| Wheelchair Control MCU firmware

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WheelchairControlMain.h File Reference
Wheelchair control MCU software.
`#include "Defines.h"`
`#include "SRF08.h"`
`#include "UART.h"`
`#include "MiscInits.h"`
`#include <math.h>`
`#include <util/delay.h>`
`#include <stdlib.h>`
`#include <avr/interrupt.h>`
`#include <avr/eeprom.h>`

Go to the source code of this file.

## Functions
void | EEPROM_LoadVariables (void)
void | EEPROM_WriteVariable (uint8_t *address, uint8_t data)
void | EEPROM_WriteWord (uint16_t *address, uint16_t data)
void | InitializeMCU (void)
void | CalculateOdometry (void)
void | RunRegulators (void)

## Detailed Description

This is main program header file.

Definition in file WheelchairControlMain.h.

## Function Documentation

void CalculateOdometry | ( | void |  | ) |

Odometry is calculated here.

Definition at line 109 of file WheelchairControlMain.c.

void EEPROM_LoadVariables | ( | void |  | ) |

Loads variables stored in EEPROM to RAM.

Definition at line 367 of file WheelchairControlMain.c.

void EEPROM_WriteVariable | ( | uint8_t * | address,
|  | uint8_t | data
| ) |  |

Writes byte to EEPROM.

Parameters

  address | Address in EEPROM to write to.
  data | 1 byte of data to be written.

Definition at line 409 of file WheelchairControlMain.c.

void EEPROM_WriteWord | ( | uint16_t * | address,
|  | uint16_t | data
| ) |  |

Writes word to EEPROM.

Parameters

  address | Address in EEPROM to write to.
  data | 2 bytes of data to be written.

Definition at line 416 of file WheelchairControlMain.c.

void InitializeMCU | ( | void |  | ) |

Initializes interrupts and peripherals.

Definition at line 62 of file WheelchairControlMain.c.

void RunRegulators | ( | void |  | ) |

Position regulators are run here (wall following and position regulator).

Definition at line 144 of file WheelchairControlMain.c.