C++ Library for the PsiSwarm Robot - Version 0.8
Dependents: PsiSwarm_V8_Blank_CPP Autonomia_RndmWlk
Fork of PsiSwarmV7_CPP by
Diff: demo.cpp
- Revision:
- 9:dde9e21030eb
- Parent:
- 8:6c92789d5f87
- Child:
- 10:e58323951c08
--- a/demo.cpp Sun Oct 16 12:54:33 2016 +0000 +++ b/demo.cpp Sun Oct 16 14:12:49 2016 +0000 @@ -1027,10 +1027,10 @@ case 0: if(spin_step % 2 == 0) { motors.forward(pct); - set_leds(0xFF,0xFF); + led.set_leds(0xFF,0xFF); } else { motors.backward(pct); - set_leds(0,0xFF); + led.set_leds(0,0xFF); } spin_step ++; if(spin_step > 199) { @@ -1071,8 +1071,8 @@ if(demo_timer.read() > time_out) { switch(state) { case 0: //Robot is stopped - set_leds(0,0xFF); - set_center_led(1,1); + led.set_leds(0,0xFF); + led.set_center_led(1,1); speed = 0.1f; motors.brake(); time_out = 0.5; @@ -1081,31 +1081,31 @@ break; case 1: //Motor is turning right, accelerating time_out = 0.1; - set_center_led(2,1); + led.set_center_led(2,1); switch(led_step) { case 0: - set_leds(0x01,0); + led.set_leds(0x01,0); break; case 1: - set_leds(0x02,0); + led.set_leds(0x02,0); break; case 2: - set_leds(0x04,0); + led.set_leds(0x04,0); break; case 3: - set_leds(0x08,0); + led.set_leds(0x08,0); break; case 4: - set_leds(0x10,0); + led.set_leds(0x10,0); break; case 5: - set_leds(0x20,0); + led.set_leds(0x20,0); break; case 6: - set_leds(0x40,0); + led.set_leds(0x40,0); break; case 7: - set_leds(0x80,0); + led.set_leds(0x80,0); break; } led_step ++; @@ -1120,19 +1120,19 @@ } break; case 2: //Motor is turning right, full speed - set_center_led(3,1); + led.set_center_led(3,1); switch(led_step) { case 0: - set_leds(0x33,0x33); + led.set_leds(0x33,0x33); break; case 1: - set_leds(0x66,0x66); + led.set_leds(0x66,0x66); break; case 2: - set_leds(0xCC,0xCC); + led.set_leds(0xCC,0xCC); break; case 3: - set_leds(0x99,0x99); + led.set_leds(0x99,0x99); break; } led_step ++; @@ -1144,31 +1144,31 @@ } break; case 3: //Motor is turning right, decelerating - set_center_led(2,1); + led.set_center_led(2,1); switch(led_step) { case 0: - set_leds(0x01,0); + led.set_leds(0x01,0); break; case 1: - set_leds(0x02,0); + led.set_leds(0x02,0); break; case 2: - set_leds(0x04,0); + led.set_leds(0x04,0); break; case 3: - set_leds(0x08,0); + led.set_leds(0x08,0); break; case 4: - set_leds(0x10,0); + led.set_leds(0x10,0); break; case 5: - set_leds(0x20,0); + led.set_leds(0x20,0); break; case 6: - set_leds(0x40,0); + led.set_leds(0x40,0); break; case 7: - set_leds(0x80,0); + led.set_leds(0x80,0); break; } if(led_step == 0) led_step =8; @@ -1183,8 +1183,8 @@ } break; case 4: //Robot is stopped - set_leds(0,0xFF); - set_center_led(1,1); + led.set_leds(0,0xFF); + led.set_center_led(1,1); speed = 0.1f; motors.brake(); time_out = 0.5; @@ -1193,31 +1193,31 @@ break; case 5: //Motor is turning left, accelerating time_out = 0.1; - set_center_led(2,1); + led.set_center_led(2,1); switch(led_step) { case 0: - set_leds(0x01,0); + led.set_leds(0x01,0); break; case 1: - set_leds(0x02,0); + led.set_leds(0x02,0); break; case 2: - set_leds(0x04,0); + led.set_leds(0x04,0); break; case 3: - set_leds(0x08,0); + led.set_leds(0x08,0); break; case 4: - set_leds(0x10,0); + led.set_leds(0x10,0); break; case 5: - set_leds(0x20,0); + led.set_leds(0x20,0); break; case 6: - set_leds(0x40,0); + led.set_leds(0x40,0); break; case 7: - set_leds(0x80,0); + led.set_leds(0x80,0); break; } if(led_step == 0) led_step =8; @@ -1232,19 +1232,19 @@ } break; case 6: //Motor is turning left, full speed - set_center_led(3,1); + led.set_center_led(3,1); switch(led_step) { case 0: - set_leds(0x33,0x33); + led.set_leds(0x33,0x33); break; case 1: - set_leds(0x66,0x66); + led.set_leds(0x66,0x66); break; case 2: - set_leds(0xCC,0xCC); + led.set_leds(0xCC,0xCC); break; case 3: - set_leds(0x99,0x99); + led.set_leds(0x99,0x99); break; } if(led_step == 0) led_step = 4; @@ -1256,31 +1256,31 @@ } break; case 7: //Motor is turning left, decelerating - set_center_led(2,1); + led.set_center_led(2,1); switch(led_step) { case 0: - set_leds(0x01,0); + led.set_leds(0x01,0); break; case 1: - set_leds(0x02,0); + led.set_leds(0x02,0); break; case 2: - set_leds(0x04,0); + led.set_leds(0x04,0); break; case 3: - set_leds(0x08,0); + led.set_leds(0x08,0); break; case 4: - set_leds(0x10,0); + led.set_leds(0x10,0); break; case 5: - set_leds(0x20,0); + led.set_leds(0x20,0); break; case 6: - set_leds(0x40,0); + led.set_leds(0x40,0); break; case 7: - set_leds(0x80,0); + led.set_leds(0x80,0); break; } led_step ++; @@ -1309,8 +1309,8 @@ if(demo_timer.read() > time_out) { switch(state) { case 0: //Robot is stopped - set_leds(0,0xFF); - set_center_led(1,0.4); + led.set_leds(0,0xFF); + led.set_center_led(1,0.4); speed = 0.3f; motors.forward(speed); time_out = 0.05; @@ -1332,22 +1332,22 @@ } switch(led_step) { case 0: - set_leds(0x01,0); + led.set_leds(0x01,0); break; case 1: - set_leds(0x38,0); + led.set_leds(0x38,0); break; case 2: - set_leds(0x6C,0); + led.set_leds(0x6C,0); break; case 3: - set_leds(0xC6,0); + led.set_leds(0xC6,0); break; case 4: - set_leds(0x83,0); + led.set_leds(0x83,0); break; } - set_center_led(2, 0.6); + led.set_center_led(2, 0.6); led_step ++; if(led_step == 5) led_step = 0; } @@ -1358,16 +1358,16 @@ motors.set_right_motor_speed(-0.85); time_out = 0.4; state = 0; - set_leds(0x0E,0x0E); - set_center_led(3,0.5); + led.set_leds(0x0E,0x0E); + led.set_center_led(3,0.5); break; case 3: //Turn left motors.set_left_motor_speed(-0.85); motors.set_right_motor_speed(0.85); time_out = 0.4; state = 0; - set_leds(0xE0,0xE0); - set_center_led(3,0.5); + led.set_leds(0xE0,0xE0); + led.set_center_led(3,0.5); break; } demo_timer.reset(); @@ -1387,8 +1387,8 @@ if(led_state[i]==1 || led_state[i]==3) red+=(1<<i); if(led_state[i]==2 || led_state[i]==3) green+=(1<<i); } - set_leds(green,red); + led.set_leds(green,red); float brightness_f = brightness / 100.0f; - set_center_led(led_state[8], brightness_f); - set_base_led(base_led_state); + led.set_center_led(led_state[8], brightness_f); + led.set_base_led(base_led_state); } \ No newline at end of file