header_master.h

An algorithm I2C communication as a master in AVR MCU using WINCC

#define TWI_RightSlaveAddress    0x05  // Right Slave Address: 0x05
#define TWI_LeftSlaveAddress     0x50  // Left Slave Address:  0x50
#define TWI_GEN_CALL             0x00  // The General Call address is 0

#define CLK  PORTD.7
#define low  0
#define high 1
#define ON  1
#define OFF 0  

#define up  1
#define down 0 

#define STOP  0xC1
#define RUN   0x1C
#define left  0x11
#define right 0x12


#define forever   1
#define one_time   0        
//FOR MOVING_FORWARD FUNCTION ONLY
#define at_line         0x01
#define behind_line1    0x02
#define behind_line2    0x03
#define behind_line3    0x04        

#define phi     0x01

#define running 1
#define stand   0  

#define qua_rung_X    0xA1
#define qua_doc_X     0xA2
#define qua_rung_R    0xA3
#define qua_doc_R     0xA4 
   
#define CBL4    0xB1
#define CBL3    0xB2
#define CBL2    0xB3
#define CBL1    0xB4
#define CBR1    0xB5
#define CBR2    0xB6
#define CBR3    0xB7
#define CBR4    0xB8 

#define TURN_LEFT    0xF1
#define TURN_RIGHT   0xF2



//Motor 1
#define Dir1  PORTB.3
#define PWM1  OCR0      ///PORTB.4        

//Motor 2
#define Dir2  PORTE.7
#define PWM2  OCR3CL//PORTE.5//OCR3C     ///PORTE.5

//Motor 3
#define Dir3  PORTE.6
#define PWM3  OCR3BL//PORTE.4//OCR3B     ///PORTE.4

//Motor 4  
#define Dir4  PORTE.2
#define PWM4  OCR3AL//PORTE.3//OCR3A    ///PORTE.3    

//BUTTON 
#define MODE1  (PING&0x08)
#define MODE2   PINB.7
#define MODE3  (PING&0x10) 
#define Button  ( (PING&0x08)| PINB.7 | (PING&0x10) )  //0001 1001
                                                       //   3 1  2   
//CTHT                                                       
#define _START_   PINB.0                                                       
#define CTHT2   PINB.2
#define CTHT3   PINB.5                                                       
#define CTHT4   PINB.6

//SENSOR 
#define rs4   !PINF.5
#define rs3   !PINF.3   //7   
#define rs2   !PINA.2   //6 
#define rs1   !PINF.7   //5
 
#define ls4   !PINA.1   //4 
#define ls3   !PINF.4   //3
#define ls2   !PINA.3  //2  
#define ls1   !PINF.6   //1   
#define CB1   !PINA.0   //9
#define CB_traveller   !PINF.2 //10  
              
//DECLARE THE FUNCTION   

void moving_forward_qua_rung(int max_speed,char line,char stop_position,char status_running
                    ,char current_position);

void scan_line(int Speed);
void scan_line1(int Speed);
void turn_right(char arg);
void moving_forward_over_mountain(int max_speed,char line);  
void take_the_kago(int speed);
void stop(void);         
void elevator(int level);  
void begin_get_encoder(void);
void count_enc(void);
void up_N_down(signed char level); 
void throught_forest(int max_speed,char line);
void set_turn90(char special_weight); 
void doline(int speed);
void turn_RIGHT_line();
void turn_LEFT_line(); 
void up_manual(void);
void down_manual(void);
void scanline_run_straight_enc(int max_speed,int enc_numb);
//void moving_forward(int max_speed,char line,char stop_position,char status_running,char qua_rung);

#include "master.c"  
#include "74164.c"      
#include "sensor.c"   
#include "function_2009.c" 
#include "MODE_SLOW_V.c" 
#include "STRATEGIES.c"