmd ( 0x40 );

/** D E F I N E _ C H A R A C T E R S **/

WriteChar ( 0b00000000 );
WriteChar ( 0b00001010 );
WriteChar ( 0b00010101 );
WriteChar ( 0b00000000 );
WriteChar ( 0b00000000 );
WriteChar ( 0b00010101 );
WriteChar ( 0b00001010 );
WriteChar ( 0b00000000 );
‍
WriteChar ( 0b00000000 );
WriteChar ( 0b00010101 );
WriteChar ( 0b00001010 );
WriteChar ( 0b00000000 );
WriteChar ( 0b00000000 );
WriteChar ( 0b00001010 );
WriteChar ( 0b00010101 );
WriteChar ( 0b00000000 );

WriteChar ( 0b00011000 );
WriteChar ( 0b00011100 );
WriteChar ( 0b00000111 );
WriteChar ( 0b00001111 );
WriteChar ( 0b00001111 );
WriteChar ( 0b00000111 );
WriteChar ( 0b00011100 );
WriteChar ( 0b00011000 );
‍
WriteChar ( 0b00000000 );
WriteChar ( 0b00000000 );
WriteChar ( 0b00011100 );
WriteChar ( 0b00010111 );
WriteChar ( 0b00010111 );
WriteChar ( 0b00011100 );
WriteChar ( 0b00000000 );
WriteChar ( 0b00000000 );

SetAddr ( 0xC0 );
WriteString ("Initialising...");
‍
WriteCmd ( CLEAR_SCREEN);
‍
/** S T A R T _ A N I M A T I O N **/
‍
SetAddr ( 0x81 );
WriteChar ( 0x00 );
WriteChar ( 0x01 );
WriteChar ( 0x02 );
WriteChar ( 0x03 );
SetAddr ( 0xC0 );
WriteString ("Initialising...");
Delay1KTCYx(400);
WriteCmd ( CLEAR_SCREEN);

/* repetitive strings omitted */

SetAddr ( 0x90 );
WriteChar ( 0x01 );
WriteChar ( 0x00 );
WriteChar ( 0x02 );
WriteChar ( 0x03 );
SetAddr ( 0xC0 );
WriteString ("Initialising...");
Delay1KTCYx(400);
WriteCmd ( CLEAR_SCREEN);

/** L C D _ D I S P L A Y **/
‍
WriteCmd ( 0x02 );
WriteCmd ( CLEAR_SCREEN);
SetAddr (0x80);
WriteString("B L A S T  O F F");
Delay10KTCYx(150);

/** L I N E A R _ A C T U A T O R **/

PLUNGE_DOWN ();
Delay10KTCYx(255);
Delay10KTCYx(255);
Delay10KTCYx(100);

PLUNGE_STOP ();

/** L C D _ D I S P L A Y **/

WriteCmd ( 0x02 );
WriteCmd ( CLEAR_SCREEN);
SetAddr (0x80);
WriteString("Remove vessel");
SetAddr (0xC0);
WriteString("from dock");
Delay10KTCYx(60);

WriteCmd ( 0x02 );
WriteCmd ( CLEAR_SCREEN);
‍
WriteCmd ( 0x02 );
WriteCmd ( CLEAR_SCREEN);
SetAddr (0x80);
WriteString("Resetting...");
Delay10KTCYx(60);

/** L D R _ S E N S O R **/
‍
do
{
ADC_Init0();
ADC_Convert();
SetAddr (0x80);
}
‍
while (ADRESH > 80);
‍
Delay10KTCYx(1);

/** L I N E A R _ A C T U A T O R **/

do
{
PLUNGE_UP ();
}

while(PORTBbits.RB2 == 1);

PLUNGE_STOP ();
Delay10KTCYx(10);

/** D C _ M O T O R **/
‍
do
{
ANTICLOCKWISE ();
}
‍
while(PORTAbits.RA3 == 1);

ROTATE_STOP ();

/** L C D _ D I S P L A Y **/

WriteCmd ( 0x02 );
WriteCmd ( CLEAR_SCREEN);
SetAddr (0x80);
WriteString("Carefully remove");
SetAddr (0xC0);
WriteString("valve cap");
Delay10KTCYx(200);
‍
WriteCmd ( 0x02 );
WriteCmd ( CLEAR_SCREEN);
SetAddr (0x80);
WriteString("Dispose of rocket");
SetAddr (0xC0);
WriteString("fuel and clean");
Delay10KTCYx(200);

/** D C _ M O T O R **/

do
{
CLOCKWISE ();
}

while(PORTAbits.RA2 == 1);
‍
ROTATE_STOP ();
‍
/** L C D _ D I S P L A Y **/

WriteCmd ( 0x02 );
WriteCmd ( CLEAR_SCREEN);
SetAddr (0x80);
WriteString("Please replace");
SetAddr (0xC0);
WriteString("cap");
Delay10KTCYx(200);
‍
WriteCmd ( 0x02 );
WriteCmd ( CLEAR_SCREEN);
SetAddr (0x80);
WriteString("BACK YO SELF");
Delay10KTCYx(200);
‍
WriteCmd ( 0x02 );
WriteCmd ( CLEAR_SCREEN);
SetAddr (0x80);
WriteString("Would you");
SetAddr (0xC0);
WriteString("like another?");
Delay10KTCYx(60);

do
{
WriteCmd ( 0x02 );
WriteCmd ( CLEAR_SCREEN);
SetAddr (0x80);
WriteString("Press 1");
SetAddr (0xC0);
WriteString("to continue");
Delay10KTCYx(60);
}

while(PORTAbits.RA4 == 1);

}

}