Psi Swarm robot library version 0.9
Fork of PsiSwarmV9 by
demo.cpp@14:2f1ad77d281e, 2017-05-30 (annotated)
- Committer:
- jah128
- Date:
- Tue May 30 21:03:18 2017 +0000
- Revision:
- 14:2f1ad77d281e
- Parent:
- 12:878c6e9d9e60
- Child:
- 15:66be5ec52c3b
Initial version (fork of version 0.8)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jah128 | 0:d6269d17c8cf | 1 | /* University of York Robotics Laboratory PsiSwarm Library: Demo Mode Source File |
jah128 | 6:b340a527add9 | 2 | * |
jah128 | 14:2f1ad77d281e | 3 | * Copyright 2017 University of York |
jah128 | 6:b340a527add9 | 4 | * |
jah128 | 6:b340a527add9 | 5 | * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. |
jah128 | 6:b340a527add9 | 6 | * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 |
jah128 | 6:b340a527add9 | 7 | * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS |
jah128 | 6:b340a527add9 | 8 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
jah128 | 6:b340a527add9 | 9 | * See the License for the specific language governing permissions and limitations under the License. |
jah128 | 0:d6269d17c8cf | 10 | * |
jah128 | 0:d6269d17c8cf | 11 | * File: demo.cpp |
jah128 | 0:d6269d17c8cf | 12 | * |
jah128 | 0:d6269d17c8cf | 13 | * (C) Dept. Electronics & Computer Science, University of York |
jah128 | 0:d6269d17c8cf | 14 | * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis |
jah128 | 0:d6269d17c8cf | 15 | * |
jah128 | 14:2f1ad77d281e | 16 | * PsiSwarm Library Version: 0.9 |
jah128 | 0:d6269d17c8cf | 17 | * |
jah128 | 14:2f1ad77d281e | 18 | * Version 0.9 : TODO:Added colour sensor functions |
jah128 | 8:6c92789d5f87 | 19 | * Version 0.8 : Rewritten as OO\C++ |
jah128 | 5:3cdd1a37cdd7 | 20 | * Version 0.7 : Updated for new MBED API |
jah128 | 4:1c621cb8cf0d | 21 | * Version 0.5 : Added motor calibration menu |
jah128 | 0:d6269d17c8cf | 22 | * Version 0.4 : Added PsiSwarmBasic menu |
jah128 | 0:d6269d17c8cf | 23 | * Version 0.2 : Remove most the functionality from center-button push to allow all operations to be accessable from |
jah128 | 0:d6269d17c8cf | 24 | * four directions alone. |
jah128 | 0:d6269d17c8cf | 25 | * Added extra sensor information, added various testing demos |
jah128 | 0:d6269d17c8cf | 26 | * |
jah128 | 2:c6986ee3c7c5 | 27 | * |
jah128 | 14:2f1ad77d281e | 28 | * June 2017 |
jah128 | 0:d6269d17c8cf | 29 | * |
jah128 | 0:d6269d17c8cf | 30 | */ |
jah128 | 0:d6269d17c8cf | 31 | |
jah128 | 0:d6269d17c8cf | 32 | |
jah128 | 0:d6269d17c8cf | 33 | #include "psiswarm.h" |
jah128 | 0:d6269d17c8cf | 34 | |
jah128 | 0:d6269d17c8cf | 35 | // PID terms |
jah128 | 0:d6269d17c8cf | 36 | #define LF_P_TERM 0.2 |
jah128 | 0:d6269d17c8cf | 37 | #define LF_I_TERM 0 |
jah128 | 0:d6269d17c8cf | 38 | #define LF_D_TERM 4 |
jah128 | 0:d6269d17c8cf | 39 | |
jah128 | 0:d6269d17c8cf | 40 | char top_menu = 0; |
jah128 | 0:d6269d17c8cf | 41 | char sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 42 | char level = 0; |
jah128 | 0:d6269d17c8cf | 43 | char started = 0; |
jah128 | 0:d6269d17c8cf | 44 | char topline[17]; |
jah128 | 0:d6269d17c8cf | 45 | char bottomline[17]; |
jah128 | 0:d6269d17c8cf | 46 | char led_state[9]; |
jah128 | 0:d6269d17c8cf | 47 | char all_led_state = 0; |
jah128 | 0:d6269d17c8cf | 48 | char base_led_state = 0; |
jah128 | 0:d6269d17c8cf | 49 | char brightness = 20; |
jah128 | 0:d6269d17c8cf | 50 | char bl_brightness = 100; |
jah128 | 0:d6269d17c8cf | 51 | char base_ir_index = 0; |
jah128 | 0:d6269d17c8cf | 52 | char side_ir_index = 0; |
jah128 | 0:d6269d17c8cf | 53 | signed short left_speed = 0; |
jah128 | 0:d6269d17c8cf | 54 | signed short right_speed = 0; |
jah128 | 0:d6269d17c8cf | 55 | char both_motor_mode = 0; |
jah128 | 0:d6269d17c8cf | 56 | char last_switch_pressed; |
jah128 | 0:d6269d17c8cf | 57 | Timeout demo_event; |
jah128 | 0:d6269d17c8cf | 58 | char handling_event = 0; |
jah128 | 0:d6269d17c8cf | 59 | |
jah128 | 0:d6269d17c8cf | 60 | Timeout demo_timeout; |
jah128 | 0:d6269d17c8cf | 61 | char demo_running = 0; |
jah128 | 0:d6269d17c8cf | 62 | Timer demo_timer; |
jah128 | 0:d6269d17c8cf | 63 | float time_out; |
jah128 | 0:d6269d17c8cf | 64 | float speed; |
jah128 | 0:d6269d17c8cf | 65 | char state; |
jah128 | 0:d6269d17c8cf | 66 | char led_step = 0; |
jah128 | 0:d6269d17c8cf | 67 | char spin_step = 0; |
jah128 | 0:d6269d17c8cf | 68 | char stress_step = 0; |
jah128 | 0:d6269d17c8cf | 69 | |
jah128 | 0:d6269d17c8cf | 70 | |
jah128 | 0:d6269d17c8cf | 71 | float lf_right; |
jah128 | 0:d6269d17c8cf | 72 | float lf_left; |
jah128 | 0:d6269d17c8cf | 73 | float lf_current_pos_of_line = 0.0; |
jah128 | 0:d6269d17c8cf | 74 | float lf_previous_pos_of_line = 0.0; |
jah128 | 0:d6269d17c8cf | 75 | float lf_derivative,lf_proportional,lf_integral = 0; |
jah128 | 0:d6269d17c8cf | 76 | float lf_power; |
jah128 | 0:d6269d17c8cf | 77 | float lf_speed = 0.4; |
jah128 | 0:d6269d17c8cf | 78 | |
jah128 | 0:d6269d17c8cf | 79 | |
jah128 | 0:d6269d17c8cf | 80 | |
jah128 | 11:312663037b8c | 81 | void Demo::start_demo_mode() |
jah128 | 0:d6269d17c8cf | 82 | { |
jah128 | 12:878c6e9d9e60 | 83 | psi.debug("- Starting Demo Mode\n"); |
jah128 | 0:d6269d17c8cf | 84 | if(use_flash_basic == 1) top_menu = 7; |
jah128 | 0:d6269d17c8cf | 85 | demo_on = 1; |
jah128 | 0:d6269d17c8cf | 86 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:d6269d17c8cf | 87 | display.clear_display(); |
jah128 | 0:d6269d17c8cf | 88 | display.write_string("PSI SWARM SYSTEM"); |
jah128 | 0:d6269d17c8cf | 89 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 90 | display.write_string(" DEMO MODE"); |
jah128 | 0:d6269d17c8cf | 91 | wait(0.5); |
jah128 | 0:d6269d17c8cf | 92 | display.clear_display(); |
jah128 | 0:d6269d17c8cf | 93 | display.write_string("Use cursor to"); |
jah128 | 0:d6269d17c8cf | 94 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 95 | display.write_string("navigate menus"); |
jah128 | 0:d6269d17c8cf | 96 | char step = 0; |
jah128 | 0:d6269d17c8cf | 97 | while(demo_on) { |
jah128 | 0:d6269d17c8cf | 98 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 99 | switch(step) { |
jah128 | 0:d6269d17c8cf | 100 | case 0: |
jah128 | 0:d6269d17c8cf | 101 | mbed_led1 = 1; |
jah128 | 0:d6269d17c8cf | 102 | mbed_led2 = 0; |
jah128 | 0:d6269d17c8cf | 103 | break; |
jah128 | 0:d6269d17c8cf | 104 | case 1: |
jah128 | 0:d6269d17c8cf | 105 | mbed_led2 = 1; |
jah128 | 0:d6269d17c8cf | 106 | mbed_led1 = 0; |
jah128 | 0:d6269d17c8cf | 107 | break; |
jah128 | 0:d6269d17c8cf | 108 | } |
jah128 | 0:d6269d17c8cf | 109 | step++; |
jah128 | 0:d6269d17c8cf | 110 | if(step==2)step=0; |
jah128 | 0:d6269d17c8cf | 111 | } else { |
jah128 | 0:d6269d17c8cf | 112 | mbed_led1 = 0; |
jah128 | 0:d6269d17c8cf | 113 | mbed_led2 = 0; |
jah128 | 0:d6269d17c8cf | 114 | mbed_led3 = 0; |
jah128 | 0:d6269d17c8cf | 115 | mbed_led4 = 0; |
jah128 | 0:d6269d17c8cf | 116 | } |
jah128 | 0:d6269d17c8cf | 117 | wait(0.5); |
jah128 | 0:d6269d17c8cf | 118 | } |
jah128 | 12:878c6e9d9e60 | 119 | psi.debug("- Demo mode ended\n"); |
jah128 | 0:d6269d17c8cf | 120 | } |
jah128 | 0:d6269d17c8cf | 121 | |
jah128 | 11:312663037b8c | 122 | void Demo::demo_handle_switch_event(char switch_pressed) |
jah128 | 0:d6269d17c8cf | 123 | { |
jah128 | 0:d6269d17c8cf | 124 | if(!handling_event) { |
jah128 | 0:d6269d17c8cf | 125 | handling_event = 1; |
jah128 | 0:d6269d17c8cf | 126 | last_switch_pressed = switch_pressed; |
jah128 | 11:312663037b8c | 127 | demo_event.attach_us(this,&Demo::demo_event_thread, 1000); |
jah128 | 0:d6269d17c8cf | 128 | } |
jah128 | 0:d6269d17c8cf | 129 | } |
jah128 | 0:d6269d17c8cf | 130 | |
jah128 | 11:312663037b8c | 131 | void Demo::demo_event_thread() |
jah128 | 0:d6269d17c8cf | 132 | { |
jah128 | 0:d6269d17c8cf | 133 | handling_event = 0; |
jah128 | 0:d6269d17c8cf | 134 | if(started == 1) { |
jah128 | 0:d6269d17c8cf | 135 | switch(last_switch_pressed) { |
jah128 | 0:d6269d17c8cf | 136 | case 1: //Up pressed |
jah128 | 0:d6269d17c8cf | 137 | switch(level) { |
jah128 | 0:d6269d17c8cf | 138 | case 0: |
jah128 | 4:1c621cb8cf0d | 139 | if(top_menu != 8) { |
jah128 | 0:d6269d17c8cf | 140 | level++; |
jah128 | 0:d6269d17c8cf | 141 | sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 142 | } else { |
jah128 | 0:d6269d17c8cf | 143 | demo_on = 0; |
jah128 | 0:d6269d17c8cf | 144 | user_code_running = user_code_restore_mode; |
jah128 | 0:d6269d17c8cf | 145 | } |
jah128 | 0:d6269d17c8cf | 146 | break; |
jah128 | 0:d6269d17c8cf | 147 | case 1: |
jah128 | 0:d6269d17c8cf | 148 | switch(top_menu) { |
jah128 | 0:d6269d17c8cf | 149 | case 7: // PsiBasic Menu |
jah128 | 0:d6269d17c8cf | 150 | if(sub_menu == psi_basic_file_count) level = 0; |
jah128 | 0:d6269d17c8cf | 151 | break; |
jah128 | 0:d6269d17c8cf | 152 | case 0: //LED Menu |
jah128 | 0:d6269d17c8cf | 153 | if(sub_menu < 9) { |
jah128 | 0:d6269d17c8cf | 154 | if(led_state[sub_menu] == 0) led_state[sub_menu] = 3; |
jah128 | 0:d6269d17c8cf | 155 | else led_state[sub_menu]--; |
jah128 | 0:d6269d17c8cf | 156 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 157 | } |
jah128 | 0:d6269d17c8cf | 158 | if(sub_menu == 9) { |
jah128 | 0:d6269d17c8cf | 159 | if(all_led_state == 0) all_led_state = 3; |
jah128 | 0:d6269d17c8cf | 160 | else all_led_state--; |
jah128 | 0:d6269d17c8cf | 161 | for(int i=0; i<9; i++) { |
jah128 | 0:d6269d17c8cf | 162 | led_state[i]=all_led_state; |
jah128 | 0:d6269d17c8cf | 163 | } |
jah128 | 0:d6269d17c8cf | 164 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 165 | } |
jah128 | 0:d6269d17c8cf | 166 | if(sub_menu == 10) { |
jah128 | 0:d6269d17c8cf | 167 | base_led_state = 1 - base_led_state; |
jah128 | 0:d6269d17c8cf | 168 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 169 | } |
jah128 | 0:d6269d17c8cf | 170 | if(sub_menu == 11) { |
jah128 | 0:d6269d17c8cf | 171 | switch(brightness) { |
jah128 | 0:d6269d17c8cf | 172 | case 100: |
jah128 | 0:d6269d17c8cf | 173 | brightness = 50; |
jah128 | 0:d6269d17c8cf | 174 | break; |
jah128 | 0:d6269d17c8cf | 175 | case 2: |
jah128 | 0:d6269d17c8cf | 176 | brightness = 1; |
jah128 | 0:d6269d17c8cf | 177 | break; |
jah128 | 0:d6269d17c8cf | 178 | case 5: |
jah128 | 0:d6269d17c8cf | 179 | brightness = 2; |
jah128 | 0:d6269d17c8cf | 180 | break; |
jah128 | 0:d6269d17c8cf | 181 | case 10: |
jah128 | 0:d6269d17c8cf | 182 | brightness = 5; |
jah128 | 0:d6269d17c8cf | 183 | break; |
jah128 | 0:d6269d17c8cf | 184 | case 20: |
jah128 | 0:d6269d17c8cf | 185 | brightness = 10; |
jah128 | 0:d6269d17c8cf | 186 | break; |
jah128 | 0:d6269d17c8cf | 187 | case 50: |
jah128 | 0:d6269d17c8cf | 188 | brightness = 20; |
jah128 | 0:d6269d17c8cf | 189 | break; |
jah128 | 0:d6269d17c8cf | 190 | } |
jah128 | 0:d6269d17c8cf | 191 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 192 | } |
jah128 | 0:d6269d17c8cf | 193 | if(sub_menu == 12) { |
jah128 | 0:d6269d17c8cf | 194 | if(bl_brightness > 0) bl_brightness-=10; |
jah128 | 0:d6269d17c8cf | 195 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:d6269d17c8cf | 196 | } |
jah128 | 0:d6269d17c8cf | 197 | if(sub_menu == 13) level = 0; |
jah128 | 0:d6269d17c8cf | 198 | break; |
jah128 | 0:d6269d17c8cf | 199 | case 1: // Sensors Menu |
jah128 | 0:d6269d17c8cf | 200 | if(sub_menu == 4 || sub_menu == 5) { |
jah128 | 0:d6269d17c8cf | 201 | if(base_ir_index == 0) base_ir_index = 4; |
jah128 | 0:d6269d17c8cf | 202 | else base_ir_index --; |
jah128 | 0:d6269d17c8cf | 203 | } |
jah128 | 0:d6269d17c8cf | 204 | if(sub_menu > 5 && sub_menu < 9) { |
jah128 | 0:d6269d17c8cf | 205 | if(side_ir_index == 0) side_ir_index = 7; |
jah128 | 0:d6269d17c8cf | 206 | else side_ir_index --; |
jah128 | 0:d6269d17c8cf | 207 | } |
jah128 | 0:d6269d17c8cf | 208 | if(sub_menu == 11) level = 0; |
jah128 | 0:d6269d17c8cf | 209 | break; |
jah128 | 0:d6269d17c8cf | 210 | case 2: // Motor Menu |
jah128 | 0:d6269d17c8cf | 211 | if(sub_menu == 0) { |
jah128 | 0:d6269d17c8cf | 212 | left_speed += 5; |
jah128 | 0:d6269d17c8cf | 213 | if(left_speed > 100) left_speed = 100; |
jah128 | 8:6c92789d5f87 | 214 | motors.set_left_motor_speed(left_speed / 100.0f); |
jah128 | 0:d6269d17c8cf | 215 | } |
jah128 | 0:d6269d17c8cf | 216 | if(sub_menu == 1) { |
jah128 | 0:d6269d17c8cf | 217 | right_speed += 5; |
jah128 | 0:d6269d17c8cf | 218 | if(right_speed > 100) right_speed = 100; |
jah128 | 8:6c92789d5f87 | 219 | motors.set_right_motor_speed(right_speed / 100.0f); |
jah128 | 0:d6269d17c8cf | 220 | } |
jah128 | 0:d6269d17c8cf | 221 | if(sub_menu == 2) { |
jah128 | 0:d6269d17c8cf | 222 | if(both_motor_mode == 0) both_motor_mode=5; |
jah128 | 0:d6269d17c8cf | 223 | else both_motor_mode--; |
jah128 | 0:d6269d17c8cf | 224 | switch(both_motor_mode) { |
jah128 | 0:d6269d17c8cf | 225 | case 0: |
jah128 | 8:6c92789d5f87 | 226 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 227 | break; |
jah128 | 0:d6269d17c8cf | 228 | case 1: |
jah128 | 8:6c92789d5f87 | 229 | motors.brake(); |
jah128 | 0:d6269d17c8cf | 230 | break; |
jah128 | 0:d6269d17c8cf | 231 | case 2: |
jah128 | 8:6c92789d5f87 | 232 | motors.forward(0.5); |
jah128 | 0:d6269d17c8cf | 233 | break; |
jah128 | 0:d6269d17c8cf | 234 | case 3: |
jah128 | 8:6c92789d5f87 | 235 | motors.forward(1); |
jah128 | 0:d6269d17c8cf | 236 | break; |
jah128 | 0:d6269d17c8cf | 237 | case 4: |
jah128 | 8:6c92789d5f87 | 238 | motors.backward(0.5); |
jah128 | 0:d6269d17c8cf | 239 | break; |
jah128 | 0:d6269d17c8cf | 240 | case 5: |
jah128 | 8:6c92789d5f87 | 241 | motors.backward(1.0); |
jah128 | 0:d6269d17c8cf | 242 | break; |
jah128 | 0:d6269d17c8cf | 243 | } |
jah128 | 0:d6269d17c8cf | 244 | } |
jah128 | 0:d6269d17c8cf | 245 | if(sub_menu == 3) { |
jah128 | 0:d6269d17c8cf | 246 | level = 0; |
jah128 | 0:d6269d17c8cf | 247 | } |
jah128 | 0:d6269d17c8cf | 248 | break; |
jah128 | 0:d6269d17c8cf | 249 | case 3: // Radio Menu |
jah128 | 0:d6269d17c8cf | 250 | if(sub_menu == 0) level = 0; |
jah128 | 0:d6269d17c8cf | 251 | break; |
jah128 | 0:d6269d17c8cf | 252 | case 4: // Info Menu |
jah128 | 0:d6269d17c8cf | 253 | if(sub_menu == 6) level = 0; |
jah128 | 0:d6269d17c8cf | 254 | break; |
jah128 | 0:d6269d17c8cf | 255 | case 5: // Demo Menu |
jah128 | 0:d6269d17c8cf | 256 | if(sub_menu == 0) { |
jah128 | 0:d6269d17c8cf | 257 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 258 | start_line_demo(); |
jah128 | 0:d6269d17c8cf | 259 | } else { |
jah128 | 0:d6269d17c8cf | 260 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 261 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 262 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 263 | } |
jah128 | 0:d6269d17c8cf | 264 | } |
jah128 | 0:d6269d17c8cf | 265 | if(sub_menu == 1) { |
jah128 | 0:d6269d17c8cf | 266 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 267 | start_obstacle_demo(); |
jah128 | 0:d6269d17c8cf | 268 | } else { |
jah128 | 0:d6269d17c8cf | 269 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 270 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 271 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 272 | } |
jah128 | 0:d6269d17c8cf | 273 | } |
jah128 | 0:d6269d17c8cf | 274 | if(sub_menu == 2) { |
jah128 | 0:d6269d17c8cf | 275 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 276 | start_spinning_demo(); |
jah128 | 0:d6269d17c8cf | 277 | } else { |
jah128 | 0:d6269d17c8cf | 278 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 279 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 280 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 281 | } |
jah128 | 0:d6269d17c8cf | 282 | } |
jah128 | 0:d6269d17c8cf | 283 | if(sub_menu == 3) { |
jah128 | 0:d6269d17c8cf | 284 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 285 | start_stress_demo(); |
jah128 | 0:d6269d17c8cf | 286 | } else { |
jah128 | 0:d6269d17c8cf | 287 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 288 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 289 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 290 | } |
jah128 | 0:d6269d17c8cf | 291 | } |
jah128 | 0:d6269d17c8cf | 292 | if(sub_menu == 4) level = 0; |
jah128 | 0:d6269d17c8cf | 293 | break; |
jah128 | 0:d6269d17c8cf | 294 | } |
jah128 | 0:d6269d17c8cf | 295 | break; |
jah128 | 0:d6269d17c8cf | 296 | } |
jah128 | 0:d6269d17c8cf | 297 | break; |
jah128 | 0:d6269d17c8cf | 298 | case 2: //Down pressed |
jah128 | 0:d6269d17c8cf | 299 | switch(level) { |
jah128 | 0:d6269d17c8cf | 300 | case 0: |
jah128 | 4:1c621cb8cf0d | 301 | if(top_menu != 8) { |
jah128 | 0:d6269d17c8cf | 302 | level++; |
jah128 | 0:d6269d17c8cf | 303 | sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 304 | } else { |
jah128 | 0:d6269d17c8cf | 305 | demo_on = 0; |
jah128 | 0:d6269d17c8cf | 306 | user_code_running = user_code_restore_mode; |
jah128 | 0:d6269d17c8cf | 307 | } |
jah128 | 0:d6269d17c8cf | 308 | break; |
jah128 | 0:d6269d17c8cf | 309 | case 1: |
jah128 | 0:d6269d17c8cf | 310 | switch(top_menu) { |
jah128 | 0:d6269d17c8cf | 311 | case 7: // PsiBasic Menu |
jah128 | 0:d6269d17c8cf | 312 | if(sub_menu == psi_basic_file_count) level = 0; |
jah128 | 0:d6269d17c8cf | 313 | break; |
jah128 | 0:d6269d17c8cf | 314 | case 0: //LED Menu |
jah128 | 0:d6269d17c8cf | 315 | if(sub_menu < 9) { |
jah128 | 0:d6269d17c8cf | 316 | led_state[sub_menu]++; |
jah128 | 0:d6269d17c8cf | 317 | if(led_state[sub_menu] == 4) led_state[sub_menu] = 0; |
jah128 | 0:d6269d17c8cf | 318 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 319 | } |
jah128 | 0:d6269d17c8cf | 320 | if(sub_menu == 9) { |
jah128 | 0:d6269d17c8cf | 321 | all_led_state++; |
jah128 | 0:d6269d17c8cf | 322 | if(all_led_state == 4) all_led_state = 0; |
jah128 | 0:d6269d17c8cf | 323 | for(int i=0; i<9; i++) { |
jah128 | 0:d6269d17c8cf | 324 | led_state[i]=all_led_state; |
jah128 | 0:d6269d17c8cf | 325 | } |
jah128 | 0:d6269d17c8cf | 326 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 327 | } |
jah128 | 0:d6269d17c8cf | 328 | if(sub_menu == 10) { |
jah128 | 0:d6269d17c8cf | 329 | base_led_state = 1 - base_led_state; |
jah128 | 0:d6269d17c8cf | 330 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 331 | } |
jah128 | 0:d6269d17c8cf | 332 | if(sub_menu == 11) { |
jah128 | 0:d6269d17c8cf | 333 | switch(brightness) { |
jah128 | 0:d6269d17c8cf | 334 | case 1: |
jah128 | 0:d6269d17c8cf | 335 | brightness = 2; |
jah128 | 0:d6269d17c8cf | 336 | break; |
jah128 | 0:d6269d17c8cf | 337 | case 2: |
jah128 | 0:d6269d17c8cf | 338 | brightness = 5; |
jah128 | 0:d6269d17c8cf | 339 | break; |
jah128 | 0:d6269d17c8cf | 340 | case 5: |
jah128 | 0:d6269d17c8cf | 341 | brightness = 10; |
jah128 | 0:d6269d17c8cf | 342 | break; |
jah128 | 0:d6269d17c8cf | 343 | case 10: |
jah128 | 0:d6269d17c8cf | 344 | brightness = 20; |
jah128 | 0:d6269d17c8cf | 345 | break; |
jah128 | 0:d6269d17c8cf | 346 | case 20: |
jah128 | 0:d6269d17c8cf | 347 | brightness = 50; |
jah128 | 0:d6269d17c8cf | 348 | break; |
jah128 | 0:d6269d17c8cf | 349 | case 50: |
jah128 | 0:d6269d17c8cf | 350 | brightness = 100; |
jah128 | 0:d6269d17c8cf | 351 | break; |
jah128 | 0:d6269d17c8cf | 352 | } |
jah128 | 0:d6269d17c8cf | 353 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 354 | } |
jah128 | 0:d6269d17c8cf | 355 | |
jah128 | 0:d6269d17c8cf | 356 | if(sub_menu == 12) { |
jah128 | 0:d6269d17c8cf | 357 | if(bl_brightness < 100) bl_brightness+=10; |
jah128 | 0:d6269d17c8cf | 358 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:d6269d17c8cf | 359 | } |
jah128 | 0:d6269d17c8cf | 360 | if(sub_menu == 13) level = 0; |
jah128 | 0:d6269d17c8cf | 361 | |
jah128 | 0:d6269d17c8cf | 362 | break; |
jah128 | 0:d6269d17c8cf | 363 | case 1: // Sensors Menu |
jah128 | 0:d6269d17c8cf | 364 | if(sub_menu == 4 || sub_menu == 5) { |
jah128 | 0:d6269d17c8cf | 365 | if(base_ir_index == 4) base_ir_index = 0; |
jah128 | 0:d6269d17c8cf | 366 | else base_ir_index ++; |
jah128 | 0:d6269d17c8cf | 367 | } |
jah128 | 0:d6269d17c8cf | 368 | if(sub_menu > 5 && sub_menu < 9) { |
jah128 | 0:d6269d17c8cf | 369 | if(side_ir_index == 7) side_ir_index = 0; |
jah128 | 0:d6269d17c8cf | 370 | else side_ir_index ++; |
jah128 | 0:d6269d17c8cf | 371 | } |
jah128 | 0:d6269d17c8cf | 372 | if(sub_menu == 11) level = 0; |
jah128 | 0:d6269d17c8cf | 373 | break; |
jah128 | 0:d6269d17c8cf | 374 | case 2: // Motor Menu |
jah128 | 0:d6269d17c8cf | 375 | if(sub_menu == 0) { |
jah128 | 0:d6269d17c8cf | 376 | left_speed -= 5; |
jah128 | 0:d6269d17c8cf | 377 | if(left_speed < -100) left_speed = -100; |
jah128 | 8:6c92789d5f87 | 378 | motors.set_left_motor_speed(left_speed / 100.0f); |
jah128 | 0:d6269d17c8cf | 379 | } |
jah128 | 0:d6269d17c8cf | 380 | if(sub_menu == 1) { |
jah128 | 0:d6269d17c8cf | 381 | right_speed -= 5; |
jah128 | 0:d6269d17c8cf | 382 | if(right_speed < -100) right_speed = -100; |
jah128 | 8:6c92789d5f87 | 383 | motors.set_right_motor_speed(right_speed / 100.0f); |
jah128 | 0:d6269d17c8cf | 384 | } |
jah128 | 0:d6269d17c8cf | 385 | if(sub_menu == 2) { |
jah128 | 0:d6269d17c8cf | 386 | both_motor_mode++; |
jah128 | 0:d6269d17c8cf | 387 | if(both_motor_mode == 6) both_motor_mode=0; |
jah128 | 0:d6269d17c8cf | 388 | switch(both_motor_mode) { |
jah128 | 0:d6269d17c8cf | 389 | case 0: |
jah128 | 8:6c92789d5f87 | 390 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 391 | break; |
jah128 | 0:d6269d17c8cf | 392 | case 1: |
jah128 | 8:6c92789d5f87 | 393 | motors.brake(); |
jah128 | 0:d6269d17c8cf | 394 | break; |
jah128 | 0:d6269d17c8cf | 395 | case 2: |
jah128 | 8:6c92789d5f87 | 396 | motors.forward(0.5); |
jah128 | 0:d6269d17c8cf | 397 | break; |
jah128 | 0:d6269d17c8cf | 398 | case 3: |
jah128 | 8:6c92789d5f87 | 399 | motors.forward(1); |
jah128 | 0:d6269d17c8cf | 400 | break; |
jah128 | 0:d6269d17c8cf | 401 | case 4: |
jah128 | 8:6c92789d5f87 | 402 | motors.backward(0.5); |
jah128 | 0:d6269d17c8cf | 403 | break; |
jah128 | 0:d6269d17c8cf | 404 | case 5: |
jah128 | 8:6c92789d5f87 | 405 | motors.backward(1.0); |
jah128 | 0:d6269d17c8cf | 406 | break; |
jah128 | 0:d6269d17c8cf | 407 | } |
jah128 | 0:d6269d17c8cf | 408 | } |
jah128 | 0:d6269d17c8cf | 409 | if(sub_menu == 3) { |
jah128 | 0:d6269d17c8cf | 410 | level = 0; |
jah128 | 0:d6269d17c8cf | 411 | } |
jah128 | 0:d6269d17c8cf | 412 | break; |
jah128 | 0:d6269d17c8cf | 413 | case 3: // Radio Menu |
jah128 | 0:d6269d17c8cf | 414 | if(sub_menu == 0) level = 0; |
jah128 | 0:d6269d17c8cf | 415 | break; |
jah128 | 0:d6269d17c8cf | 416 | case 4: // Info Menu |
jah128 | 0:d6269d17c8cf | 417 | if(sub_menu == 6) level = 0; |
jah128 | 0:d6269d17c8cf | 418 | break; |
jah128 | 0:d6269d17c8cf | 419 | case 5: // Demo Menu |
jah128 | 0:d6269d17c8cf | 420 | if(sub_menu == 0) { |
jah128 | 0:d6269d17c8cf | 421 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 422 | start_line_demo(); |
jah128 | 0:d6269d17c8cf | 423 | } else { |
jah128 | 0:d6269d17c8cf | 424 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 425 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 426 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 427 | } |
jah128 | 0:d6269d17c8cf | 428 | } |
jah128 | 0:d6269d17c8cf | 429 | if(sub_menu == 1) { |
jah128 | 0:d6269d17c8cf | 430 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 431 | start_obstacle_demo(); |
jah128 | 0:d6269d17c8cf | 432 | } else { |
jah128 | 0:d6269d17c8cf | 433 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 434 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 435 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 436 | |
jah128 | 0:d6269d17c8cf | 437 | } |
jah128 | 0:d6269d17c8cf | 438 | } |
jah128 | 0:d6269d17c8cf | 439 | if(sub_menu == 2) { |
jah128 | 0:d6269d17c8cf | 440 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 441 | start_spinning_demo(); |
jah128 | 0:d6269d17c8cf | 442 | } else { |
jah128 | 0:d6269d17c8cf | 443 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 444 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 445 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 446 | } |
jah128 | 0:d6269d17c8cf | 447 | } |
jah128 | 0:d6269d17c8cf | 448 | if(sub_menu == 3) { |
jah128 | 0:d6269d17c8cf | 449 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 450 | start_stress_demo(); |
jah128 | 0:d6269d17c8cf | 451 | } else { |
jah128 | 0:d6269d17c8cf | 452 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 453 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 454 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 455 | } |
jah128 | 0:d6269d17c8cf | 456 | } |
jah128 | 0:d6269d17c8cf | 457 | if(sub_menu == 4) level = 0; |
jah128 | 0:d6269d17c8cf | 458 | break; |
jah128 | 0:d6269d17c8cf | 459 | } |
jah128 | 0:d6269d17c8cf | 460 | break; |
jah128 | 0:d6269d17c8cf | 461 | } |
jah128 | 0:d6269d17c8cf | 462 | break; |
jah128 | 0:d6269d17c8cf | 463 | case 4: //Left pressed |
jah128 | 0:d6269d17c8cf | 464 | switch(level) { |
jah128 | 0:d6269d17c8cf | 465 | case 0: |
jah128 | 0:d6269d17c8cf | 466 | if(top_menu == 0) { |
jah128 | 4:1c621cb8cf0d | 467 | top_menu = 8; |
jah128 | 0:d6269d17c8cf | 468 | } |
jah128 | 4:1c621cb8cf0d | 469 | else { |
jah128 | 4:1c621cb8cf0d | 470 | if(use_flash_basic == 0 && top_menu == 7) top_menu = 6; |
jah128 | 4:1c621cb8cf0d | 471 | top_menu --; |
jah128 | 4:1c621cb8cf0d | 472 | } |
jah128 | 0:d6269d17c8cf | 473 | break; |
jah128 | 0:d6269d17c8cf | 474 | case 1: |
jah128 | 0:d6269d17c8cf | 475 | switch(top_menu) { |
jah128 | 0:d6269d17c8cf | 476 | case 0: //LED Menu |
jah128 | 0:d6269d17c8cf | 477 | if(sub_menu == 0) sub_menu = 13; |
jah128 | 0:d6269d17c8cf | 478 | else sub_menu --; |
jah128 | 0:d6269d17c8cf | 479 | break; |
jah128 | 0:d6269d17c8cf | 480 | case 1: //Sensors Menu |
jah128 | 0:d6269d17c8cf | 481 | if(sub_menu == 0) sub_menu = 11; |
jah128 | 0:d6269d17c8cf | 482 | else sub_menu --; |
jah128 | 0:d6269d17c8cf | 483 | break; |
jah128 | 0:d6269d17c8cf | 484 | |
jah128 | 0:d6269d17c8cf | 485 | case 2: //Motor Menu |
jah128 | 0:d6269d17c8cf | 486 | if(sub_menu == 0) sub_menu = 3; |
jah128 | 0:d6269d17c8cf | 487 | else sub_menu --; |
jah128 | 0:d6269d17c8cf | 488 | break; |
jah128 | 0:d6269d17c8cf | 489 | case 4: //Info Menu |
jah128 | 0:d6269d17c8cf | 490 | if(sub_menu == 0) sub_menu = 6; |
jah128 | 0:d6269d17c8cf | 491 | else sub_menu --; |
jah128 | 0:d6269d17c8cf | 492 | break; |
jah128 | 0:d6269d17c8cf | 493 | case 5: //Demo Menu |
jah128 | 0:d6269d17c8cf | 494 | if(sub_menu == 0) sub_menu = 4; |
jah128 | 0:d6269d17c8cf | 495 | else sub_menu --; |
jah128 | 0:d6269d17c8cf | 496 | break; |
jah128 | 4:1c621cb8cf0d | 497 | case 6: //Calibrate Menu |
jah128 | 4:1c621cb8cf0d | 498 | if(sub_menu == 0) sub_menu = 2; |
jah128 | 4:1c621cb8cf0d | 499 | else sub_menu --; |
jah128 | 4:1c621cb8cf0d | 500 | break; |
jah128 | 0:d6269d17c8cf | 501 | case 7: //PsiBasic Menu |
jah128 | 0:d6269d17c8cf | 502 | if(sub_menu == 0) sub_menu = psi_basic_file_count; |
jah128 | 0:d6269d17c8cf | 503 | else sub_menu --; |
jah128 | 0:d6269d17c8cf | 504 | } |
jah128 | 0:d6269d17c8cf | 505 | break; |
jah128 | 0:d6269d17c8cf | 506 | |
jah128 | 0:d6269d17c8cf | 507 | } |
jah128 | 0:d6269d17c8cf | 508 | break; |
jah128 | 0:d6269d17c8cf | 509 | case 8: //Right pressed |
jah128 | 0:d6269d17c8cf | 510 | switch(level) { |
jah128 | 0:d6269d17c8cf | 511 | case 0: |
jah128 | 0:d6269d17c8cf | 512 | top_menu ++; |
jah128 | 4:1c621cb8cf0d | 513 | if((top_menu - use_flash_basic) > 7) top_menu = 0; |
jah128 | 0:d6269d17c8cf | 514 | break; |
jah128 | 0:d6269d17c8cf | 515 | case 1: |
jah128 | 0:d6269d17c8cf | 516 | switch(top_menu) { |
jah128 | 0:d6269d17c8cf | 517 | case 0: //LED Menu |
jah128 | 0:d6269d17c8cf | 518 | if(sub_menu == 13) sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 519 | else sub_menu ++; |
jah128 | 0:d6269d17c8cf | 520 | break; |
jah128 | 0:d6269d17c8cf | 521 | case 1: //Sensors Menu |
jah128 | 0:d6269d17c8cf | 522 | if(sub_menu == 11) sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 523 | else sub_menu ++; |
jah128 | 0:d6269d17c8cf | 524 | break; |
jah128 | 0:d6269d17c8cf | 525 | case 2: //Motor Menu |
jah128 | 0:d6269d17c8cf | 526 | if(sub_menu == 3) sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 527 | else sub_menu ++; |
jah128 | 0:d6269d17c8cf | 528 | break; |
jah128 | 0:d6269d17c8cf | 529 | case 4: //Info Menu |
jah128 | 0:d6269d17c8cf | 530 | if(sub_menu == 6) sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 531 | else sub_menu ++; |
jah128 | 0:d6269d17c8cf | 532 | break; |
jah128 | 0:d6269d17c8cf | 533 | case 5: //Demo Menu |
jah128 | 0:d6269d17c8cf | 534 | if(sub_menu == 4) sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 535 | else sub_menu ++; |
jah128 | 0:d6269d17c8cf | 536 | break; |
jah128 | 4:1c621cb8cf0d | 537 | case 6: //Calibrate Menu |
jah128 | 4:1c621cb8cf0d | 538 | if(sub_menu == 2) sub_menu = 0; |
jah128 | 4:1c621cb8cf0d | 539 | else sub_menu ++; |
jah128 | 4:1c621cb8cf0d | 540 | break; |
jah128 | 0:d6269d17c8cf | 541 | case 7: //PsiBasic Menu |
jah128 | 0:d6269d17c8cf | 542 | if(sub_menu == psi_basic_file_count) sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 543 | else sub_menu ++; |
jah128 | 0:d6269d17c8cf | 544 | } |
jah128 | 0:d6269d17c8cf | 545 | break; |
jah128 | 0:d6269d17c8cf | 546 | } |
jah128 | 0:d6269d17c8cf | 547 | break; |
jah128 | 0:d6269d17c8cf | 548 | case 16: //Select pressed |
jah128 | 0:d6269d17c8cf | 549 | switch(level) { |
jah128 | 0:d6269d17c8cf | 550 | case 0: |
jah128 | 4:1c621cb8cf0d | 551 | if(top_menu != 8) { |
jah128 | 0:d6269d17c8cf | 552 | level++; |
jah128 | 0:d6269d17c8cf | 553 | sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 554 | } else { |
jah128 | 0:d6269d17c8cf | 555 | demo_on = 0; |
jah128 | 0:d6269d17c8cf | 556 | user_code_running = user_code_restore_mode; |
jah128 | 0:d6269d17c8cf | 557 | } |
jah128 | 0:d6269d17c8cf | 558 | break; |
jah128 | 0:d6269d17c8cf | 559 | case 1: |
jah128 | 0:d6269d17c8cf | 560 | switch(top_menu) { |
jah128 | 0:d6269d17c8cf | 561 | case 0: //LED Menu |
jah128 | 0:d6269d17c8cf | 562 | if(sub_menu == 9) { |
jah128 | 0:d6269d17c8cf | 563 | for(int i=0; i<9; i++) { |
jah128 | 0:d6269d17c8cf | 564 | led_state[i]=all_led_state; |
jah128 | 0:d6269d17c8cf | 565 | } |
jah128 | 0:d6269d17c8cf | 566 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 567 | } |
jah128 | 0:d6269d17c8cf | 568 | if(sub_menu == 13) level = 0; |
jah128 | 0:d6269d17c8cf | 569 | break; |
jah128 | 0:d6269d17c8cf | 570 | case 1: // Sensors Menu |
jah128 | 0:d6269d17c8cf | 571 | if(sub_menu == 11) level = 0; |
jah128 | 0:d6269d17c8cf | 572 | break; |
jah128 | 0:d6269d17c8cf | 573 | case 2: //Motor Menu |
jah128 | 0:d6269d17c8cf | 574 | if(sub_menu == 2) { |
jah128 | 0:d6269d17c8cf | 575 | switch(both_motor_mode) { |
jah128 | 0:d6269d17c8cf | 576 | case 0: |
jah128 | 8:6c92789d5f87 | 577 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 578 | break; |
jah128 | 0:d6269d17c8cf | 579 | case 1: |
jah128 | 8:6c92789d5f87 | 580 | motors.brake(); |
jah128 | 0:d6269d17c8cf | 581 | break; |
jah128 | 0:d6269d17c8cf | 582 | case 2: |
jah128 | 8:6c92789d5f87 | 583 | motors.forward(0.5); |
jah128 | 0:d6269d17c8cf | 584 | break; |
jah128 | 0:d6269d17c8cf | 585 | case 3: |
jah128 | 8:6c92789d5f87 | 586 | motors.forward(1); |
jah128 | 0:d6269d17c8cf | 587 | break; |
jah128 | 0:d6269d17c8cf | 588 | case 4: |
jah128 | 8:6c92789d5f87 | 589 | motors.backward(0.5); |
jah128 | 0:d6269d17c8cf | 590 | break; |
jah128 | 0:d6269d17c8cf | 591 | case 5: |
jah128 | 8:6c92789d5f87 | 592 | motors.backward(1.0); |
jah128 | 0:d6269d17c8cf | 593 | break; |
jah128 | 0:d6269d17c8cf | 594 | } |
jah128 | 0:d6269d17c8cf | 595 | } |
jah128 | 0:d6269d17c8cf | 596 | if(sub_menu == 3) { |
jah128 | 0:d6269d17c8cf | 597 | level = 0; |
jah128 | 0:d6269d17c8cf | 598 | } |
jah128 | 0:d6269d17c8cf | 599 | break; |
jah128 | 0:d6269d17c8cf | 600 | case 3: // Radio Menu |
jah128 | 0:d6269d17c8cf | 601 | if(sub_menu == 0) level = 0; |
jah128 | 0:d6269d17c8cf | 602 | break; |
jah128 | 0:d6269d17c8cf | 603 | case 4: // Info Menu |
jah128 | 0:d6269d17c8cf | 604 | if(sub_menu == 6) level = 0; |
jah128 | 0:d6269d17c8cf | 605 | break; |
jah128 | 0:d6269d17c8cf | 606 | case 5: // Demo Menu |
jah128 | 0:d6269d17c8cf | 607 | if(sub_menu == 4) level = 0; |
jah128 | 0:d6269d17c8cf | 608 | break; |
jah128 | 4:1c621cb8cf0d | 609 | case 6: // Calibrate Menu |
jah128 | 4:1c621cb8cf0d | 610 | if(sub_menu == 2) level = 0; |
jah128 | 4:1c621cb8cf0d | 611 | break; |
jah128 | 0:d6269d17c8cf | 612 | case 7: // PsiBasic Menu |
jah128 | 0:d6269d17c8cf | 613 | if(sub_menu == psi_basic_file_count) level = 0; |
jah128 | 0:d6269d17c8cf | 614 | break; |
jah128 | 0:d6269d17c8cf | 615 | } |
jah128 | 0:d6269d17c8cf | 616 | break; |
jah128 | 0:d6269d17c8cf | 617 | } |
jah128 | 0:d6269d17c8cf | 618 | break; |
jah128 | 0:d6269d17c8cf | 619 | } |
jah128 | 0:d6269d17c8cf | 620 | } else started = 1; |
jah128 | 0:d6269d17c8cf | 621 | display.clear_display(); |
jah128 | 0:d6269d17c8cf | 622 | switch(level) { |
jah128 | 0:d6269d17c8cf | 623 | case 0: |
jah128 | 0:d6269d17c8cf | 624 | //Top level menu |
jah128 | 0:d6269d17c8cf | 625 | switch(top_menu) { |
jah128 | 0:d6269d17c8cf | 626 | case 0: |
jah128 | 0:d6269d17c8cf | 627 | strcpy(topline,"---TEST LEDS----"); |
jah128 | 0:d6269d17c8cf | 628 | break; |
jah128 | 0:d6269d17c8cf | 629 | case 1: |
jah128 | 0:d6269d17c8cf | 630 | strcpy(topline,"--TEST SENSORS--"); |
jah128 | 0:d6269d17c8cf | 631 | break; |
jah128 | 0:d6269d17c8cf | 632 | case 2: |
jah128 | 0:d6269d17c8cf | 633 | strcpy(topline,"--TEST MOTORS---"); |
jah128 | 0:d6269d17c8cf | 634 | break; |
jah128 | 0:d6269d17c8cf | 635 | case 3: |
jah128 | 0:d6269d17c8cf | 636 | strcpy(topline,"---TEST RADIO---"); |
jah128 | 0:d6269d17c8cf | 637 | break; |
jah128 | 0:d6269d17c8cf | 638 | case 4: |
jah128 | 0:d6269d17c8cf | 639 | strcpy(topline,"------INFO------"); |
jah128 | 0:d6269d17c8cf | 640 | break; |
jah128 | 0:d6269d17c8cf | 641 | case 5: |
jah128 | 0:d6269d17c8cf | 642 | strcpy(topline,"---CODE DEMOS---"); |
jah128 | 0:d6269d17c8cf | 643 | break; |
jah128 | 0:d6269d17c8cf | 644 | case 6: |
jah128 | 4:1c621cb8cf0d | 645 | strcpy(topline,"-MOTOR CALIBRATE"); |
jah128 | 0:d6269d17c8cf | 646 | break; |
jah128 | 0:d6269d17c8cf | 647 | case 7: |
jah128 | 0:d6269d17c8cf | 648 | strcpy(topline,"---PSI BASIC----"); |
jah128 | 0:d6269d17c8cf | 649 | break; |
jah128 | 4:1c621cb8cf0d | 650 | case 8: |
jah128 | 4:1c621cb8cf0d | 651 | strcpy(topline,"------EXIT------"); |
jah128 | 4:1c621cb8cf0d | 652 | break; |
jah128 | 0:d6269d17c8cf | 653 | } |
jah128 | 0:d6269d17c8cf | 654 | strcpy(bottomline,""); |
jah128 | 0:d6269d17c8cf | 655 | break; |
jah128 | 0:d6269d17c8cf | 656 | case 1: |
jah128 | 0:d6269d17c8cf | 657 | //Sub level menu |
jah128 | 0:d6269d17c8cf | 658 | switch(top_menu) { |
jah128 | 0:d6269d17c8cf | 659 | case 7: |
jah128 | 0:d6269d17c8cf | 660 | strcpy(topline,"-PSI BASIC MENU-"); |
jah128 | 0:d6269d17c8cf | 661 | if(sub_menu == psi_basic_file_count) strcpy(bottomline,"EXIT"); |
jah128 | 0:d6269d17c8cf | 662 | else strcpy(bottomline,basic_filenames.at(sub_menu).c_str()); |
jah128 | 0:d6269d17c8cf | 663 | break; |
jah128 | 0:d6269d17c8cf | 664 | case 0: |
jah128 | 0:d6269d17c8cf | 665 | strcpy(topline,"----LED MENU----"); |
jah128 | 0:d6269d17c8cf | 666 | char led_status[7]; |
jah128 | 0:d6269d17c8cf | 667 | if(sub_menu<9) { |
jah128 | 0:d6269d17c8cf | 668 | switch(led_state[sub_menu]) { |
jah128 | 0:d6269d17c8cf | 669 | case 0: |
jah128 | 0:d6269d17c8cf | 670 | strcpy(led_status,"OFF"); |
jah128 | 0:d6269d17c8cf | 671 | break; |
jah128 | 0:d6269d17c8cf | 672 | case 1: |
jah128 | 0:d6269d17c8cf | 673 | strcpy(led_status,"RED"); |
jah128 | 0:d6269d17c8cf | 674 | break; |
jah128 | 0:d6269d17c8cf | 675 | case 2: |
jah128 | 0:d6269d17c8cf | 676 | strcpy(led_status,"GREEN"); |
jah128 | 0:d6269d17c8cf | 677 | break; |
jah128 | 0:d6269d17c8cf | 678 | case 3: |
jah128 | 0:d6269d17c8cf | 679 | strcpy(led_status,"YELLOW"); |
jah128 | 0:d6269d17c8cf | 680 | break; |
jah128 | 0:d6269d17c8cf | 681 | } |
jah128 | 0:d6269d17c8cf | 682 | } |
jah128 | 0:d6269d17c8cf | 683 | if(sub_menu < 8) sprintf(bottomline,"OUTER %d: %s",(sub_menu + 1),led_status); |
jah128 | 0:d6269d17c8cf | 684 | if(sub_menu == 8) sprintf(bottomline,"CENTER: %s",led_status); |
jah128 | 0:d6269d17c8cf | 685 | if(sub_menu == 9) { |
jah128 | 0:d6269d17c8cf | 686 | switch(all_led_state) { |
jah128 | 0:d6269d17c8cf | 687 | case 0: |
jah128 | 0:d6269d17c8cf | 688 | strcpy(led_status,"OFF"); |
jah128 | 0:d6269d17c8cf | 689 | break; |
jah128 | 0:d6269d17c8cf | 690 | case 1: |
jah128 | 0:d6269d17c8cf | 691 | strcpy(led_status,"RED"); |
jah128 | 0:d6269d17c8cf | 692 | break; |
jah128 | 0:d6269d17c8cf | 693 | case 2: |
jah128 | 0:d6269d17c8cf | 694 | strcpy(led_status,"GREEN"); |
jah128 | 0:d6269d17c8cf | 695 | break; |
jah128 | 0:d6269d17c8cf | 696 | case 3: |
jah128 | 0:d6269d17c8cf | 697 | strcpy(led_status,"YELLOW"); |
jah128 | 0:d6269d17c8cf | 698 | break; |
jah128 | 0:d6269d17c8cf | 699 | } |
jah128 | 0:d6269d17c8cf | 700 | sprintf(bottomline,"SET ALL %s", led_status); |
jah128 | 0:d6269d17c8cf | 701 | } |
jah128 | 0:d6269d17c8cf | 702 | if(sub_menu == 10) { |
jah128 | 0:d6269d17c8cf | 703 | if(base_led_state == 0) strcpy(led_status,"OFF"); |
jah128 | 0:d6269d17c8cf | 704 | else strcpy(led_status,"ON"); |
jah128 | 0:d6269d17c8cf | 705 | sprintf(bottomline,"BASE: %s",led_status); |
jah128 | 0:d6269d17c8cf | 706 | } |
jah128 | 0:d6269d17c8cf | 707 | if(sub_menu == 11) sprintf(bottomline,"CLED BNESS %d%%", brightness); |
jah128 | 0:d6269d17c8cf | 708 | if(sub_menu == 12) sprintf(bottomline,"DISP BNESS %d%%", bl_brightness); |
jah128 | 0:d6269d17c8cf | 709 | if(sub_menu == 13) strcpy(bottomline,"EXIT"); |
jah128 | 0:d6269d17c8cf | 710 | break; |
jah128 | 0:d6269d17c8cf | 711 | |
jah128 | 0:d6269d17c8cf | 712 | case 1: |
jah128 | 0:d6269d17c8cf | 713 | strcpy(topline,"--SENSORS MENU--"); |
jah128 | 0:d6269d17c8cf | 714 | switch(sub_menu) { |
jah128 | 0:d6269d17c8cf | 715 | case 0: { |
jah128 | 10:e58323951c08 | 716 | float battery = sensors.get_battery_voltage (); |
jah128 | 0:d6269d17c8cf | 717 | sprintf(bottomline,"BATTERY: %1.3fV",battery); |
jah128 | 0:d6269d17c8cf | 718 | break; |
jah128 | 0:d6269d17c8cf | 719 | } |
jah128 | 0:d6269d17c8cf | 720 | case 1: { |
jah128 | 10:e58323951c08 | 721 | float dc = sensors.get_dc_voltage (); |
jah128 | 0:d6269d17c8cf | 722 | sprintf(bottomline,"DC: %1.3fV",dc); |
jah128 | 0:d6269d17c8cf | 723 | break; |
jah128 | 0:d6269d17c8cf | 724 | } |
jah128 | 0:d6269d17c8cf | 725 | case 2: { |
jah128 | 10:e58323951c08 | 726 | float current = sensors.get_current (); |
jah128 | 0:d6269d17c8cf | 727 | sprintf(bottomline,"CURRENT: %1.3fA",current); |
jah128 | 0:d6269d17c8cf | 728 | break; |
jah128 | 0:d6269d17c8cf | 729 | } |
jah128 | 0:d6269d17c8cf | 730 | case 3: { |
jah128 | 10:e58323951c08 | 731 | float temperature = sensors.get_temperature(); |
jah128 | 0:d6269d17c8cf | 732 | sprintf(bottomline,"TEMP: %3.2fC", temperature); |
jah128 | 0:d6269d17c8cf | 733 | break; |
jah128 | 0:d6269d17c8cf | 734 | } |
jah128 | 0:d6269d17c8cf | 735 | case 4: |
jah128 | 10:e58323951c08 | 736 | sensors.store_background_base_ir_values(); |
jah128 | 10:e58323951c08 | 737 | sprintf(bottomline,"BIR%dB:%d",base_ir_index+1,sensors.get_background_base_ir_value(base_ir_index)); |
jah128 | 0:d6269d17c8cf | 738 | break; |
jah128 | 0:d6269d17c8cf | 739 | case 5: |
jah128 | 10:e58323951c08 | 740 | sensors.store_illuminated_base_ir_values(); |
jah128 | 10:e58323951c08 | 741 | sprintf(bottomline,"BIR%dR:%d",base_ir_index+1,sensors.get_illuminated_base_ir_value(base_ir_index)); |
jah128 | 0:d6269d17c8cf | 742 | break; |
jah128 | 0:d6269d17c8cf | 743 | case 6: |
jah128 | 10:e58323951c08 | 744 | sensors.store_background_raw_ir_values(); |
jah128 | 10:e58323951c08 | 745 | sprintf(bottomline,"SIR%dB:%d",side_ir_index+1,sensors.get_background_raw_ir_value(side_ir_index)); |
jah128 | 0:d6269d17c8cf | 746 | break; |
jah128 | 0:d6269d17c8cf | 747 | case 7: |
jah128 | 10:e58323951c08 | 748 | sensors.store_illuminated_raw_ir_values(); |
jah128 | 10:e58323951c08 | 749 | sprintf(bottomline,"SIR%dR:%d",side_ir_index+1,sensors.get_illuminated_raw_ir_value(side_ir_index)); |
jah128 | 0:d6269d17c8cf | 750 | break; |
jah128 | 0:d6269d17c8cf | 751 | case 8: |
jah128 | 0:d6269d17c8cf | 752 | sprintf(bottomline,"SIR%dD:%3.1f",side_ir_index+1,0.0); |
jah128 | 0:d6269d17c8cf | 753 | break; |
jah128 | 0:d6269d17c8cf | 754 | case 9: |
jah128 | 0:d6269d17c8cf | 755 | if(ultrasonic_distance_updated == 1) { |
jah128 | 0:d6269d17c8cf | 756 | sprintf(bottomline,"USONIC:%3dcm",ultrasonic_distance); |
jah128 | 0:d6269d17c8cf | 757 | } else sprintf(bottomline,"USONIC:---------"); |
jah128 | 10:e58323951c08 | 758 | sensors.update_ultrasonic_measure(); |
jah128 | 0:d6269d17c8cf | 759 | break; |
jah128 | 0:d6269d17c8cf | 760 | case 10: |
jah128 | 10:e58323951c08 | 761 | sensors.store_line_position(); |
jah128 | 0:d6269d17c8cf | 762 | if(line_found == 1)sprintf(bottomline,"LINE:%1.3f",line_position); |
jah128 | 0:d6269d17c8cf | 763 | else sprintf(bottomline,"LINE:---------"); |
jah128 | 0:d6269d17c8cf | 764 | break; |
jah128 | 0:d6269d17c8cf | 765 | case 11: |
jah128 | 0:d6269d17c8cf | 766 | sprintf(bottomline,"EXIT"); |
jah128 | 0:d6269d17c8cf | 767 | break; |
jah128 | 0:d6269d17c8cf | 768 | } |
jah128 | 0:d6269d17c8cf | 769 | break; |
jah128 | 0:d6269d17c8cf | 770 | case 2: |
jah128 | 0:d6269d17c8cf | 771 | strcpy(topline,"--MOTORS MENU---"); |
jah128 | 0:d6269d17c8cf | 772 | switch(sub_menu) { |
jah128 | 0:d6269d17c8cf | 773 | case 0: |
jah128 | 0:d6269d17c8cf | 774 | sprintf(bottomline,"LEFT: %d%%", left_speed); |
jah128 | 0:d6269d17c8cf | 775 | break; |
jah128 | 0:d6269d17c8cf | 776 | case 1: |
jah128 | 0:d6269d17c8cf | 777 | sprintf(bottomline,"RIGHT: %d%%", right_speed); |
jah128 | 0:d6269d17c8cf | 778 | break; |
jah128 | 0:d6269d17c8cf | 779 | case 2: |
jah128 | 0:d6269d17c8cf | 780 | char both_mode_string[16]; |
jah128 | 0:d6269d17c8cf | 781 | switch(both_motor_mode) { |
jah128 | 0:d6269d17c8cf | 782 | case 0: |
jah128 | 0:d6269d17c8cf | 783 | strcpy(both_mode_string,"OFF"); |
jah128 | 0:d6269d17c8cf | 784 | break; |
jah128 | 0:d6269d17c8cf | 785 | case 1: |
jah128 | 0:d6269d17c8cf | 786 | strcpy(both_mode_string,"BRAKE"); |
jah128 | 0:d6269d17c8cf | 787 | break; |
jah128 | 0:d6269d17c8cf | 788 | case 2: |
jah128 | 0:d6269d17c8cf | 789 | strcpy(both_mode_string,"+50%"); |
jah128 | 0:d6269d17c8cf | 790 | break; |
jah128 | 0:d6269d17c8cf | 791 | case 3: |
jah128 | 0:d6269d17c8cf | 792 | strcpy(both_mode_string,"+100%"); |
jah128 | 0:d6269d17c8cf | 793 | break; |
jah128 | 0:d6269d17c8cf | 794 | case 4: |
jah128 | 0:d6269d17c8cf | 795 | strcpy(both_mode_string,"-50%"); |
jah128 | 0:d6269d17c8cf | 796 | break; |
jah128 | 0:d6269d17c8cf | 797 | case 5: |
jah128 | 0:d6269d17c8cf | 798 | strcpy(both_mode_string,"-100%"); |
jah128 | 0:d6269d17c8cf | 799 | break; |
jah128 | 0:d6269d17c8cf | 800 | } |
jah128 | 0:d6269d17c8cf | 801 | sprintf(bottomline,"BOTH TO %s",both_mode_string); |
jah128 | 0:d6269d17c8cf | 802 | break; |
jah128 | 0:d6269d17c8cf | 803 | case 3: |
jah128 | 0:d6269d17c8cf | 804 | sprintf(bottomline,"EXIT"); |
jah128 | 0:d6269d17c8cf | 805 | break; |
jah128 | 0:d6269d17c8cf | 806 | } |
jah128 | 0:d6269d17c8cf | 807 | break; |
jah128 | 0:d6269d17c8cf | 808 | case 3: |
jah128 | 0:d6269d17c8cf | 809 | strcpy(topline,"---RADIO MENU---"); |
jah128 | 0:d6269d17c8cf | 810 | switch(sub_menu) { |
jah128 | 0:d6269d17c8cf | 811 | |
jah128 | 0:d6269d17c8cf | 812 | case 0: |
jah128 | 0:d6269d17c8cf | 813 | sprintf(bottomline,"EXIT"); |
jah128 | 0:d6269d17c8cf | 814 | break; |
jah128 | 0:d6269d17c8cf | 815 | } |
jah128 | 0:d6269d17c8cf | 816 | break; |
jah128 | 0:d6269d17c8cf | 817 | case 4: |
jah128 | 0:d6269d17c8cf | 818 | strcpy(topline,"---INFO MENU----"); |
jah128 | 0:d6269d17c8cf | 819 | switch(sub_menu) { |
jah128 | 0:d6269d17c8cf | 820 | case 0: |
jah128 | 0:d6269d17c8cf | 821 | sprintf(bottomline,"ROBOT ID: %d",robot_id); |
jah128 | 0:d6269d17c8cf | 822 | break; |
jah128 | 0:d6269d17c8cf | 823 | case 1: |
jah128 | 0:d6269d17c8cf | 824 | sprintf(bottomline,"SOFTWARE: %1.2f",SOFTWARE_VERSION_CODE); |
jah128 | 0:d6269d17c8cf | 825 | break; |
jah128 | 0:d6269d17c8cf | 826 | case 2: |
jah128 | 0:d6269d17c8cf | 827 | if(firmware_version > 0) sprintf(bottomline,"FIRMWARE: %1.2f",firmware_version); |
jah128 | 0:d6269d17c8cf | 828 | else sprintf(bottomline,"FIRMWARE: ?????"); |
jah128 | 0:d6269d17c8cf | 829 | break; |
jah128 | 0:d6269d17c8cf | 830 | case 3: |
jah128 | 0:d6269d17c8cf | 831 | sprintf(bottomline,"PROG:%s",program_name); |
jah128 | 0:d6269d17c8cf | 832 | break; |
jah128 | 0:d6269d17c8cf | 833 | case 4: |
jah128 | 0:d6269d17c8cf | 834 | sprintf(bottomline,"AUTH:%s",author_name); |
jah128 | 0:d6269d17c8cf | 835 | break; |
jah128 | 0:d6269d17c8cf | 836 | case 5: |
jah128 | 0:d6269d17c8cf | 837 | sprintf(bottomline,"VER:%s",version_name); |
jah128 | 0:d6269d17c8cf | 838 | break; |
jah128 | 0:d6269d17c8cf | 839 | case 6: |
jah128 | 0:d6269d17c8cf | 840 | sprintf(bottomline,"EXIT"); |
jah128 | 0:d6269d17c8cf | 841 | break; |
jah128 | 0:d6269d17c8cf | 842 | } |
jah128 | 0:d6269d17c8cf | 843 | break; |
jah128 | 0:d6269d17c8cf | 844 | case 5: |
jah128 | 0:d6269d17c8cf | 845 | strcpy(topline,"---CODE DEMOS---"); |
jah128 | 0:d6269d17c8cf | 846 | switch(sub_menu) { |
jah128 | 0:d6269d17c8cf | 847 | case 0: |
jah128 | 0:d6269d17c8cf | 848 | sprintf(bottomline,"LINE FOLLOW"); |
jah128 | 0:d6269d17c8cf | 849 | break; |
jah128 | 0:d6269d17c8cf | 850 | case 1: |
jah128 | 0:d6269d17c8cf | 851 | sprintf(bottomline,"OBST. AVOID"); |
jah128 | 0:d6269d17c8cf | 852 | break; |
jah128 | 0:d6269d17c8cf | 853 | case 2: |
jah128 | 0:d6269d17c8cf | 854 | sprintf(bottomline,"COLOUR SPIN"); |
jah128 | 0:d6269d17c8cf | 855 | break; |
jah128 | 0:d6269d17c8cf | 856 | case 3: |
jah128 | 0:d6269d17c8cf | 857 | sprintf(bottomline,"STRESS TEST"); |
jah128 | 0:d6269d17c8cf | 858 | break; |
jah128 | 0:d6269d17c8cf | 859 | case 4: |
jah128 | 0:d6269d17c8cf | 860 | sprintf(bottomline,"EXIT"); |
jah128 | 0:d6269d17c8cf | 861 | break; |
jah128 | 0:d6269d17c8cf | 862 | } |
jah128 | 0:d6269d17c8cf | 863 | break; |
jah128 | 0:d6269d17c8cf | 864 | case 6: |
jah128 | 4:1c621cb8cf0d | 865 | strcpy(topline,"-MOTOR CALIBRATE"); |
jah128 | 4:1c621cb8cf0d | 866 | switch(sub_menu) { |
jah128 | 4:1c621cb8cf0d | 867 | case 0: |
jah128 | 4:1c621cb8cf0d | 868 | sprintf(bottomline,"RUN A3 TEST"); |
jah128 | 4:1c621cb8cf0d | 869 | break; |
jah128 | 4:1c621cb8cf0d | 870 | case 1: |
jah128 | 4:1c621cb8cf0d | 871 | sprintf(bottomline,"ENTER VALUE"); |
jah128 | 4:1c621cb8cf0d | 872 | break; |
jah128 | 4:1c621cb8cf0d | 873 | case 2: |
jah128 | 4:1c621cb8cf0d | 874 | sprintf(bottomline,"EXIT"); |
jah128 | 4:1c621cb8cf0d | 875 | break; |
jah128 | 4:1c621cb8cf0d | 876 | } |
jah128 | 0:d6269d17c8cf | 877 | break; |
jah128 | 0:d6269d17c8cf | 878 | } |
jah128 | 0:d6269d17c8cf | 879 | break; |
jah128 | 0:d6269d17c8cf | 880 | } |
jah128 | 0:d6269d17c8cf | 881 | display.write_string(topline); |
jah128 | 0:d6269d17c8cf | 882 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 883 | display.write_string(bottomline); |
jah128 | 0:d6269d17c8cf | 884 | if(top_menu == 1 && level == 1) { |
jah128 | 11:312663037b8c | 885 | demo_event.attach(this,&Demo::demo_event_thread, 0.25); |
jah128 | 0:d6269d17c8cf | 886 | } |
jah128 | 0:d6269d17c8cf | 887 | } |
jah128 | 0:d6269d17c8cf | 888 | |
jah128 | 11:312663037b8c | 889 | void Demo::start_line_demo() |
jah128 | 0:d6269d17c8cf | 890 | { |
jah128 | 0:d6269d17c8cf | 891 | display.set_backlight_brightness(0); |
jah128 | 0:d6269d17c8cf | 892 | time_out = 0.25f; |
jah128 | 0:d6269d17c8cf | 893 | demo_timer.start(); |
jah128 | 0:d6269d17c8cf | 894 | state = 0; |
jah128 | 0:d6269d17c8cf | 895 | speed = 0; |
jah128 | 0:d6269d17c8cf | 896 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 897 | demo_running = 1; |
jah128 | 11:312663037b8c | 898 | demo_timeout.attach_us(this,&Demo::line_demo_cycle,1000); |
jah128 | 0:d6269d17c8cf | 899 | } |
jah128 | 0:d6269d17c8cf | 900 | |
jah128 | 11:312663037b8c | 901 | void Demo::start_obstacle_demo() |
jah128 | 0:d6269d17c8cf | 902 | { |
jah128 | 0:d6269d17c8cf | 903 | display.set_backlight_brightness(0); |
jah128 | 0:d6269d17c8cf | 904 | time_out = 0.25f; |
jah128 | 0:d6269d17c8cf | 905 | demo_timer.start(); |
jah128 | 0:d6269d17c8cf | 906 | state = 0; |
jah128 | 0:d6269d17c8cf | 907 | speed = 0; |
jah128 | 0:d6269d17c8cf | 908 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 909 | demo_running = 1; |
jah128 | 11:312663037b8c | 910 | demo_timeout.attach_us(this,&Demo::obstacle_demo_cycle,1000); |
jah128 | 0:d6269d17c8cf | 911 | } |
jah128 | 0:d6269d17c8cf | 912 | |
jah128 | 11:312663037b8c | 913 | void Demo::start_stress_demo() |
jah128 | 0:d6269d17c8cf | 914 | { |
jah128 | 0:d6269d17c8cf | 915 | display.set_backlight_brightness(0.25); |
jah128 | 0:d6269d17c8cf | 916 | display.write_string("STRESS TEST"); |
jah128 | 0:d6269d17c8cf | 917 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 918 | display.write_string("----25%----"); |
jah128 | 0:d6269d17c8cf | 919 | time_out = 0.04f; |
jah128 | 0:d6269d17c8cf | 920 | demo_timer.start(); |
jah128 | 0:d6269d17c8cf | 921 | state = 0; |
jah128 | 0:d6269d17c8cf | 922 | speed = 0; |
jah128 | 0:d6269d17c8cf | 923 | stress_step = 0; |
jah128 | 0:d6269d17c8cf | 924 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 925 | demo_running = 1; |
jah128 | 11:312663037b8c | 926 | demo_timeout.attach_us(this,&Demo::stress_demo_cycle,1000); |
jah128 | 0:d6269d17c8cf | 927 | } |
jah128 | 0:d6269d17c8cf | 928 | |
jah128 | 11:312663037b8c | 929 | void Demo::start_spinning_demo() |
jah128 | 0:d6269d17c8cf | 930 | { |
jah128 | 0:d6269d17c8cf | 931 | display.set_backlight_brightness(0); |
jah128 | 0:d6269d17c8cf | 932 | time_out = 0.0f; |
jah128 | 0:d6269d17c8cf | 933 | demo_timer.start(); |
jah128 | 0:d6269d17c8cf | 934 | state = 0; |
jah128 | 0:d6269d17c8cf | 935 | speed = 0; |
jah128 | 0:d6269d17c8cf | 936 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 937 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 938 | demo_running = 1; |
jah128 | 11:312663037b8c | 939 | demo_timeout.attach_us(this,&Demo::spinning_demo_cycle,1000); |
jah128 | 0:d6269d17c8cf | 940 | } |
jah128 | 0:d6269d17c8cf | 941 | |
jah128 | 11:312663037b8c | 942 | void Demo::line_demo_cycle() |
jah128 | 0:d6269d17c8cf | 943 | { |
jah128 | 0:d6269d17c8cf | 944 | if(demo_timer.read() > time_out) { |
jah128 | 10:e58323951c08 | 945 | sensors.store_line_position(); |
jah128 | 0:d6269d17c8cf | 946 | if(line_found) { |
jah128 | 0:d6269d17c8cf | 947 | time_out = 0.01f; |
jah128 | 0:d6269d17c8cf | 948 | state = 0; |
jah128 | 0:d6269d17c8cf | 949 | // Get the position of the line. |
jah128 | 0:d6269d17c8cf | 950 | lf_current_pos_of_line = line_position; |
jah128 | 0:d6269d17c8cf | 951 | lf_proportional = lf_current_pos_of_line; |
jah128 | 0:d6269d17c8cf | 952 | |
jah128 | 0:d6269d17c8cf | 953 | // Compute the derivative |
jah128 | 0:d6269d17c8cf | 954 | lf_derivative = lf_current_pos_of_line - lf_previous_pos_of_line; |
jah128 | 0:d6269d17c8cf | 955 | |
jah128 | 0:d6269d17c8cf | 956 | // Compute the integral |
jah128 | 0:d6269d17c8cf | 957 | lf_integral += lf_proportional; |
jah128 | 0:d6269d17c8cf | 958 | |
jah128 | 0:d6269d17c8cf | 959 | // Remember the last position. |
jah128 | 0:d6269d17c8cf | 960 | lf_previous_pos_of_line = lf_current_pos_of_line; |
jah128 | 0:d6269d17c8cf | 961 | |
jah128 | 0:d6269d17c8cf | 962 | // Compute the power |
jah128 | 0:d6269d17c8cf | 963 | lf_power = (lf_proportional * (LF_P_TERM) ) + (lf_integral*(LF_I_TERM)) + (lf_derivative*(LF_D_TERM)) ; |
jah128 | 0:d6269d17c8cf | 964 | |
jah128 | 0:d6269d17c8cf | 965 | // Compute new speeds |
jah128 | 0:d6269d17c8cf | 966 | lf_right = lf_speed-lf_power; |
jah128 | 0:d6269d17c8cf | 967 | lf_left = lf_speed+lf_power; |
jah128 | 0:d6269d17c8cf | 968 | |
jah128 | 0:d6269d17c8cf | 969 | // limit checks |
jah128 | 0:d6269d17c8cf | 970 | if (lf_right < 0) |
jah128 | 0:d6269d17c8cf | 971 | lf_right = 0; |
jah128 | 0:d6269d17c8cf | 972 | else if (lf_right > 1.0f) |
jah128 | 0:d6269d17c8cf | 973 | lf_right = 1.0f; |
jah128 | 0:d6269d17c8cf | 974 | |
jah128 | 0:d6269d17c8cf | 975 | if (lf_left < 0) |
jah128 | 0:d6269d17c8cf | 976 | lf_left = 0; |
jah128 | 0:d6269d17c8cf | 977 | else if (lf_left > 1.0f) |
jah128 | 0:d6269d17c8cf | 978 | lf_left = 1.0f; |
jah128 | 0:d6269d17c8cf | 979 | }else{ |
jah128 | 0:d6269d17c8cf | 980 | //Cannot see line: hunt for it |
jah128 | 0:d6269d17c8cf | 981 | if(lf_left > lf_right){ |
jah128 | 0:d6269d17c8cf | 982 | //Currently turning left, keep turning left |
jah128 | 0:d6269d17c8cf | 983 | state ++; |
jah128 | 0:d6269d17c8cf | 984 | float d_step = state * 0.04; |
jah128 | 0:d6269d17c8cf | 985 | lf_left = 0.2 + d_step; |
jah128 | 0:d6269d17c8cf | 986 | lf_right = -0.2 - d_step; |
jah128 | 0:d6269d17c8cf | 987 | if(state > 20){ |
jah128 | 0:d6269d17c8cf | 988 | state = 0; |
jah128 | 0:d6269d17c8cf | 989 | lf_right = 0.2; |
jah128 | 0:d6269d17c8cf | 990 | lf_left = -0.2; |
jah128 | 0:d6269d17c8cf | 991 | time_out += 0.01f; |
jah128 | 0:d6269d17c8cf | 992 | if(time_out > 0.1f) demo_running = 0; |
jah128 | 0:d6269d17c8cf | 993 | } |
jah128 | 0:d6269d17c8cf | 994 | }else{ |
jah128 | 0:d6269d17c8cf | 995 | //Currently turning right, keep turning right |
jah128 | 0:d6269d17c8cf | 996 | state ++; |
jah128 | 0:d6269d17c8cf | 997 | float d_step = state * 0.04; |
jah128 | 0:d6269d17c8cf | 998 | lf_left = -0.2 - d_step; |
jah128 | 0:d6269d17c8cf | 999 | lf_right = 0.2 + d_step; |
jah128 | 0:d6269d17c8cf | 1000 | if(state > 20){ |
jah128 | 0:d6269d17c8cf | 1001 | state = 0; |
jah128 | 0:d6269d17c8cf | 1002 | lf_right = -0.2; |
jah128 | 0:d6269d17c8cf | 1003 | lf_left = 0.2; |
jah128 | 0:d6269d17c8cf | 1004 | time_out += 0.01f; |
jah128 | 0:d6269d17c8cf | 1005 | if(time_out > 0.1f) demo_running = 0; |
jah128 | 0:d6269d17c8cf | 1006 | } |
jah128 | 0:d6269d17c8cf | 1007 | } |
jah128 | 0:d6269d17c8cf | 1008 | } |
jah128 | 0:d6269d17c8cf | 1009 | // set speed |
jah128 | 8:6c92789d5f87 | 1010 | motors.set_left_motor_speed(lf_left); |
jah128 | 8:6c92789d5f87 | 1011 | motors.set_right_motor_speed(lf_right); |
jah128 | 0:d6269d17c8cf | 1012 | |
jah128 | 0:d6269d17c8cf | 1013 | |
jah128 | 0:d6269d17c8cf | 1014 | demo_timer.reset(); |
jah128 | 0:d6269d17c8cf | 1015 | } |
jah128 | 11:312663037b8c | 1016 | if(demo_running == 1)demo_timeout.attach_us(this,&Demo::line_demo_cycle,500); |
jah128 | 0:d6269d17c8cf | 1017 | else { |
jah128 | 8:6c92789d5f87 | 1018 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 1019 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:d6269d17c8cf | 1020 | } |
jah128 | 0:d6269d17c8cf | 1021 | } |
jah128 | 0:d6269d17c8cf | 1022 | |
jah128 | 11:312663037b8c | 1023 | void Demo::stress_demo_cycle() |
jah128 | 0:d6269d17c8cf | 1024 | { |
jah128 | 0:d6269d17c8cf | 1025 | if(demo_timer.read() > time_out) { |
jah128 | 0:d6269d17c8cf | 1026 | float pct = 0.25 + (0.25 * stress_step); |
jah128 | 0:d6269d17c8cf | 1027 | switch(state) { |
jah128 | 0:d6269d17c8cf | 1028 | case 0: |
jah128 | 0:d6269d17c8cf | 1029 | if(spin_step % 2 == 0) { |
jah128 | 8:6c92789d5f87 | 1030 | motors.forward(pct); |
jah128 | 9:dde9e21030eb | 1031 | led.set_leds(0xFF,0xFF); |
jah128 | 0:d6269d17c8cf | 1032 | } else { |
jah128 | 8:6c92789d5f87 | 1033 | motors.backward(pct); |
jah128 | 9:dde9e21030eb | 1034 | led.set_leds(0,0xFF); |
jah128 | 0:d6269d17c8cf | 1035 | } |
jah128 | 0:d6269d17c8cf | 1036 | spin_step ++; |
jah128 | 0:d6269d17c8cf | 1037 | if(spin_step > 199) { |
jah128 | 0:d6269d17c8cf | 1038 | state ++; |
jah128 | 0:d6269d17c8cf | 1039 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 1040 | } |
jah128 | 0:d6269d17c8cf | 1041 | break; |
jah128 | 0:d6269d17c8cf | 1042 | case 1: |
jah128 | 0:d6269d17c8cf | 1043 | if(stress_step < 3) stress_step ++; |
jah128 | 0:d6269d17c8cf | 1044 | float pct = 0.25 + (0.25 * stress_step); |
jah128 | 0:d6269d17c8cf | 1045 | display.set_backlight_brightness(pct); |
jah128 | 0:d6269d17c8cf | 1046 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 1047 | switch(stress_step) { |
jah128 | 0:d6269d17c8cf | 1048 | case 1: |
jah128 | 0:d6269d17c8cf | 1049 | display.write_string("----50%----"); |
jah128 | 0:d6269d17c8cf | 1050 | break; |
jah128 | 0:d6269d17c8cf | 1051 | case 2: |
jah128 | 0:d6269d17c8cf | 1052 | display.write_string("----75%----"); |
jah128 | 0:d6269d17c8cf | 1053 | break; |
jah128 | 0:d6269d17c8cf | 1054 | case 3: |
jah128 | 0:d6269d17c8cf | 1055 | display.write_string("---100%----"); |
jah128 | 0:d6269d17c8cf | 1056 | break; |
jah128 | 0:d6269d17c8cf | 1057 | } |
jah128 | 0:d6269d17c8cf | 1058 | state = 0; |
jah128 | 0:d6269d17c8cf | 1059 | break; |
jah128 | 0:d6269d17c8cf | 1060 | } |
jah128 | 0:d6269d17c8cf | 1061 | demo_timer.reset(); |
jah128 | 0:d6269d17c8cf | 1062 | } |
jah128 | 11:312663037b8c | 1063 | if(demo_running == 1)demo_timeout.attach_us(this,&Demo::stress_demo_cycle,500); |
jah128 | 0:d6269d17c8cf | 1064 | else { |
jah128 | 8:6c92789d5f87 | 1065 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 1066 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:d6269d17c8cf | 1067 | } |
jah128 | 0:d6269d17c8cf | 1068 | } |
jah128 | 0:d6269d17c8cf | 1069 | |
jah128 | 11:312663037b8c | 1070 | void Demo::spinning_demo_cycle() |
jah128 | 0:d6269d17c8cf | 1071 | { |
jah128 | 0:d6269d17c8cf | 1072 | if(demo_timer.read() > time_out) { |
jah128 | 0:d6269d17c8cf | 1073 | switch(state) { |
jah128 | 0:d6269d17c8cf | 1074 | case 0: //Robot is stopped |
jah128 | 9:dde9e21030eb | 1075 | led.set_leds(0,0xFF); |
jah128 | 9:dde9e21030eb | 1076 | led.set_center_led(1,1); |
jah128 | 0:d6269d17c8cf | 1077 | speed = 0.1f; |
jah128 | 8:6c92789d5f87 | 1078 | motors.brake(); |
jah128 | 0:d6269d17c8cf | 1079 | time_out = 0.5; |
jah128 | 0:d6269d17c8cf | 1080 | state = 1; |
jah128 | 0:d6269d17c8cf | 1081 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1082 | break; |
jah128 | 0:d6269d17c8cf | 1083 | case 1: //Motor is turning right, accelerating |
jah128 | 0:d6269d17c8cf | 1084 | time_out = 0.1; |
jah128 | 9:dde9e21030eb | 1085 | led.set_center_led(2,1); |
jah128 | 0:d6269d17c8cf | 1086 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1087 | case 0: |
jah128 | 9:dde9e21030eb | 1088 | led.set_leds(0x01,0); |
jah128 | 0:d6269d17c8cf | 1089 | break; |
jah128 | 0:d6269d17c8cf | 1090 | case 1: |
jah128 | 9:dde9e21030eb | 1091 | led.set_leds(0x02,0); |
jah128 | 0:d6269d17c8cf | 1092 | break; |
jah128 | 0:d6269d17c8cf | 1093 | case 2: |
jah128 | 9:dde9e21030eb | 1094 | led.set_leds(0x04,0); |
jah128 | 0:d6269d17c8cf | 1095 | break; |
jah128 | 0:d6269d17c8cf | 1096 | case 3: |
jah128 | 9:dde9e21030eb | 1097 | led.set_leds(0x08,0); |
jah128 | 0:d6269d17c8cf | 1098 | break; |
jah128 | 0:d6269d17c8cf | 1099 | case 4: |
jah128 | 9:dde9e21030eb | 1100 | led.set_leds(0x10,0); |
jah128 | 0:d6269d17c8cf | 1101 | break; |
jah128 | 0:d6269d17c8cf | 1102 | case 5: |
jah128 | 9:dde9e21030eb | 1103 | led.set_leds(0x20,0); |
jah128 | 0:d6269d17c8cf | 1104 | break; |
jah128 | 0:d6269d17c8cf | 1105 | case 6: |
jah128 | 9:dde9e21030eb | 1106 | led.set_leds(0x40,0); |
jah128 | 0:d6269d17c8cf | 1107 | break; |
jah128 | 0:d6269d17c8cf | 1108 | case 7: |
jah128 | 9:dde9e21030eb | 1109 | led.set_leds(0x80,0); |
jah128 | 0:d6269d17c8cf | 1110 | break; |
jah128 | 0:d6269d17c8cf | 1111 | } |
jah128 | 0:d6269d17c8cf | 1112 | led_step ++; |
jah128 | 0:d6269d17c8cf | 1113 | if(led_step == 8) led_step =0; |
jah128 | 0:d6269d17c8cf | 1114 | if(speed < 1) { |
jah128 | 0:d6269d17c8cf | 1115 | speed += 0.0125; |
jah128 | 8:6c92789d5f87 | 1116 | motors.turn(speed); |
jah128 | 0:d6269d17c8cf | 1117 | } else { |
jah128 | 0:d6269d17c8cf | 1118 | state = 2; |
jah128 | 0:d6269d17c8cf | 1119 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 1120 | led_step =0; |
jah128 | 0:d6269d17c8cf | 1121 | } |
jah128 | 0:d6269d17c8cf | 1122 | break; |
jah128 | 0:d6269d17c8cf | 1123 | case 2: //Motor is turning right, full speed |
jah128 | 9:dde9e21030eb | 1124 | led.set_center_led(3,1); |
jah128 | 0:d6269d17c8cf | 1125 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1126 | case 0: |
jah128 | 9:dde9e21030eb | 1127 | led.set_leds(0x33,0x33); |
jah128 | 0:d6269d17c8cf | 1128 | break; |
jah128 | 0:d6269d17c8cf | 1129 | case 1: |
jah128 | 9:dde9e21030eb | 1130 | led.set_leds(0x66,0x66); |
jah128 | 0:d6269d17c8cf | 1131 | break; |
jah128 | 0:d6269d17c8cf | 1132 | case 2: |
jah128 | 9:dde9e21030eb | 1133 | led.set_leds(0xCC,0xCC); |
jah128 | 0:d6269d17c8cf | 1134 | break; |
jah128 | 0:d6269d17c8cf | 1135 | case 3: |
jah128 | 9:dde9e21030eb | 1136 | led.set_leds(0x99,0x99); |
jah128 | 0:d6269d17c8cf | 1137 | break; |
jah128 | 0:d6269d17c8cf | 1138 | } |
jah128 | 0:d6269d17c8cf | 1139 | led_step ++; |
jah128 | 0:d6269d17c8cf | 1140 | if(led_step == 4) led_step = 0; |
jah128 | 0:d6269d17c8cf | 1141 | spin_step ++; |
jah128 | 0:d6269d17c8cf | 1142 | if(spin_step == 40) { |
jah128 | 0:d6269d17c8cf | 1143 | state = 3; |
jah128 | 0:d6269d17c8cf | 1144 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1145 | } |
jah128 | 0:d6269d17c8cf | 1146 | break; |
jah128 | 0:d6269d17c8cf | 1147 | case 3: //Motor is turning right, decelerating |
jah128 | 9:dde9e21030eb | 1148 | led.set_center_led(2,1); |
jah128 | 0:d6269d17c8cf | 1149 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1150 | case 0: |
jah128 | 9:dde9e21030eb | 1151 | led.set_leds(0x01,0); |
jah128 | 0:d6269d17c8cf | 1152 | break; |
jah128 | 0:d6269d17c8cf | 1153 | case 1: |
jah128 | 9:dde9e21030eb | 1154 | led.set_leds(0x02,0); |
jah128 | 0:d6269d17c8cf | 1155 | break; |
jah128 | 0:d6269d17c8cf | 1156 | case 2: |
jah128 | 9:dde9e21030eb | 1157 | led.set_leds(0x04,0); |
jah128 | 0:d6269d17c8cf | 1158 | break; |
jah128 | 0:d6269d17c8cf | 1159 | case 3: |
jah128 | 9:dde9e21030eb | 1160 | led.set_leds(0x08,0); |
jah128 | 0:d6269d17c8cf | 1161 | break; |
jah128 | 0:d6269d17c8cf | 1162 | case 4: |
jah128 | 9:dde9e21030eb | 1163 | led.set_leds(0x10,0); |
jah128 | 0:d6269d17c8cf | 1164 | break; |
jah128 | 0:d6269d17c8cf | 1165 | case 5: |
jah128 | 9:dde9e21030eb | 1166 | led.set_leds(0x20,0); |
jah128 | 0:d6269d17c8cf | 1167 | break; |
jah128 | 0:d6269d17c8cf | 1168 | case 6: |
jah128 | 9:dde9e21030eb | 1169 | led.set_leds(0x40,0); |
jah128 | 0:d6269d17c8cf | 1170 | break; |
jah128 | 0:d6269d17c8cf | 1171 | case 7: |
jah128 | 9:dde9e21030eb | 1172 | led.set_leds(0x80,0); |
jah128 | 0:d6269d17c8cf | 1173 | break; |
jah128 | 0:d6269d17c8cf | 1174 | } |
jah128 | 0:d6269d17c8cf | 1175 | if(led_step == 0) led_step =8; |
jah128 | 0:d6269d17c8cf | 1176 | led_step --; |
jah128 | 0:d6269d17c8cf | 1177 | if(speed > 0.1) { |
jah128 | 0:d6269d17c8cf | 1178 | speed -= 0.025; |
jah128 | 8:6c92789d5f87 | 1179 | motors.turn(speed); |
jah128 | 0:d6269d17c8cf | 1180 | } else { |
jah128 | 0:d6269d17c8cf | 1181 | state = 4; |
jah128 | 0:d6269d17c8cf | 1182 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 1183 | led_step =0; |
jah128 | 0:d6269d17c8cf | 1184 | } |
jah128 | 0:d6269d17c8cf | 1185 | break; |
jah128 | 0:d6269d17c8cf | 1186 | case 4: //Robot is stopped |
jah128 | 9:dde9e21030eb | 1187 | led.set_leds(0,0xFF); |
jah128 | 9:dde9e21030eb | 1188 | led.set_center_led(1,1); |
jah128 | 0:d6269d17c8cf | 1189 | speed = 0.1f; |
jah128 | 8:6c92789d5f87 | 1190 | motors.brake(); |
jah128 | 0:d6269d17c8cf | 1191 | time_out = 0.5; |
jah128 | 0:d6269d17c8cf | 1192 | led_step =0; |
jah128 | 0:d6269d17c8cf | 1193 | state = 5; |
jah128 | 0:d6269d17c8cf | 1194 | break; |
jah128 | 0:d6269d17c8cf | 1195 | case 5: //Motor is turning left, accelerating |
jah128 | 0:d6269d17c8cf | 1196 | time_out = 0.1; |
jah128 | 9:dde9e21030eb | 1197 | led.set_center_led(2,1); |
jah128 | 0:d6269d17c8cf | 1198 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1199 | case 0: |
jah128 | 9:dde9e21030eb | 1200 | led.set_leds(0x01,0); |
jah128 | 0:d6269d17c8cf | 1201 | break; |
jah128 | 0:d6269d17c8cf | 1202 | case 1: |
jah128 | 9:dde9e21030eb | 1203 | led.set_leds(0x02,0); |
jah128 | 0:d6269d17c8cf | 1204 | break; |
jah128 | 0:d6269d17c8cf | 1205 | case 2: |
jah128 | 9:dde9e21030eb | 1206 | led.set_leds(0x04,0); |
jah128 | 0:d6269d17c8cf | 1207 | break; |
jah128 | 0:d6269d17c8cf | 1208 | case 3: |
jah128 | 9:dde9e21030eb | 1209 | led.set_leds(0x08,0); |
jah128 | 0:d6269d17c8cf | 1210 | break; |
jah128 | 0:d6269d17c8cf | 1211 | case 4: |
jah128 | 9:dde9e21030eb | 1212 | led.set_leds(0x10,0); |
jah128 | 0:d6269d17c8cf | 1213 | break; |
jah128 | 0:d6269d17c8cf | 1214 | case 5: |
jah128 | 9:dde9e21030eb | 1215 | led.set_leds(0x20,0); |
jah128 | 0:d6269d17c8cf | 1216 | break; |
jah128 | 0:d6269d17c8cf | 1217 | case 6: |
jah128 | 9:dde9e21030eb | 1218 | led.set_leds(0x40,0); |
jah128 | 0:d6269d17c8cf | 1219 | break; |
jah128 | 0:d6269d17c8cf | 1220 | case 7: |
jah128 | 9:dde9e21030eb | 1221 | led.set_leds(0x80,0); |
jah128 | 0:d6269d17c8cf | 1222 | break; |
jah128 | 0:d6269d17c8cf | 1223 | } |
jah128 | 0:d6269d17c8cf | 1224 | if(led_step == 0) led_step =8; |
jah128 | 0:d6269d17c8cf | 1225 | led_step --; |
jah128 | 0:d6269d17c8cf | 1226 | if(speed < 1) { |
jah128 | 0:d6269d17c8cf | 1227 | speed += 0.0125; |
jah128 | 8:6c92789d5f87 | 1228 | motors.turn(-speed); |
jah128 | 0:d6269d17c8cf | 1229 | } else { |
jah128 | 0:d6269d17c8cf | 1230 | state = 6; |
jah128 | 0:d6269d17c8cf | 1231 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 1232 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1233 | } |
jah128 | 0:d6269d17c8cf | 1234 | break; |
jah128 | 0:d6269d17c8cf | 1235 | case 6: //Motor is turning left, full speed |
jah128 | 9:dde9e21030eb | 1236 | led.set_center_led(3,1); |
jah128 | 0:d6269d17c8cf | 1237 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1238 | case 0: |
jah128 | 9:dde9e21030eb | 1239 | led.set_leds(0x33,0x33); |
jah128 | 0:d6269d17c8cf | 1240 | break; |
jah128 | 0:d6269d17c8cf | 1241 | case 1: |
jah128 | 9:dde9e21030eb | 1242 | led.set_leds(0x66,0x66); |
jah128 | 0:d6269d17c8cf | 1243 | break; |
jah128 | 0:d6269d17c8cf | 1244 | case 2: |
jah128 | 9:dde9e21030eb | 1245 | led.set_leds(0xCC,0xCC); |
jah128 | 0:d6269d17c8cf | 1246 | break; |
jah128 | 0:d6269d17c8cf | 1247 | case 3: |
jah128 | 9:dde9e21030eb | 1248 | led.set_leds(0x99,0x99); |
jah128 | 0:d6269d17c8cf | 1249 | break; |
jah128 | 0:d6269d17c8cf | 1250 | } |
jah128 | 0:d6269d17c8cf | 1251 | if(led_step == 0) led_step = 4; |
jah128 | 0:d6269d17c8cf | 1252 | led_step --; |
jah128 | 0:d6269d17c8cf | 1253 | spin_step ++; |
jah128 | 0:d6269d17c8cf | 1254 | if(spin_step == 40) { |
jah128 | 0:d6269d17c8cf | 1255 | state = 7; |
jah128 | 0:d6269d17c8cf | 1256 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1257 | } |
jah128 | 0:d6269d17c8cf | 1258 | break; |
jah128 | 0:d6269d17c8cf | 1259 | case 7: //Motor is turning left, decelerating |
jah128 | 9:dde9e21030eb | 1260 | led.set_center_led(2,1); |
jah128 | 0:d6269d17c8cf | 1261 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1262 | case 0: |
jah128 | 9:dde9e21030eb | 1263 | led.set_leds(0x01,0); |
jah128 | 0:d6269d17c8cf | 1264 | break; |
jah128 | 0:d6269d17c8cf | 1265 | case 1: |
jah128 | 9:dde9e21030eb | 1266 | led.set_leds(0x02,0); |
jah128 | 0:d6269d17c8cf | 1267 | break; |
jah128 | 0:d6269d17c8cf | 1268 | case 2: |
jah128 | 9:dde9e21030eb | 1269 | led.set_leds(0x04,0); |
jah128 | 0:d6269d17c8cf | 1270 | break; |
jah128 | 0:d6269d17c8cf | 1271 | case 3: |
jah128 | 9:dde9e21030eb | 1272 | led.set_leds(0x08,0); |
jah128 | 0:d6269d17c8cf | 1273 | break; |
jah128 | 0:d6269d17c8cf | 1274 | case 4: |
jah128 | 9:dde9e21030eb | 1275 | led.set_leds(0x10,0); |
jah128 | 0:d6269d17c8cf | 1276 | break; |
jah128 | 0:d6269d17c8cf | 1277 | case 5: |
jah128 | 9:dde9e21030eb | 1278 | led.set_leds(0x20,0); |
jah128 | 0:d6269d17c8cf | 1279 | break; |
jah128 | 0:d6269d17c8cf | 1280 | case 6: |
jah128 | 9:dde9e21030eb | 1281 | led.set_leds(0x40,0); |
jah128 | 0:d6269d17c8cf | 1282 | break; |
jah128 | 0:d6269d17c8cf | 1283 | case 7: |
jah128 | 9:dde9e21030eb | 1284 | led.set_leds(0x80,0); |
jah128 | 0:d6269d17c8cf | 1285 | break; |
jah128 | 0:d6269d17c8cf | 1286 | } |
jah128 | 0:d6269d17c8cf | 1287 | led_step ++; |
jah128 | 0:d6269d17c8cf | 1288 | if(led_step == 8) led_step =0; |
jah128 | 0:d6269d17c8cf | 1289 | if(speed > 0.1) { |
jah128 | 0:d6269d17c8cf | 1290 | speed -= 0.025; |
jah128 | 8:6c92789d5f87 | 1291 | motors.turn(-speed); |
jah128 | 0:d6269d17c8cf | 1292 | } else { |
jah128 | 0:d6269d17c8cf | 1293 | state = 0; |
jah128 | 0:d6269d17c8cf | 1294 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 1295 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1296 | } |
jah128 | 0:d6269d17c8cf | 1297 | break; |
jah128 | 0:d6269d17c8cf | 1298 | } |
jah128 | 0:d6269d17c8cf | 1299 | demo_timer.reset(); |
jah128 | 0:d6269d17c8cf | 1300 | } |
jah128 | 11:312663037b8c | 1301 | if(demo_running == 1)demo_timeout.attach_us(this,&Demo::spinning_demo_cycle,500); |
jah128 | 0:d6269d17c8cf | 1302 | else { |
jah128 | 8:6c92789d5f87 | 1303 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 1304 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:d6269d17c8cf | 1305 | } |
jah128 | 0:d6269d17c8cf | 1306 | } |
jah128 | 0:d6269d17c8cf | 1307 | |
jah128 | 11:312663037b8c | 1308 | void Demo::obstacle_demo_cycle() |
jah128 | 0:d6269d17c8cf | 1309 | { |
jah128 | 0:d6269d17c8cf | 1310 | if(demo_timer.read() > time_out) { |
jah128 | 0:d6269d17c8cf | 1311 | switch(state) { |
jah128 | 0:d6269d17c8cf | 1312 | case 0: //Robot is stopped |
jah128 | 9:dde9e21030eb | 1313 | led.set_leds(0,0xFF); |
jah128 | 9:dde9e21030eb | 1314 | led.set_center_led(1,0.4); |
jah128 | 0:d6269d17c8cf | 1315 | speed = 0.3f; |
jah128 | 8:6c92789d5f87 | 1316 | motors.forward(speed); |
jah128 | 0:d6269d17c8cf | 1317 | time_out = 0.05; |
jah128 | 0:d6269d17c8cf | 1318 | state = 1; |
jah128 | 0:d6269d17c8cf | 1319 | break; |
jah128 | 0:d6269d17c8cf | 1320 | case 1: { //Motor is moving forward |
jah128 | 10:e58323951c08 | 1321 | sensors.store_ir_values(); |
jah128 | 10:e58323951c08 | 1322 | int front_right = sensors.read_illuminated_raw_ir_value(0); |
jah128 | 10:e58323951c08 | 1323 | int front_left = sensors.read_illuminated_raw_ir_value(7); |
jah128 | 0:d6269d17c8cf | 1324 | if(front_left > 400 || front_right > 400) { |
jah128 | 8:6c92789d5f87 | 1325 | motors.brake(); |
jah128 | 0:d6269d17c8cf | 1326 | time_out = 0.04; |
jah128 | 0:d6269d17c8cf | 1327 | if(front_left > front_right)state=2; |
jah128 | 0:d6269d17c8cf | 1328 | else state=3; |
jah128 | 0:d6269d17c8cf | 1329 | } else { |
jah128 | 0:d6269d17c8cf | 1330 | if(speed < 0.5) { |
jah128 | 0:d6269d17c8cf | 1331 | speed += 0.03; |
jah128 | 8:6c92789d5f87 | 1332 | motors.forward(speed); |
jah128 | 0:d6269d17c8cf | 1333 | } |
jah128 | 0:d6269d17c8cf | 1334 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1335 | case 0: |
jah128 | 9:dde9e21030eb | 1336 | led.set_leds(0x01,0); |
jah128 | 0:d6269d17c8cf | 1337 | break; |
jah128 | 0:d6269d17c8cf | 1338 | case 1: |
jah128 | 9:dde9e21030eb | 1339 | led.set_leds(0x38,0); |
jah128 | 0:d6269d17c8cf | 1340 | break; |
jah128 | 0:d6269d17c8cf | 1341 | case 2: |
jah128 | 9:dde9e21030eb | 1342 | led.set_leds(0x6C,0); |
jah128 | 0:d6269d17c8cf | 1343 | break; |
jah128 | 0:d6269d17c8cf | 1344 | case 3: |
jah128 | 9:dde9e21030eb | 1345 | led.set_leds(0xC6,0); |
jah128 | 0:d6269d17c8cf | 1346 | break; |
jah128 | 0:d6269d17c8cf | 1347 | case 4: |
jah128 | 9:dde9e21030eb | 1348 | led.set_leds(0x83,0); |
jah128 | 0:d6269d17c8cf | 1349 | break; |
jah128 | 0:d6269d17c8cf | 1350 | } |
jah128 | 9:dde9e21030eb | 1351 | led.set_center_led(2, 0.6); |
jah128 | 0:d6269d17c8cf | 1352 | led_step ++; |
jah128 | 0:d6269d17c8cf | 1353 | if(led_step == 5) led_step = 0; |
jah128 | 0:d6269d17c8cf | 1354 | } |
jah128 | 0:d6269d17c8cf | 1355 | break; |
jah128 | 0:d6269d17c8cf | 1356 | } |
jah128 | 0:d6269d17c8cf | 1357 | case 2: //Turn right |
jah128 | 8:6c92789d5f87 | 1358 | motors.set_left_motor_speed(0.85); |
jah128 | 8:6c92789d5f87 | 1359 | motors.set_right_motor_speed(-0.85); |
jah128 | 0:d6269d17c8cf | 1360 | time_out = 0.4; |
jah128 | 0:d6269d17c8cf | 1361 | state = 0; |
jah128 | 9:dde9e21030eb | 1362 | led.set_leds(0x0E,0x0E); |
jah128 | 9:dde9e21030eb | 1363 | led.set_center_led(3,0.5); |
jah128 | 0:d6269d17c8cf | 1364 | break; |
jah128 | 0:d6269d17c8cf | 1365 | case 3: //Turn left |
jah128 | 8:6c92789d5f87 | 1366 | motors.set_left_motor_speed(-0.85); |
jah128 | 8:6c92789d5f87 | 1367 | motors.set_right_motor_speed(0.85); |
jah128 | 0:d6269d17c8cf | 1368 | time_out = 0.4; |
jah128 | 0:d6269d17c8cf | 1369 | state = 0; |
jah128 | 9:dde9e21030eb | 1370 | led.set_leds(0xE0,0xE0); |
jah128 | 9:dde9e21030eb | 1371 | led.set_center_led(3,0.5); |
jah128 | 0:d6269d17c8cf | 1372 | break; |
jah128 | 0:d6269d17c8cf | 1373 | } |
jah128 | 0:d6269d17c8cf | 1374 | demo_timer.reset(); |
jah128 | 0:d6269d17c8cf | 1375 | } |
jah128 | 11:312663037b8c | 1376 | if(demo_running == 1)demo_timeout.attach_us(this,&Demo::obstacle_demo_cycle,200); |
jah128 | 0:d6269d17c8cf | 1377 | else { |
jah128 | 8:6c92789d5f87 | 1378 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 1379 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:d6269d17c8cf | 1380 | } |
jah128 | 0:d6269d17c8cf | 1381 | } |
jah128 | 0:d6269d17c8cf | 1382 | |
jah128 | 11:312663037b8c | 1383 | void Demo::demo_update_leds() |
jah128 | 0:d6269d17c8cf | 1384 | { |
jah128 | 0:d6269d17c8cf | 1385 | char red = 0; |
jah128 | 0:d6269d17c8cf | 1386 | char green = 0; |
jah128 | 0:d6269d17c8cf | 1387 | for(int i=0; i<8; i++) { |
jah128 | 0:d6269d17c8cf | 1388 | if(led_state[i]==1 || led_state[i]==3) red+=(1<<i); |
jah128 | 0:d6269d17c8cf | 1389 | if(led_state[i]==2 || led_state[i]==3) green+=(1<<i); |
jah128 | 0:d6269d17c8cf | 1390 | } |
jah128 | 9:dde9e21030eb | 1391 | led.set_leds(green,red); |
jah128 | 0:d6269d17c8cf | 1392 | float brightness_f = brightness / 100.0f; |
jah128 | 9:dde9e21030eb | 1393 | led.set_center_led(led_state[8], brightness_f); |
jah128 | 9:dde9e21030eb | 1394 | led.set_base_led(base_led_state); |
jah128 | 0:d6269d17c8cf | 1395 | } |