// Include required libraries and header files
#include <p24FJ32GA010.h>
#include <stdio.h>
#include <stdlib.h>
// Define motor control pins
#define STEP_PIN LATBbits.LATB0
#define DIR_PIN LATBbits.LATB1
// Define motor control parameters
#define STEPS_PER_REV 200
#define MICROSTEPS 16
#define STEPS_PER_MICROSTEP (STEPS_PER_REV*MICROSTEPS)
// Initialize motor control pins
void initMotor()
{
TRISBbits.TRISB0 = 0; // STEP_PIN is output
TRISBbits.TRISB1 = 0; // DIR_PIN is output
STEP_PIN = 0; // Set STEP_PIN to low
DIR_PIN = 0; // Set DIR_PIN to low
}
// Rotate motor for a given number of steps in a given direction
void rotate(int steps, int direction)
{
int i;
if (direction == 0) // Set direction
DIR_PIN = 0; // 0 for clockwise
else
DIR_PIN = 1;
for (i = 0; i < steps; i++) {
STEP_PIN = 1; // Step high
__delay_us(500); // Delay for motor stability
STEP_PIN = 0; // Step low
__delay_us(500); // Delay for motor stability
}
}
// Main function
int main(void)
{
initMotor(); // Initialize motor control pins
while (1) {
// Detect passenger in seat
if (passengerDetected()) {
// Check seatbelt status
if (!seatbeltFastened()) {
// Fasten seatbelt automatically
rotate(STEPS_PER_MICROSTEP, 0); // Rotate clockwise for one full revolution
__delay_ms(500); // Delay for belt to fasten
}
}
else {
// Stop checking seatbelt status
break;
}
}