Diff: main.cpp

Revision:

79:9d46b0d532e1

Parent:

78:0d905b656132

Parent:

12:6fe33785b0f4

Child:

80:dd2134edd58b

--- a/main.cpp	Tue Oct 25 09:11:48 2022 +0000
+++ b/main.cpp	Tue Oct 25 09:22:42 2022 +0000
@@ -45,7 +45,9 @@
 void TE_LogVoltage(int count); // test funktion that write the woltage each time the battry is checked
 
 
-
+int PitTest(void);   // Test if to robot needs to goto pit 
+void InitialMessages (void); // Prints initial message to the LCD 
+int PitTest(int gotoPit); 
 
 int main() {
     LocalFileSystem local("local"); 
@@ -63,10 +65,12 @@
     float speed = MAX;
 
     /*Team 7 Variabels*/
+    
     int gotoPit = 0; // wether or not the robot is heading to pit. Initialstate false. 
     int ccount = 0; //used to count cycles
     
     /*Printing secret cat mission*/
+
     LCD_InitialMessages();
     m3pi.sensor_auto_calibrate();
     
@@ -76,6 +80,7 @@
     TE_CreateVoltageLog();
 
     while (1) {
+
         /* If cycle count divided by a constant does not have a rest. test if pit */
         if (ccount % CYCLEBEFORETEST == 0 && gotoPit == 0)
         {
@@ -191,14 +196,32 @@
     }
 }     
 
+
+void InitialMessage(void){
+    /*Prints iniatl secret mission*/
+    
+    m3pi.cls();
+    m3pi.locate(0,0);
+    m3pi.printf("eliminate");
+    m3pi.locate(0,1);
+    m3pi.printf("all cats");
+    wait(200.0);
+    
+    m3pi.cls();
+    m3pi.locate(0,0);
+    m3pi.printf("%f.3 ",m3pi.battery());
+    m3pi.locate(0,1);
+    m3pi.printf("%f.3 ",m3pi.pot_voltage());
+    wait(200.0);
+    m3pi.cls();
+}
+
 /**
  * PS_BatteryTest - Test the batteri voltage if the robot is not headed for pi
  * 
  *return: 0 if the battery is above the threshold- Return 1 if the robot needs to goto pit
  */
-
 int PS_BatteryTest(void){
-/* Test the batteri voltage if the robot is not headed for pit */ 
     
     const float BATVOLTTRESHOLD = 0.5; // Treshold i volt
     int result = 0;
@@ -207,6 +230,7 @@
     if (m3pi.battery() <= BATVOLTTRESHOLD ){  
         result = 1; // Set goto pit condition
         LED_Control(1, 1);
+
         m3pi.cls();
         m3pi.locate(0,0);
         m3pi.printf("Going to");
@@ -350,4 +374,22 @@
     fprintf(fptr,"%8d,%8d,%4.4f,%4.4f\n"  , timer.read()-startTime, count, m3pi.battery(),m3pi.pot_voltage()  );
     fclose(fptr);
 
+    return result;
+
+}
+
+void LED_Control(int ledNumber, int state){
+    //LED1 on if robot is looking for pit
+    if ledNumber == 1{
+        DigitalOut led1(state);
+    }
+    if ledNumber == 2{
+        DigitalOut led1(state);
+    }
+    if ledNumber == 3{
+        DigitalOut led1(state);
+    }
+    if ledNumber == 4{
+        DigitalOut led1(state);
+    }
 }
\ No newline at end of file