Main Board Pseudo Code

Main Board Pseudo Code

This is the basics of the code for the Main Board.

while(1){                                               //Big 'ol while loop

  if dmaReadDone == true                                //Checks if dma has received a new, updated packet
    myBuffer = dmaReadBuffer
  else
    myBuffer = myBuffer
  end

  if packetValid(myBuffer) == true                      //checks if the packet is valid

    while (i < 9){                                      //for motors 1-8

      motorPacket = motorPacketCreate(myBuffer, i)      //generate packet for each motor

      if motorDmaDone = true                            //again waits until the dma is done transmitting
        motorDma = motorPacket
        i++
      else
        motorDma = motorDma                             //do nothing really
        i=i
    }

    moveClaw(myBuffer)                                  //doing claw stuff

    moveDistanceUnit(myBuffer)                          //doing distance measurement stuff

    takeDistanceMeasurement(myBuffer)                   //taking a reading (probably gonna need a serial interface
                                                        //not sure if we should use DMA yet

    setCamera(myBuffer)                                 //changes between camera views

    setCameraLed(myBuffer)                              //Sets brigntness of the leds on the cameras

    setTubeLed(myBuffer)                                //sets brightness of the leds in the tube

    readStuff()

    sendPacket = sendPacketCreate(stuff goes here)      //creates packet with data read from things (TBD)

    if dmaSendDone == true                              //waits until packet is done being sent up
      dmaSendBuffer = sendPacket
    else 
      dmaSendBuffer = dmaSendBuffer
    end
}