Merge branch 'main' into collision-avoidance

CleanIt-SC/Headers/limit_switch.h

@@ -0,0 +1,23 @@
+#ifndef LIMIT_SWITCH_H
+#define LIMIT_SWITCH_H
+#include "MKL25Z4.h"
+#define SWITCH_FRONT 0
+#define SWITCH_LEFT 1
+#define SWITCH_RIGHT 2
+
+void limit_switch_init(void);
+bool hasNOT_collided(int pinNumber); 
+
+void limit_switch_init(void){
+    SIM->SCGC5 |= 0x0800;  /* enable clock to Port C */
+    PORTC->PCR[0] = 0x103; /* PTC0, GPIO, enable pullup*/
+    PORTC->PCR[1] = 0x103; /* PTC1, GPIO, enable pullup*/
+    PORTC->PCR[2] = 0x103; /* PTC2, GPIO, enable pullup*/
+    PTC->PDDR = 0x07; /* make PTC2-0 as input pins */
+}
+
+bool hasNOT_collided(int pinNumber) {
+    return PTC->PDIR & (0x01 << pinNumber);
+}
+
+#endif