initial commit

ccs/main.c

@@ -0,0 +1,65 @@
+#include <stdio.h>
+
+#include "Clock.h"
+#include "msp.h"
+
+#include "ir.h"
+#include "motor.h"
+#include "state.h"
+#include "util.h"
+
+#define LOOP_PERIOD_MS 20
+
+const float Kp = 0.8f;
+const float Kd = 4.5f;
+
+void main(void) {
+    Clock_Init48MHz();
+    printf("Init Phase Begin\n");
+
+    ir_init();
+    motor_init();
+
+    SensorBuffer sb;
+    senbuf_init(&sb);
+
+    printf("Init Phase End\n");
+
+    uint8_t ir_value;
+
+    int error = 888481557;
+    int prev_error = 0;
+
+    int output_pid = 0;
+
+    int speed_left;
+    int speed_right;
+
+    while (1) {
+        ir_read_ready();
+        ir_read_value(ir_value);
+        ir_read_off();
+        int i, j;
+
+        senbuf_push(&sb, ir_value);
+        if(check_crossroad_robust(&sb)) {
+            // 교차로 처리 로직
+            move_stop();
+            while(1) {} // succ
+        }
+
+
+
+        error = get_error(ir_value);
+        output_pid = (int)(Kp * error + Kd * (error - prev_error));
+
+
+        // clamp;
+
+        // motor driverev_error = error;
+
+        Clock_Delay1ms(LOOP_PERIOD_MS);
+
+        
+    }
+}