\hypertarget{_wheelchair_control_main_8h}{\section{C\-:/\-Users/\-Ondra/\-Desktop/\-Wheelchair Control M\-C\-U/\-Wheelchair\-Control\-Main.h File Reference}
\label{_wheelchair_control_main_8h}\index{C\-:/\-Users/\-Ondra/\-Desktop/\-Wheelchair Control M\-C\-U/\-Wheelchair\-Control\-Main.\-h@{C\-:/\-Users/\-Ondra/\-Desktop/\-Wheelchair Control M\-C\-U/\-Wheelchair\-Control\-Main.\-h}}
}
{\ttfamily \#include \char`\"{}Defines.\-h\char`\"{}}\\*
{\ttfamily \#include \char`\"{}S\-R\-F08.\-h\char`\"{}}\\*
{\ttfamily \#include \char`\"{}U\-A\-R\-T.\-h\char`\"{}}\\*
{\ttfamily \#include \char`\"{}Misc\-Inits.\-h\char`\"{}}\\*
{\ttfamily \#include $<$math.\-h$>$}\\*
{\ttfamily \#include $<$util/delay.\-h$>$}\\*
{\ttfamily \#include $<$stdlib.\-h$>$}\\*
{\ttfamily \#include $<$avr/interrupt.\-h$>$}\\*
{\ttfamily \#include $<$avr/eeprom.\-h$>$}\\*
\subsection*{Functions}
{\bf }\par
\begin{DoxyCompactItemize}
\item 
void \hyperlink{_wheelchair_control_main_8h_a064d0fdfe3c2f3ba843a1c7533d1f37e}{E\-E\-P\-R\-O\-M\-\_\-\-Load\-Variables} (void)
\item 
void \hyperlink{_wheelchair_control_main_8h_abfd2e77848beb40580522f0a8f7a22d0}{E\-E\-P\-R\-O\-M\-\_\-\-Write\-Variable} (uint8\-\_\-t $\ast$address, uint8\-\_\-t data)
\item 
void \hyperlink{_wheelchair_control_main_8h_af0b8a5a618096e8da8d41059ac05c237}{E\-E\-P\-R\-O\-M\-\_\-\-Write\-Word} (uint16\-\_\-t $\ast$address, uint16\-\_\-t data)
\item 
void \hyperlink{_wheelchair_control_main_8h_af63c950b40c4295feee7560ee2f8c9f4}{Initialize\-M\-C\-U} (void)
\item 
void \hyperlink{_wheelchair_control_main_8h_abf031d2177c1b64989aa2c0c7dfe9962}{Calculate\-Odometry} (void)
\item 
void \hyperlink{_wheelchair_control_main_8h_a17e97b8ac548755495d5079244921b42}{Run\-Regulators} (void)
\end{DoxyCompactItemize}



\subsection{Detailed Description}
This is main program header file. 

Definition in file \hyperlink{_wheelchair_control_main_8h_source}{Wheelchair\-Control\-Main.\-h}.



\subsection{Function Documentation}
\hypertarget{_wheelchair_control_main_8h_abf031d2177c1b64989aa2c0c7dfe9962}{\index{Wheelchair\-Control\-Main.\-h@{Wheelchair\-Control\-Main.\-h}!Calculate\-Odometry@{Calculate\-Odometry}}
\index{Calculate\-Odometry@{Calculate\-Odometry}!WheelchairControlMain.h@{Wheelchair\-Control\-Main.\-h}}
\subsubsection[{Calculate\-Odometry}]{\setlength{\rightskip}{0pt plus 5cm}void Calculate\-Odometry (
\begin{DoxyParamCaption}
\item[{void}]{}
\end{DoxyParamCaption}
)}}\label{_wheelchair_control_main_8h_abf031d2177c1b64989aa2c0c7dfe9962}
Odometry is calculated here. 

Definition at line 109 of file Wheelchair\-Control\-Main.\-c.

\hypertarget{_wheelchair_control_main_8h_a064d0fdfe3c2f3ba843a1c7533d1f37e}{\index{Wheelchair\-Control\-Main.\-h@{Wheelchair\-Control\-Main.\-h}!E\-E\-P\-R\-O\-M\-\_\-\-Load\-Variables@{E\-E\-P\-R\-O\-M\-\_\-\-Load\-Variables}}
\index{E\-E\-P\-R\-O\-M\-\_\-\-Load\-Variables@{E\-E\-P\-R\-O\-M\-\_\-\-Load\-Variables}!WheelchairControlMain.h@{Wheelchair\-Control\-Main.\-h}}
\subsubsection[{E\-E\-P\-R\-O\-M\-\_\-\-Load\-Variables}]{\setlength{\rightskip}{0pt plus 5cm}void E\-E\-P\-R\-O\-M\-\_\-\-Load\-Variables (
\begin{DoxyParamCaption}
\item[{void}]{}
\end{DoxyParamCaption}
)}}\label{_wheelchair_control_main_8h_a064d0fdfe3c2f3ba843a1c7533d1f37e}
Loads variables stored in E\-E\-P\-R\-O\-M to R\-A\-M. 

Definition at line 367 of file Wheelchair\-Control\-Main.\-c.

\hypertarget{_wheelchair_control_main_8h_abfd2e77848beb40580522f0a8f7a22d0}{\index{Wheelchair\-Control\-Main.\-h@{Wheelchair\-Control\-Main.\-h}!E\-E\-P\-R\-O\-M\-\_\-\-Write\-Variable@{E\-E\-P\-R\-O\-M\-\_\-\-Write\-Variable}}
\index{E\-E\-P\-R\-O\-M\-\_\-\-Write\-Variable@{E\-E\-P\-R\-O\-M\-\_\-\-Write\-Variable}!WheelchairControlMain.h@{Wheelchair\-Control\-Main.\-h}}
\subsubsection[{E\-E\-P\-R\-O\-M\-\_\-\-Write\-Variable}]{\setlength{\rightskip}{0pt plus 5cm}void E\-E\-P\-R\-O\-M\-\_\-\-Write\-Variable (
\begin{DoxyParamCaption}
\item[{uint8\-\_\-t $\ast$}]{address, }
\item[{uint8\-\_\-t}]{data}
\end{DoxyParamCaption}
)}}\label{_wheelchair_control_main_8h_abfd2e77848beb40580522f0a8f7a22d0}
Writes byte to E\-E\-P\-R\-O\-M. 
\begin{DoxyParams}{Parameters}
{\em address} & Address in E\-E\-P\-R\-O\-M to write to. \\
\hline
{\em data} & 1 byte of data to be written. \\
\hline
\end{DoxyParams}


Definition at line 409 of file Wheelchair\-Control\-Main.\-c.

\hypertarget{_wheelchair_control_main_8h_af0b8a5a618096e8da8d41059ac05c237}{\index{Wheelchair\-Control\-Main.\-h@{Wheelchair\-Control\-Main.\-h}!E\-E\-P\-R\-O\-M\-\_\-\-Write\-Word@{E\-E\-P\-R\-O\-M\-\_\-\-Write\-Word}}
\index{E\-E\-P\-R\-O\-M\-\_\-\-Write\-Word@{E\-E\-P\-R\-O\-M\-\_\-\-Write\-Word}!WheelchairControlMain.h@{Wheelchair\-Control\-Main.\-h}}
\subsubsection[{E\-E\-P\-R\-O\-M\-\_\-\-Write\-Word}]{\setlength{\rightskip}{0pt plus 5cm}void E\-E\-P\-R\-O\-M\-\_\-\-Write\-Word (
\begin{DoxyParamCaption}
\item[{uint16\-\_\-t $\ast$}]{address, }
\item[{uint16\-\_\-t}]{data}
\end{DoxyParamCaption}
)}}\label{_wheelchair_control_main_8h_af0b8a5a618096e8da8d41059ac05c237}
Writes word to E\-E\-P\-R\-O\-M. 
\begin{DoxyParams}{Parameters}
{\em address} & Address in E\-E\-P\-R\-O\-M to write to. \\
\hline
{\em data} & 2 bytes of data to be written. \\
\hline
\end{DoxyParams}


Definition at line 416 of file Wheelchair\-Control\-Main.\-c.

\hypertarget{_wheelchair_control_main_8h_af63c950b40c4295feee7560ee2f8c9f4}{\index{Wheelchair\-Control\-Main.\-h@{Wheelchair\-Control\-Main.\-h}!Initialize\-M\-C\-U@{Initialize\-M\-C\-U}}
\index{Initialize\-M\-C\-U@{Initialize\-M\-C\-U}!WheelchairControlMain.h@{Wheelchair\-Control\-Main.\-h}}
\subsubsection[{Initialize\-M\-C\-U}]{\setlength{\rightskip}{0pt plus 5cm}void Initialize\-M\-C\-U (
\begin{DoxyParamCaption}
\item[{void}]{}
\end{DoxyParamCaption}
)}}\label{_wheelchair_control_main_8h_af63c950b40c4295feee7560ee2f8c9f4}
Initializes interrupts and peripherals. 

Definition at line 62 of file Wheelchair\-Control\-Main.\-c.

\hypertarget{_wheelchair_control_main_8h_a17e97b8ac548755495d5079244921b42}{\index{Wheelchair\-Control\-Main.\-h@{Wheelchair\-Control\-Main.\-h}!Run\-Regulators@{Run\-Regulators}}
\index{Run\-Regulators@{Run\-Regulators}!WheelchairControlMain.h@{Wheelchair\-Control\-Main.\-h}}
\subsubsection[{Run\-Regulators}]{\setlength{\rightskip}{0pt plus 5cm}void Run\-Regulators (
\begin{DoxyParamCaption}
\item[{void}]{}
\end{DoxyParamCaption}
)}}\label{_wheelchair_control_main_8h_a17e97b8ac548755495d5079244921b42}
Position regulators are run here (wall following and position regulator). 

Definition at line 144 of file Wheelchair\-Control\-Main.\-c.

