Diff: psiswarm.cpp

Revision:

15:66be5ec52c3b

Parent:

13:adbd827234a4

Child:

16:50686c07ad07

--- a/psiswarm.cpp	Tue May 30 21:03:18 2017 +0000
+++ b/psiswarm.cpp	Thu Jun 01 21:58:14 2017 +0000
@@ -1,6 +1,6 @@
 /* University of York Robotics Laboratory PsiSwarm Library: PsiSwarm C++ Core Source File
  * 
- * Copyright 2016 University of York
+ * Copyright 2017 University of York
  *
  * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. 
  * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
@@ -13,9 +13,9 @@
  * (C) Dept. Electronics & Computer Science, University of York
  * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
  *
- * PsiSwarm Library Version: 0.8
+ * PsiSwarm Library Version: 0.9
  *
- * October 2016
+ * May 2017
  *
  *
  */
@@ -175,6 +175,8 @@
     primary_i2c.frequency(400000);
     serial.setup_serial_interfaces();
     debug("PsiSwarm Robot Library %1.2f\n\n",SOFTWARE_VERSION_CODE);
+    debug("- Set up display\n");
+    display.init_display_start();
     debug("- Setting up serial interface\n");
     debug("- Reading firmware: ");
     if(eprom.read_firmware() == 1) {
@@ -183,13 +185,13 @@
         if(use_motor_calibration){
             if(!motor_calibration_set){
                 if(firmware_version < 1.1){
-                    debug("- WARNING: This firmware is incompatible with motor calibration");
-                    debug("- WARNING: Please update the firmware to use this feature.");
+                    debug("- WARNING: This firmware is incompatible with motor calibration\n");
+                    debug("- WARNING: Please update the firmware to use this feature.\n");
                     use_motor_calibration = 0;   
                 }   
                 else {
-                    debug("- WARNING: Motor calibration values have not been stored in firmware");
-                    debug("- WARNING: Run calibration routine to use this feature.");
+                    debug("- WARNING: Motor calibration values have not been stored in firmware\n");
+                    debug("- WARNING: Run calibration routine to use this feature.\n");
                     use_motor_calibration = 0;   
                 }
             }
@@ -244,15 +246,16 @@
     }
     char demo_on = 0;
     if(ENABLE_DEMO == 1 && switchstate > 0) demo_on=1;
-    display.init_display(demo_on);
+    display.init_display_end(demo_on);
     event_handler.attach_us(this,&Psiswarm::IF_handle_events, 1000);
     if(demo_on > 0) {
         debug("- Demo mode button is pressed\n");
-        wait(1.0);
+        wait(0.6);
         demo_on = i2c_setup.IF_get_switch_state();
         if(demo_on > 0) demo.start_demo_mode();
-        display.init_display(0);
+        display.init_display_end(0);
     }
+    debug("___________________________________________________");
 }
 
 void Psiswarm::IF_update_minutes()