Diff: psiswarm.cpp

Revision:

11:312663037b8c

Parent:

10:e58323951c08

Child:

12:878c6e9d9e60

--- a/psiswarm.cpp	Sun Oct 16 16:00:20 2016 +0000
+++ b/psiswarm.cpp	Sun Oct 16 21:06:15 2016 +0000
@@ -28,6 +28,11 @@
 Eprom eprom;
 Led led;
 Sensors sensors;
+SerialControl serial;
+Sound sound;
+Setup i2c_setup;
+Demo demo;
+Dances dances;
 
 //Setup MBED connections to PsiSwarm Robot
 Serial pc(USBTX,USBRX);
@@ -166,7 +171,7 @@
     timer_ticker.attach(&IF_update_minutes, 300);
     uptime.start();
     primary_i2c.frequency(400000);
-    IF_setup_serial_interfaces();
+    serial.setup_serial_interfaces();
     debug("PsiSwarm Robot Library %1.2f\n\n",SOFTWARE_VERSION_CODE);
     debug("- Setting up serial interface\n");
     debug("- Reading firmware: ");
@@ -204,7 +209,7 @@
     // IF_check_pic_firmware();
     debug("- Setting up LED drivers\n");
     led.IF_init_leds();
-    if(IF_setup_led_expansion_ic() != 0) {
+    if(i2c_setup.IF_setup_led_expansion_ic() != 0) {
         debug("- WARNING: No I2C acknowledge for LED driver\n");
         system_warnings += 1;
     }
@@ -212,10 +217,10 @@
     motors.init_motors();
     debug("- Setting up GPIO expansion\n");
     reset_encoders();
-    IF_setup_gpio_expansion_ic();
+    i2c_setup.IF_setup_gpio_expansion_ic();
     if(has_temperature_sensor) {
         debug("- Setting up temperature sensor\n");
-        IF_setup_temperature_sensor();
+        i2c_setup.IF_setup_temperature_sensor();
     }
     if(has_base_colour_sensor) {
         debug("- Setting up base colour sensor\n");
@@ -227,7 +232,7 @@
     }
 
     debug("- Robot ID: %d\n",robot_id);
-    char switchstate = IF_get_switch_state();
+    char switchstate = i2c_setup.IF_get_switch_state();
     debug("- Switch State   : %d\n",switchstate);
     debug("- Battery Voltage: %1.3fV\n",sensors.get_battery_voltage());
     debug("- DC Voltage     : %1.3fV\n",sensors.get_dc_voltage());
@@ -235,15 +240,15 @@
     if(has_temperature_sensor){
     debug("- Temperature    : %1.3fC\n",sensors.get_temperature());
     }
-    char demo = 0;
-    if(ENABLE_DEMO == 1 && switchstate > 0) demo=1;
-    display.init_display(demo);
+    char demo_on = 0;
+    if(ENABLE_DEMO == 1 && switchstate > 0) demo_on=1;
+    display.init_display(demo_on);
     event_handler.attach_us(&IF_handle_events, 1000);
-    if(demo > 0) {
+    if(demo_on > 0) {
         debug("- Demo mode button is pressed\n");
         wait(1.0);
-        demo = IF_get_switch_state();
-        if(demo > 0) demo_mode();
+        demo_on = i2c_setup.IF_get_switch_state();
+        if(demo_on > 0) demo.start_demo_mode();
         display.init_display(0);
     }
 }
@@ -305,7 +310,7 @@
     // In this implementation we will only act on positive changes (rising edges)
     // Subtracting new_state from (new_state & old_state) gives the positive changes
     char positive_change = switch_byte - (switch_byte & previous_switch_byte);
-    if(demo_on) demo_handle_switch_event(positive_change);
+    if(demo_on) demo.demo_handle_switch_event(positive_change);
     else handle_switch_event(positive_change);
 }