C Code

#include <hidef.h>      /* common defines and macros */
#include <mc9s12e128.h>     /* derivative information */
#include <S12E128bits.h>

#include <stdio.h>
#include "XBee.h"
#include "helm_display.h"
//#include "ADS12.H"

// helm input

// ----------------------------------------
// --- Defines
// ----------------------------------------
// voice reading


#define ON		1
#define OFF     0

//voice values are quiet
#define VOICE_MIN           10
#define VOICE_MAX           350


// reverse sensing
/*	  former values
#define FORWARD             127  
#define REVERSE             17
#define REVERSE_THRESHOLD   300  // below this value is reverse 
 */
#define FORWARD             127  
#define REVERSE             17
#define REVERSE_THRESHOLD   500 


// setting direction
/* former values
#define ROLL_MIN            260 
#define ROLL_ZERO           320
#define ROLL_MAX            390

#define ROLL_DEAD_ZONE      27  // size of half the dead zone (x under and x over)

 */
#define ROLL_MIN            260 
#define ROLL_ZERO           360
#define ROLL_MAX            460

#define ROLL_DEAD_ZONE      27  

// FSR
// setting direction
#define FSR_MIN     10          // 
#define FSR_MAX     500         // 

// ----------------------------------------
// --- Function Prototypes
// ----------------------------------------

void InitInputPorts(void);

char Report_Special1(void);             // returns ON or OFF
char Report_Special2(void);				// returns ON or OFF

int Report_Voice(void);
int Report_Roll(void);
int Report_FSR(void);

int Report_Pitch(void);

char Set_Speed(void);
char Set_Direction(void);

char Set_PumpSpeed(void);
char Check_Reverse(void);