Psi Swarm robot library version 0.9
Fork of PsiSwarmV9 by
demo.cpp@17:bf614e28668f, 2017-06-04 (annotated)
- Committer:
- jah128
- Date:
- Sun Jun 04 13:11:09 2017 +0000
- Revision:
- 17:bf614e28668f
- Parent:
- 16:50686c07ad07
- Child:
- 18:9204f74069b4
Updated calibration menus, fixed some bugs in demo, create new store_line_position routine using calibrated values
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 | 15:66be5ec52c3b | 2 | * |
jah128 | 14:2f1ad77d281e | 3 | * Copyright 2017 University of York |
jah128 | 6:b340a527add9 | 4 | * |
jah128 | 15:66be5ec52c3b | 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 | 15:66be5ec52c3b | 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 | 16:50686c07ad07 | 18 | * Version 0.9 : Added colour sensor functions, colour sensor demo and self-test mode |
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 | 15:66be5ec52c3b | 40 | char quick_test = 0; |
jah128 | 0:d6269d17c8cf | 41 | char top_menu = 0; |
jah128 | 0:d6269d17c8cf | 42 | char sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 43 | char level = 0; |
jah128 | 0:d6269d17c8cf | 44 | char started = 0; |
jah128 | 0:d6269d17c8cf | 45 | char topline[17]; |
jah128 | 0:d6269d17c8cf | 46 | char bottomline[17]; |
jah128 | 0:d6269d17c8cf | 47 | char led_state[9]; |
jah128 | 0:d6269d17c8cf | 48 | char all_led_state = 0; |
jah128 | 0:d6269d17c8cf | 49 | char base_led_state = 0; |
jah128 | 0:d6269d17c8cf | 50 | char brightness = 20; |
jah128 | 0:d6269d17c8cf | 51 | char bl_brightness = 100; |
jah128 | 0:d6269d17c8cf | 52 | char base_ir_index = 0; |
jah128 | 0:d6269d17c8cf | 53 | char side_ir_index = 0; |
jah128 | 0:d6269d17c8cf | 54 | signed short left_speed = 0; |
jah128 | 0:d6269d17c8cf | 55 | signed short right_speed = 0; |
jah128 | 0:d6269d17c8cf | 56 | char both_motor_mode = 0; |
jah128 | 0:d6269d17c8cf | 57 | char last_switch_pressed; |
jah128 | 0:d6269d17c8cf | 58 | Timeout demo_event; |
jah128 | 0:d6269d17c8cf | 59 | char handling_event = 0; |
jah128 | 0:d6269d17c8cf | 60 | |
jah128 | 0:d6269d17c8cf | 61 | Timeout demo_timeout; |
jah128 | 0:d6269d17c8cf | 62 | char demo_running = 0; |
jah128 | 0:d6269d17c8cf | 63 | Timer demo_timer; |
jah128 | 0:d6269d17c8cf | 64 | float time_out; |
jah128 | 0:d6269d17c8cf | 65 | float speed; |
jah128 | 0:d6269d17c8cf | 66 | char state; |
jah128 | 0:d6269d17c8cf | 67 | char led_step = 0; |
jah128 | 0:d6269d17c8cf | 68 | char spin_step = 0; |
jah128 | 0:d6269d17c8cf | 69 | char stress_step = 0; |
jah128 | 0:d6269d17c8cf | 70 | |
jah128 | 0:d6269d17c8cf | 71 | |
jah128 | 0:d6269d17c8cf | 72 | float lf_right; |
jah128 | 0:d6269d17c8cf | 73 | float lf_left; |
jah128 | 0:d6269d17c8cf | 74 | float lf_current_pos_of_line = 0.0; |
jah128 | 0:d6269d17c8cf | 75 | float lf_previous_pos_of_line = 0.0; |
jah128 | 0:d6269d17c8cf | 76 | float lf_derivative,lf_proportional,lf_integral = 0; |
jah128 | 0:d6269d17c8cf | 77 | float lf_power; |
jah128 | 0:d6269d17c8cf | 78 | float lf_speed = 0.4; |
jah128 | 0:d6269d17c8cf | 79 | |
jah128 | 0:d6269d17c8cf | 80 | |
jah128 | 0:d6269d17c8cf | 81 | |
jah128 | 11:312663037b8c | 82 | void Demo::start_demo_mode() |
jah128 | 0:d6269d17c8cf | 83 | { |
jah128 | 12:878c6e9d9e60 | 84 | psi.debug("- Starting Demo Mode\n"); |
jah128 | 17:bf614e28668f | 85 | if(use_flash_basic == 1) top_menu = 8; |
jah128 | 17:bf614e28668f | 86 | if((has_base_ir == 1 && base_ir_calibration_set != 1) || (has_base_colour_sensor == 1 && base_colour_calibration_set != 1)) top_menu = 7; |
jah128 | 0:d6269d17c8cf | 87 | demo_on = 1; |
jah128 | 0:d6269d17c8cf | 88 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:d6269d17c8cf | 89 | display.clear_display(); |
jah128 | 0:d6269d17c8cf | 90 | display.write_string("PSI SWARM SYSTEM"); |
jah128 | 0:d6269d17c8cf | 91 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 92 | display.write_string(" DEMO MODE"); |
jah128 | 0:d6269d17c8cf | 93 | wait(0.5); |
jah128 | 0:d6269d17c8cf | 94 | display.clear_display(); |
jah128 | 0:d6269d17c8cf | 95 | display.write_string("Use cursor to"); |
jah128 | 0:d6269d17c8cf | 96 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 97 | display.write_string("navigate menus"); |
jah128 | 0:d6269d17c8cf | 98 | char step = 0; |
jah128 | 0:d6269d17c8cf | 99 | while(demo_on) { |
jah128 | 0:d6269d17c8cf | 100 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 101 | switch(step) { |
jah128 | 0:d6269d17c8cf | 102 | case 0: |
jah128 | 0:d6269d17c8cf | 103 | mbed_led1 = 1; |
jah128 | 0:d6269d17c8cf | 104 | mbed_led2 = 0; |
jah128 | 0:d6269d17c8cf | 105 | break; |
jah128 | 0:d6269d17c8cf | 106 | case 1: |
jah128 | 0:d6269d17c8cf | 107 | mbed_led2 = 1; |
jah128 | 0:d6269d17c8cf | 108 | mbed_led1 = 0; |
jah128 | 0:d6269d17c8cf | 109 | break; |
jah128 | 0:d6269d17c8cf | 110 | } |
jah128 | 0:d6269d17c8cf | 111 | step++; |
jah128 | 0:d6269d17c8cf | 112 | if(step==2)step=0; |
jah128 | 0:d6269d17c8cf | 113 | } else { |
jah128 | 0:d6269d17c8cf | 114 | mbed_led1 = 0; |
jah128 | 0:d6269d17c8cf | 115 | mbed_led2 = 0; |
jah128 | 0:d6269d17c8cf | 116 | mbed_led3 = 0; |
jah128 | 0:d6269d17c8cf | 117 | mbed_led4 = 0; |
jah128 | 0:d6269d17c8cf | 118 | } |
jah128 | 0:d6269d17c8cf | 119 | wait(0.5); |
jah128 | 0:d6269d17c8cf | 120 | } |
jah128 | 12:878c6e9d9e60 | 121 | psi.debug("- Demo mode ended\n"); |
jah128 | 0:d6269d17c8cf | 122 | } |
jah128 | 0:d6269d17c8cf | 123 | |
jah128 | 11:312663037b8c | 124 | void Demo::demo_handle_switch_event(char switch_pressed) |
jah128 | 0:d6269d17c8cf | 125 | { |
jah128 | 0:d6269d17c8cf | 126 | if(!handling_event) { |
jah128 | 0:d6269d17c8cf | 127 | handling_event = 1; |
jah128 | 0:d6269d17c8cf | 128 | last_switch_pressed = switch_pressed; |
jah128 | 11:312663037b8c | 129 | demo_event.attach_us(this,&Demo::demo_event_thread, 1000); |
jah128 | 0:d6269d17c8cf | 130 | } |
jah128 | 0:d6269d17c8cf | 131 | } |
jah128 | 0:d6269d17c8cf | 132 | |
jah128 | 11:312663037b8c | 133 | void Demo::demo_event_thread() |
jah128 | 0:d6269d17c8cf | 134 | { |
jah128 | 0:d6269d17c8cf | 135 | handling_event = 0; |
jah128 | 0:d6269d17c8cf | 136 | if(started == 1) { |
jah128 | 0:d6269d17c8cf | 137 | switch(last_switch_pressed) { |
jah128 | 0:d6269d17c8cf | 138 | case 1: //Up pressed |
jah128 | 0:d6269d17c8cf | 139 | switch(level) { |
jah128 | 0:d6269d17c8cf | 140 | case 0: |
jah128 | 15:66be5ec52c3b | 141 | if(top_menu != 9 && top_menu!= 0) { |
jah128 | 0:d6269d17c8cf | 142 | level++; |
jah128 | 0:d6269d17c8cf | 143 | sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 144 | } else { |
jah128 | 15:66be5ec52c3b | 145 | if(top_menu == 0) { |
jah128 | 15:66be5ec52c3b | 146 | toggle_quick_test(); |
jah128 | 15:66be5ec52c3b | 147 | } else { |
jah128 | 15:66be5ec52c3b | 148 | demo_on = 0; |
jah128 | 15:66be5ec52c3b | 149 | user_code_running = user_code_restore_mode; |
jah128 | 15:66be5ec52c3b | 150 | } |
jah128 | 0:d6269d17c8cf | 151 | } |
jah128 | 0:d6269d17c8cf | 152 | break; |
jah128 | 0:d6269d17c8cf | 153 | case 1: |
jah128 | 0:d6269d17c8cf | 154 | switch(top_menu) { |
jah128 | 15:66be5ec52c3b | 155 | case 8: // PsiBasic Menu |
jah128 | 0:d6269d17c8cf | 156 | if(sub_menu == psi_basic_file_count) level = 0; |
jah128 | 0:d6269d17c8cf | 157 | break; |
jah128 | 17:bf614e28668f | 158 | case 1: //LED Menu |
jah128 | 0:d6269d17c8cf | 159 | if(sub_menu < 9) { |
jah128 | 0:d6269d17c8cf | 160 | if(led_state[sub_menu] == 0) led_state[sub_menu] = 3; |
jah128 | 0:d6269d17c8cf | 161 | else led_state[sub_menu]--; |
jah128 | 0:d6269d17c8cf | 162 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 163 | } |
jah128 | 0:d6269d17c8cf | 164 | if(sub_menu == 9) { |
jah128 | 0:d6269d17c8cf | 165 | if(all_led_state == 0) all_led_state = 3; |
jah128 | 0:d6269d17c8cf | 166 | else all_led_state--; |
jah128 | 0:d6269d17c8cf | 167 | for(int i=0; i<9; i++) { |
jah128 | 0:d6269d17c8cf | 168 | led_state[i]=all_led_state; |
jah128 | 0:d6269d17c8cf | 169 | } |
jah128 | 0:d6269d17c8cf | 170 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 171 | } |
jah128 | 0:d6269d17c8cf | 172 | if(sub_menu == 10) { |
jah128 | 0:d6269d17c8cf | 173 | base_led_state = 1 - base_led_state; |
jah128 | 0:d6269d17c8cf | 174 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 175 | } |
jah128 | 0:d6269d17c8cf | 176 | if(sub_menu == 11) { |
jah128 | 0:d6269d17c8cf | 177 | switch(brightness) { |
jah128 | 0:d6269d17c8cf | 178 | case 100: |
jah128 | 0:d6269d17c8cf | 179 | brightness = 50; |
jah128 | 0:d6269d17c8cf | 180 | break; |
jah128 | 0:d6269d17c8cf | 181 | case 2: |
jah128 | 0:d6269d17c8cf | 182 | brightness = 1; |
jah128 | 0:d6269d17c8cf | 183 | break; |
jah128 | 0:d6269d17c8cf | 184 | case 5: |
jah128 | 0:d6269d17c8cf | 185 | brightness = 2; |
jah128 | 0:d6269d17c8cf | 186 | break; |
jah128 | 0:d6269d17c8cf | 187 | case 10: |
jah128 | 0:d6269d17c8cf | 188 | brightness = 5; |
jah128 | 0:d6269d17c8cf | 189 | break; |
jah128 | 0:d6269d17c8cf | 190 | case 20: |
jah128 | 0:d6269d17c8cf | 191 | brightness = 10; |
jah128 | 0:d6269d17c8cf | 192 | break; |
jah128 | 0:d6269d17c8cf | 193 | case 50: |
jah128 | 0:d6269d17c8cf | 194 | brightness = 20; |
jah128 | 0:d6269d17c8cf | 195 | break; |
jah128 | 0:d6269d17c8cf | 196 | } |
jah128 | 0:d6269d17c8cf | 197 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 198 | } |
jah128 | 0:d6269d17c8cf | 199 | if(sub_menu == 12) { |
jah128 | 0:d6269d17c8cf | 200 | if(bl_brightness > 0) bl_brightness-=10; |
jah128 | 0:d6269d17c8cf | 201 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:d6269d17c8cf | 202 | } |
jah128 | 0:d6269d17c8cf | 203 | if(sub_menu == 13) level = 0; |
jah128 | 0:d6269d17c8cf | 204 | break; |
jah128 | 15:66be5ec52c3b | 205 | case 2: // Sensors Menu |
jah128 | 17:bf614e28668f | 206 | if(sub_menu == 4 || sub_menu == 5 || sub_menu==6) { |
jah128 | 0:d6269d17c8cf | 207 | if(base_ir_index == 0) base_ir_index = 4; |
jah128 | 0:d6269d17c8cf | 208 | else base_ir_index --; |
jah128 | 0:d6269d17c8cf | 209 | } |
jah128 | 17:bf614e28668f | 210 | if(sub_menu > 6 && sub_menu < 10) { |
jah128 | 0:d6269d17c8cf | 211 | if(side_ir_index == 0) side_ir_index = 7; |
jah128 | 0:d6269d17c8cf | 212 | else side_ir_index --; |
jah128 | 0:d6269d17c8cf | 213 | } |
jah128 | 17:bf614e28668f | 214 | if(sub_menu == 13) level = 0; |
jah128 | 0:d6269d17c8cf | 215 | break; |
jah128 | 15:66be5ec52c3b | 216 | case 3: // Motor Menu |
jah128 | 0:d6269d17c8cf | 217 | if(sub_menu == 0) { |
jah128 | 0:d6269d17c8cf | 218 | left_speed += 5; |
jah128 | 0:d6269d17c8cf | 219 | if(left_speed > 100) left_speed = 100; |
jah128 | 8:6c92789d5f87 | 220 | motors.set_left_motor_speed(left_speed / 100.0f); |
jah128 | 0:d6269d17c8cf | 221 | } |
jah128 | 0:d6269d17c8cf | 222 | if(sub_menu == 1) { |
jah128 | 0:d6269d17c8cf | 223 | right_speed += 5; |
jah128 | 0:d6269d17c8cf | 224 | if(right_speed > 100) right_speed = 100; |
jah128 | 8:6c92789d5f87 | 225 | motors.set_right_motor_speed(right_speed / 100.0f); |
jah128 | 0:d6269d17c8cf | 226 | } |
jah128 | 0:d6269d17c8cf | 227 | if(sub_menu == 2) { |
jah128 | 0:d6269d17c8cf | 228 | if(both_motor_mode == 0) both_motor_mode=5; |
jah128 | 0:d6269d17c8cf | 229 | else both_motor_mode--; |
jah128 | 0:d6269d17c8cf | 230 | switch(both_motor_mode) { |
jah128 | 0:d6269d17c8cf | 231 | case 0: |
jah128 | 8:6c92789d5f87 | 232 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 233 | break; |
jah128 | 0:d6269d17c8cf | 234 | case 1: |
jah128 | 8:6c92789d5f87 | 235 | motors.brake(); |
jah128 | 0:d6269d17c8cf | 236 | break; |
jah128 | 0:d6269d17c8cf | 237 | case 2: |
jah128 | 8:6c92789d5f87 | 238 | motors.forward(0.5); |
jah128 | 0:d6269d17c8cf | 239 | break; |
jah128 | 0:d6269d17c8cf | 240 | case 3: |
jah128 | 8:6c92789d5f87 | 241 | motors.forward(1); |
jah128 | 0:d6269d17c8cf | 242 | break; |
jah128 | 0:d6269d17c8cf | 243 | case 4: |
jah128 | 8:6c92789d5f87 | 244 | motors.backward(0.5); |
jah128 | 0:d6269d17c8cf | 245 | break; |
jah128 | 0:d6269d17c8cf | 246 | case 5: |
jah128 | 8:6c92789d5f87 | 247 | motors.backward(1.0); |
jah128 | 0:d6269d17c8cf | 248 | break; |
jah128 | 0:d6269d17c8cf | 249 | } |
jah128 | 0:d6269d17c8cf | 250 | } |
jah128 | 0:d6269d17c8cf | 251 | if(sub_menu == 3) { |
jah128 | 0:d6269d17c8cf | 252 | level = 0; |
jah128 | 0:d6269d17c8cf | 253 | } |
jah128 | 0:d6269d17c8cf | 254 | break; |
jah128 | 15:66be5ec52c3b | 255 | case 4: // Radio Menu |
jah128 | 0:d6269d17c8cf | 256 | if(sub_menu == 0) level = 0; |
jah128 | 0:d6269d17c8cf | 257 | break; |
jah128 | 15:66be5ec52c3b | 258 | case 5: // Info Menu |
jah128 | 0:d6269d17c8cf | 259 | if(sub_menu == 6) level = 0; |
jah128 | 0:d6269d17c8cf | 260 | break; |
jah128 | 17:bf614e28668f | 261 | case 7: // Calibration Menu |
jah128 | 17:bf614e28668f | 262 | if(sub_menu == 0) sensors.calibrate_base_sensors(); |
jah128 | 17:bf614e28668f | 263 | if(sub_menu == 2) level = 0; |
jah128 | 17:bf614e28668f | 264 | break; |
jah128 | 15:66be5ec52c3b | 265 | case 6: // Demo Menu |
jah128 | 0:d6269d17c8cf | 266 | if(sub_menu == 0) { |
jah128 | 0:d6269d17c8cf | 267 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 268 | start_line_demo(); |
jah128 | 0:d6269d17c8cf | 269 | } else { |
jah128 | 0:d6269d17c8cf | 270 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 271 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 272 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 273 | } |
jah128 | 0:d6269d17c8cf | 274 | } |
jah128 | 0:d6269d17c8cf | 275 | if(sub_menu == 1) { |
jah128 | 0:d6269d17c8cf | 276 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 277 | start_obstacle_demo(); |
jah128 | 0:d6269d17c8cf | 278 | } else { |
jah128 | 0:d6269d17c8cf | 279 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 280 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 281 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 282 | } |
jah128 | 0:d6269d17c8cf | 283 | } |
jah128 | 0:d6269d17c8cf | 284 | if(sub_menu == 2) { |
jah128 | 0:d6269d17c8cf | 285 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 286 | start_spinning_demo(); |
jah128 | 0:d6269d17c8cf | 287 | } else { |
jah128 | 0:d6269d17c8cf | 288 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 289 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 290 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 291 | } |
jah128 | 0:d6269d17c8cf | 292 | } |
jah128 | 0:d6269d17c8cf | 293 | if(sub_menu == 3) { |
jah128 | 0:d6269d17c8cf | 294 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 295 | start_stress_demo(); |
jah128 | 0:d6269d17c8cf | 296 | } else { |
jah128 | 0:d6269d17c8cf | 297 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 298 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 299 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 300 | } |
jah128 | 0:d6269d17c8cf | 301 | } |
jah128 | 16:50686c07ad07 | 302 | if(sub_menu == 4) { |
jah128 | 16:50686c07ad07 | 303 | if(demo_running == 0) { |
jah128 | 16:50686c07ad07 | 304 | start_colour_demo(); |
jah128 | 16:50686c07ad07 | 305 | } else { |
jah128 | 16:50686c07ad07 | 306 | demo_running = 0; |
jah128 | 16:50686c07ad07 | 307 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 16:50686c07ad07 | 308 | motors.stop(); |
jah128 | 16:50686c07ad07 | 309 | } |
jah128 | 16:50686c07ad07 | 310 | } |
jah128 | 16:50686c07ad07 | 311 | if(sub_menu == 5) level = 0; |
jah128 | 0:d6269d17c8cf | 312 | break; |
jah128 | 0:d6269d17c8cf | 313 | } |
jah128 | 0:d6269d17c8cf | 314 | break; |
jah128 | 0:d6269d17c8cf | 315 | } |
jah128 | 0:d6269d17c8cf | 316 | break; |
jah128 | 0:d6269d17c8cf | 317 | case 2: //Down pressed |
jah128 | 0:d6269d17c8cf | 318 | switch(level) { |
jah128 | 0:d6269d17c8cf | 319 | case 0: |
jah128 | 15:66be5ec52c3b | 320 | if(top_menu != 9 && top_menu != 0) { |
jah128 | 0:d6269d17c8cf | 321 | level++; |
jah128 | 0:d6269d17c8cf | 322 | sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 323 | } else { |
jah128 | 15:66be5ec52c3b | 324 | if(top_menu == 0) { |
jah128 | 15:66be5ec52c3b | 325 | toggle_quick_test(); |
jah128 | 15:66be5ec52c3b | 326 | } else { |
jah128 | 15:66be5ec52c3b | 327 | demo_on = 0; |
jah128 | 15:66be5ec52c3b | 328 | user_code_running = user_code_restore_mode; |
jah128 | 15:66be5ec52c3b | 329 | } |
jah128 | 0:d6269d17c8cf | 330 | } |
jah128 | 0:d6269d17c8cf | 331 | break; |
jah128 | 0:d6269d17c8cf | 332 | case 1: |
jah128 | 0:d6269d17c8cf | 333 | switch(top_menu) { |
jah128 | 15:66be5ec52c3b | 334 | case 8: // PsiBasic Menu |
jah128 | 0:d6269d17c8cf | 335 | if(sub_menu == psi_basic_file_count) level = 0; |
jah128 | 0:d6269d17c8cf | 336 | break; |
jah128 | 15:66be5ec52c3b | 337 | case 1: //LED Menu |
jah128 | 0:d6269d17c8cf | 338 | if(sub_menu < 9) { |
jah128 | 0:d6269d17c8cf | 339 | led_state[sub_menu]++; |
jah128 | 0:d6269d17c8cf | 340 | if(led_state[sub_menu] == 4) led_state[sub_menu] = 0; |
jah128 | 0:d6269d17c8cf | 341 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 342 | } |
jah128 | 0:d6269d17c8cf | 343 | if(sub_menu == 9) { |
jah128 | 0:d6269d17c8cf | 344 | all_led_state++; |
jah128 | 0:d6269d17c8cf | 345 | if(all_led_state == 4) all_led_state = 0; |
jah128 | 0:d6269d17c8cf | 346 | for(int i=0; i<9; i++) { |
jah128 | 0:d6269d17c8cf | 347 | led_state[i]=all_led_state; |
jah128 | 0:d6269d17c8cf | 348 | } |
jah128 | 0:d6269d17c8cf | 349 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 350 | } |
jah128 | 0:d6269d17c8cf | 351 | if(sub_menu == 10) { |
jah128 | 0:d6269d17c8cf | 352 | base_led_state = 1 - base_led_state; |
jah128 | 0:d6269d17c8cf | 353 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 354 | } |
jah128 | 0:d6269d17c8cf | 355 | if(sub_menu == 11) { |
jah128 | 0:d6269d17c8cf | 356 | switch(brightness) { |
jah128 | 0:d6269d17c8cf | 357 | case 1: |
jah128 | 0:d6269d17c8cf | 358 | brightness = 2; |
jah128 | 0:d6269d17c8cf | 359 | break; |
jah128 | 0:d6269d17c8cf | 360 | case 2: |
jah128 | 0:d6269d17c8cf | 361 | brightness = 5; |
jah128 | 0:d6269d17c8cf | 362 | break; |
jah128 | 0:d6269d17c8cf | 363 | case 5: |
jah128 | 0:d6269d17c8cf | 364 | brightness = 10; |
jah128 | 0:d6269d17c8cf | 365 | break; |
jah128 | 0:d6269d17c8cf | 366 | case 10: |
jah128 | 0:d6269d17c8cf | 367 | brightness = 20; |
jah128 | 0:d6269d17c8cf | 368 | break; |
jah128 | 0:d6269d17c8cf | 369 | case 20: |
jah128 | 0:d6269d17c8cf | 370 | brightness = 50; |
jah128 | 0:d6269d17c8cf | 371 | break; |
jah128 | 0:d6269d17c8cf | 372 | case 50: |
jah128 | 0:d6269d17c8cf | 373 | brightness = 100; |
jah128 | 0:d6269d17c8cf | 374 | break; |
jah128 | 0:d6269d17c8cf | 375 | } |
jah128 | 0:d6269d17c8cf | 376 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 377 | } |
jah128 | 0:d6269d17c8cf | 378 | |
jah128 | 0:d6269d17c8cf | 379 | if(sub_menu == 12) { |
jah128 | 0:d6269d17c8cf | 380 | if(bl_brightness < 100) bl_brightness+=10; |
jah128 | 0:d6269d17c8cf | 381 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:d6269d17c8cf | 382 | } |
jah128 | 0:d6269d17c8cf | 383 | if(sub_menu == 13) level = 0; |
jah128 | 0:d6269d17c8cf | 384 | |
jah128 | 0:d6269d17c8cf | 385 | break; |
jah128 | 15:66be5ec52c3b | 386 | case 2: // Sensors Menu |
jah128 | 17:bf614e28668f | 387 | if(sub_menu == 4 || sub_menu == 5 || sub_menu == 6) { |
jah128 | 0:d6269d17c8cf | 388 | if(base_ir_index == 4) base_ir_index = 0; |
jah128 | 0:d6269d17c8cf | 389 | else base_ir_index ++; |
jah128 | 0:d6269d17c8cf | 390 | } |
jah128 | 17:bf614e28668f | 391 | if(sub_menu > 6 && sub_menu < 10) { |
jah128 | 0:d6269d17c8cf | 392 | if(side_ir_index == 7) side_ir_index = 0; |
jah128 | 0:d6269d17c8cf | 393 | else side_ir_index ++; |
jah128 | 0:d6269d17c8cf | 394 | } |
jah128 | 17:bf614e28668f | 395 | if(sub_menu == 13) level = 0; |
jah128 | 0:d6269d17c8cf | 396 | break; |
jah128 | 15:66be5ec52c3b | 397 | case 3: // Motor Menu |
jah128 | 0:d6269d17c8cf | 398 | if(sub_menu == 0) { |
jah128 | 0:d6269d17c8cf | 399 | left_speed -= 5; |
jah128 | 0:d6269d17c8cf | 400 | if(left_speed < -100) left_speed = -100; |
jah128 | 8:6c92789d5f87 | 401 | motors.set_left_motor_speed(left_speed / 100.0f); |
jah128 | 0:d6269d17c8cf | 402 | } |
jah128 | 0:d6269d17c8cf | 403 | if(sub_menu == 1) { |
jah128 | 0:d6269d17c8cf | 404 | right_speed -= 5; |
jah128 | 0:d6269d17c8cf | 405 | if(right_speed < -100) right_speed = -100; |
jah128 | 8:6c92789d5f87 | 406 | motors.set_right_motor_speed(right_speed / 100.0f); |
jah128 | 0:d6269d17c8cf | 407 | } |
jah128 | 0:d6269d17c8cf | 408 | if(sub_menu == 2) { |
jah128 | 0:d6269d17c8cf | 409 | both_motor_mode++; |
jah128 | 0:d6269d17c8cf | 410 | if(both_motor_mode == 6) both_motor_mode=0; |
jah128 | 0:d6269d17c8cf | 411 | switch(both_motor_mode) { |
jah128 | 0:d6269d17c8cf | 412 | case 0: |
jah128 | 8:6c92789d5f87 | 413 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 414 | break; |
jah128 | 0:d6269d17c8cf | 415 | case 1: |
jah128 | 8:6c92789d5f87 | 416 | motors.brake(); |
jah128 | 0:d6269d17c8cf | 417 | break; |
jah128 | 0:d6269d17c8cf | 418 | case 2: |
jah128 | 8:6c92789d5f87 | 419 | motors.forward(0.5); |
jah128 | 0:d6269d17c8cf | 420 | break; |
jah128 | 0:d6269d17c8cf | 421 | case 3: |
jah128 | 8:6c92789d5f87 | 422 | motors.forward(1); |
jah128 | 0:d6269d17c8cf | 423 | break; |
jah128 | 0:d6269d17c8cf | 424 | case 4: |
jah128 | 8:6c92789d5f87 | 425 | motors.backward(0.5); |
jah128 | 0:d6269d17c8cf | 426 | break; |
jah128 | 0:d6269d17c8cf | 427 | case 5: |
jah128 | 8:6c92789d5f87 | 428 | motors.backward(1.0); |
jah128 | 0:d6269d17c8cf | 429 | break; |
jah128 | 0:d6269d17c8cf | 430 | } |
jah128 | 0:d6269d17c8cf | 431 | } |
jah128 | 0:d6269d17c8cf | 432 | if(sub_menu == 3) { |
jah128 | 0:d6269d17c8cf | 433 | level = 0; |
jah128 | 0:d6269d17c8cf | 434 | } |
jah128 | 0:d6269d17c8cf | 435 | break; |
jah128 | 15:66be5ec52c3b | 436 | case 4: // Radio Menu |
jah128 | 0:d6269d17c8cf | 437 | if(sub_menu == 0) level = 0; |
jah128 | 0:d6269d17c8cf | 438 | break; |
jah128 | 15:66be5ec52c3b | 439 | case 5: // Info Menu |
jah128 | 0:d6269d17c8cf | 440 | if(sub_menu == 6) level = 0; |
jah128 | 0:d6269d17c8cf | 441 | break; |
jah128 | 17:bf614e28668f | 442 | case 7: // Calibration Menu |
jah128 | 17:bf614e28668f | 443 | if(sub_menu == 0) sensors.calibrate_base_sensors(); |
jah128 | 17:bf614e28668f | 444 | if(sub_menu == 2) level = 0; |
jah128 | 17:bf614e28668f | 445 | break; |
jah128 | 15:66be5ec52c3b | 446 | case 6: // Demo Menu |
jah128 | 0:d6269d17c8cf | 447 | if(sub_menu == 0) { |
jah128 | 0:d6269d17c8cf | 448 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 449 | start_line_demo(); |
jah128 | 0:d6269d17c8cf | 450 | } else { |
jah128 | 0:d6269d17c8cf | 451 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 452 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 453 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 454 | } |
jah128 | 0:d6269d17c8cf | 455 | } |
jah128 | 0:d6269d17c8cf | 456 | if(sub_menu == 1) { |
jah128 | 0:d6269d17c8cf | 457 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 458 | start_obstacle_demo(); |
jah128 | 0:d6269d17c8cf | 459 | } else { |
jah128 | 0:d6269d17c8cf | 460 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 461 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 462 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 463 | |
jah128 | 0:d6269d17c8cf | 464 | } |
jah128 | 0:d6269d17c8cf | 465 | } |
jah128 | 0:d6269d17c8cf | 466 | if(sub_menu == 2) { |
jah128 | 0:d6269d17c8cf | 467 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 468 | start_spinning_demo(); |
jah128 | 0:d6269d17c8cf | 469 | } else { |
jah128 | 0:d6269d17c8cf | 470 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 471 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 472 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 473 | } |
jah128 | 0:d6269d17c8cf | 474 | } |
jah128 | 0:d6269d17c8cf | 475 | if(sub_menu == 3) { |
jah128 | 0:d6269d17c8cf | 476 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 477 | start_stress_demo(); |
jah128 | 0:d6269d17c8cf | 478 | } else { |
jah128 | 0:d6269d17c8cf | 479 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 480 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 481 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 482 | } |
jah128 | 0:d6269d17c8cf | 483 | } |
jah128 | 16:50686c07ad07 | 484 | if(sub_menu == 4) { |
jah128 | 16:50686c07ad07 | 485 | if(demo_running == 0) { |
jah128 | 16:50686c07ad07 | 486 | start_colour_demo(); |
jah128 | 16:50686c07ad07 | 487 | } else { |
jah128 | 16:50686c07ad07 | 488 | demo_running = 0; |
jah128 | 16:50686c07ad07 | 489 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 16:50686c07ad07 | 490 | motors.stop(); |
jah128 | 16:50686c07ad07 | 491 | } |
jah128 | 16:50686c07ad07 | 492 | } |
jah128 | 16:50686c07ad07 | 493 | if(sub_menu == 5) level = 0; |
jah128 | 0:d6269d17c8cf | 494 | break; |
jah128 | 0:d6269d17c8cf | 495 | } |
jah128 | 0:d6269d17c8cf | 496 | break; |
jah128 | 0:d6269d17c8cf | 497 | } |
jah128 | 0:d6269d17c8cf | 498 | break; |
jah128 | 0:d6269d17c8cf | 499 | case 4: //Left pressed |
jah128 | 0:d6269d17c8cf | 500 | switch(level) { |
jah128 | 0:d6269d17c8cf | 501 | case 0: |
jah128 | 0:d6269d17c8cf | 502 | if(top_menu == 0) { |
jah128 | 15:66be5ec52c3b | 503 | top_menu = 9; |
jah128 | 15:66be5ec52c3b | 504 | } else { |
jah128 | 17:bf614e28668f | 505 | top_menu --; |
jah128 | 15:66be5ec52c3b | 506 | if(use_flash_basic == 0 && top_menu == 8) top_menu = 7; |
jah128 | 4:1c621cb8cf0d | 507 | } |
jah128 | 0:d6269d17c8cf | 508 | break; |
jah128 | 0:d6269d17c8cf | 509 | case 1: |
jah128 | 0:d6269d17c8cf | 510 | switch(top_menu) { |
jah128 | 15:66be5ec52c3b | 511 | case 1: //LED Menu |
jah128 | 0:d6269d17c8cf | 512 | if(sub_menu == 0) sub_menu = 13; |
jah128 | 0:d6269d17c8cf | 513 | else sub_menu --; |
jah128 | 0:d6269d17c8cf | 514 | break; |
jah128 | 15:66be5ec52c3b | 515 | case 2: //Sensors Menu |
jah128 | 17:bf614e28668f | 516 | if(sub_menu == 0) sub_menu = 13; |
jah128 | 0:d6269d17c8cf | 517 | else sub_menu --; |
jah128 | 0:d6269d17c8cf | 518 | break; |
jah128 | 0:d6269d17c8cf | 519 | |
jah128 | 15:66be5ec52c3b | 520 | case 3: //Motor Menu |
jah128 | 0:d6269d17c8cf | 521 | if(sub_menu == 0) sub_menu = 3; |
jah128 | 0:d6269d17c8cf | 522 | else sub_menu --; |
jah128 | 0:d6269d17c8cf | 523 | break; |
jah128 | 15:66be5ec52c3b | 524 | case 5: //Info Menu |
jah128 | 0:d6269d17c8cf | 525 | if(sub_menu == 0) sub_menu = 6; |
jah128 | 0:d6269d17c8cf | 526 | else sub_menu --; |
jah128 | 0:d6269d17c8cf | 527 | break; |
jah128 | 15:66be5ec52c3b | 528 | case 6: //Demo Menu |
jah128 | 16:50686c07ad07 | 529 | if(sub_menu == 0) sub_menu = 5; |
jah128 | 0:d6269d17c8cf | 530 | else sub_menu --; |
jah128 | 0:d6269d17c8cf | 531 | break; |
jah128 | 15:66be5ec52c3b | 532 | case 7: //Calibrate Menu |
jah128 | 4:1c621cb8cf0d | 533 | if(sub_menu == 0) sub_menu = 2; |
jah128 | 4:1c621cb8cf0d | 534 | else sub_menu --; |
jah128 | 4:1c621cb8cf0d | 535 | break; |
jah128 | 15:66be5ec52c3b | 536 | case 8: //PsiBasic Menu |
jah128 | 0:d6269d17c8cf | 537 | if(sub_menu == 0) sub_menu = psi_basic_file_count; |
jah128 | 0:d6269d17c8cf | 538 | else sub_menu --; |
jah128 | 0:d6269d17c8cf | 539 | } |
jah128 | 0:d6269d17c8cf | 540 | break; |
jah128 | 0:d6269d17c8cf | 541 | |
jah128 | 0:d6269d17c8cf | 542 | } |
jah128 | 0:d6269d17c8cf | 543 | break; |
jah128 | 0:d6269d17c8cf | 544 | case 8: //Right pressed |
jah128 | 0:d6269d17c8cf | 545 | switch(level) { |
jah128 | 0:d6269d17c8cf | 546 | case 0: |
jah128 | 0:d6269d17c8cf | 547 | top_menu ++; |
jah128 | 17:bf614e28668f | 548 | if(top_menu == 8 && use_flash_basic == 0) top_menu = 9; |
jah128 | 17:bf614e28668f | 549 | if((top_menu) > 9) top_menu = 0; |
jah128 | 0:d6269d17c8cf | 550 | break; |
jah128 | 0:d6269d17c8cf | 551 | case 1: |
jah128 | 0:d6269d17c8cf | 552 | switch(top_menu) { |
jah128 | 15:66be5ec52c3b | 553 | case 1: //LED Menu |
jah128 | 0:d6269d17c8cf | 554 | if(sub_menu == 13) sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 555 | else sub_menu ++; |
jah128 | 0:d6269d17c8cf | 556 | break; |
jah128 | 15:66be5ec52c3b | 557 | case 2: //Sensors Menu |
jah128 | 17:bf614e28668f | 558 | if(sub_menu == 13) sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 559 | else sub_menu ++; |
jah128 | 0:d6269d17c8cf | 560 | break; |
jah128 | 15:66be5ec52c3b | 561 | case 3: //Motor Menu |
jah128 | 0:d6269d17c8cf | 562 | if(sub_menu == 3) sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 563 | else sub_menu ++; |
jah128 | 0:d6269d17c8cf | 564 | break; |
jah128 | 15:66be5ec52c3b | 565 | case 5: //Info Menu |
jah128 | 0:d6269d17c8cf | 566 | if(sub_menu == 6) sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 567 | else sub_menu ++; |
jah128 | 0:d6269d17c8cf | 568 | break; |
jah128 | 15:66be5ec52c3b | 569 | case 6: //Demo Menu |
jah128 | 16:50686c07ad07 | 570 | if(sub_menu == 5) sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 571 | else sub_menu ++; |
jah128 | 0:d6269d17c8cf | 572 | break; |
jah128 | 15:66be5ec52c3b | 573 | case 7: //Calibrate Menu |
jah128 | 4:1c621cb8cf0d | 574 | if(sub_menu == 2) sub_menu = 0; |
jah128 | 4:1c621cb8cf0d | 575 | else sub_menu ++; |
jah128 | 4:1c621cb8cf0d | 576 | break; |
jah128 | 15:66be5ec52c3b | 577 | case 8: //PsiBasic Menu |
jah128 | 0:d6269d17c8cf | 578 | if(sub_menu == psi_basic_file_count) sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 579 | else sub_menu ++; |
jah128 | 0:d6269d17c8cf | 580 | } |
jah128 | 0:d6269d17c8cf | 581 | break; |
jah128 | 0:d6269d17c8cf | 582 | } |
jah128 | 0:d6269d17c8cf | 583 | break; |
jah128 | 0:d6269d17c8cf | 584 | } |
jah128 | 0:d6269d17c8cf | 585 | } else started = 1; |
jah128 | 0:d6269d17c8cf | 586 | display.clear_display(); |
jah128 | 0:d6269d17c8cf | 587 | switch(level) { |
jah128 | 0:d6269d17c8cf | 588 | case 0: |
jah128 | 0:d6269d17c8cf | 589 | //Top level menu |
jah128 | 0:d6269d17c8cf | 590 | switch(top_menu) { |
jah128 | 0:d6269d17c8cf | 591 | case 0: |
jah128 | 15:66be5ec52c3b | 592 | strcpy(topline,"---QUICK TEST---"); |
jah128 | 15:66be5ec52c3b | 593 | break; |
jah128 | 15:66be5ec52c3b | 594 | case 1: |
jah128 | 0:d6269d17c8cf | 595 | strcpy(topline,"---TEST LEDS----"); |
jah128 | 0:d6269d17c8cf | 596 | break; |
jah128 | 15:66be5ec52c3b | 597 | case 2: |
jah128 | 0:d6269d17c8cf | 598 | strcpy(topline,"--TEST SENSORS--"); |
jah128 | 0:d6269d17c8cf | 599 | break; |
jah128 | 15:66be5ec52c3b | 600 | case 3: |
jah128 | 0:d6269d17c8cf | 601 | strcpy(topline,"--TEST MOTORS---"); |
jah128 | 0:d6269d17c8cf | 602 | break; |
jah128 | 0:d6269d17c8cf | 603 | case 4: |
jah128 | 15:66be5ec52c3b | 604 | strcpy(topline,"---TEST RADIO---"); |
jah128 | 0:d6269d17c8cf | 605 | break; |
jah128 | 0:d6269d17c8cf | 606 | case 5: |
jah128 | 15:66be5ec52c3b | 607 | strcpy(topline,"------INFO------"); |
jah128 | 0:d6269d17c8cf | 608 | break; |
jah128 | 0:d6269d17c8cf | 609 | case 6: |
jah128 | 15:66be5ec52c3b | 610 | strcpy(topline,"---CODE DEMOS---"); |
jah128 | 0:d6269d17c8cf | 611 | break; |
jah128 | 0:d6269d17c8cf | 612 | case 7: |
jah128 | 17:bf614e28668f | 613 | strcpy(topline,"---CALIBRATION--"); |
jah128 | 15:66be5ec52c3b | 614 | break; |
jah128 | 15:66be5ec52c3b | 615 | case 8: |
jah128 | 0:d6269d17c8cf | 616 | strcpy(topline,"---PSI BASIC----"); |
jah128 | 0:d6269d17c8cf | 617 | break; |
jah128 | 15:66be5ec52c3b | 618 | case 9: |
jah128 | 4:1c621cb8cf0d | 619 | strcpy(topline,"------EXIT------"); |
jah128 | 4:1c621cb8cf0d | 620 | break; |
jah128 | 0:d6269d17c8cf | 621 | } |
jah128 | 0:d6269d17c8cf | 622 | strcpy(bottomline,""); |
jah128 | 0:d6269d17c8cf | 623 | break; |
jah128 | 0:d6269d17c8cf | 624 | case 1: |
jah128 | 0:d6269d17c8cf | 625 | //Sub level menu |
jah128 | 0:d6269d17c8cf | 626 | switch(top_menu) { |
jah128 | 15:66be5ec52c3b | 627 | case 8: |
jah128 | 0:d6269d17c8cf | 628 | strcpy(topline,"-PSI BASIC MENU-"); |
jah128 | 0:d6269d17c8cf | 629 | if(sub_menu == psi_basic_file_count) strcpy(bottomline,"EXIT"); |
jah128 | 0:d6269d17c8cf | 630 | else strcpy(bottomline,basic_filenames.at(sub_menu).c_str()); |
jah128 | 0:d6269d17c8cf | 631 | break; |
jah128 | 15:66be5ec52c3b | 632 | case 1: |
jah128 | 0:d6269d17c8cf | 633 | strcpy(topline,"----LED MENU----"); |
jah128 | 0:d6269d17c8cf | 634 | char led_status[7]; |
jah128 | 0:d6269d17c8cf | 635 | if(sub_menu<9) { |
jah128 | 0:d6269d17c8cf | 636 | switch(led_state[sub_menu]) { |
jah128 | 0:d6269d17c8cf | 637 | case 0: |
jah128 | 0:d6269d17c8cf | 638 | strcpy(led_status,"OFF"); |
jah128 | 0:d6269d17c8cf | 639 | break; |
jah128 | 0:d6269d17c8cf | 640 | case 1: |
jah128 | 0:d6269d17c8cf | 641 | strcpy(led_status,"RED"); |
jah128 | 0:d6269d17c8cf | 642 | break; |
jah128 | 0:d6269d17c8cf | 643 | case 2: |
jah128 | 0:d6269d17c8cf | 644 | strcpy(led_status,"GREEN"); |
jah128 | 0:d6269d17c8cf | 645 | break; |
jah128 | 0:d6269d17c8cf | 646 | case 3: |
jah128 | 0:d6269d17c8cf | 647 | strcpy(led_status,"YELLOW"); |
jah128 | 0:d6269d17c8cf | 648 | break; |
jah128 | 0:d6269d17c8cf | 649 | } |
jah128 | 0:d6269d17c8cf | 650 | } |
jah128 | 0:d6269d17c8cf | 651 | if(sub_menu < 8) sprintf(bottomline,"OUTER %d: %s",(sub_menu + 1),led_status); |
jah128 | 0:d6269d17c8cf | 652 | if(sub_menu == 8) sprintf(bottomline,"CENTER: %s",led_status); |
jah128 | 0:d6269d17c8cf | 653 | if(sub_menu == 9) { |
jah128 | 0:d6269d17c8cf | 654 | switch(all_led_state) { |
jah128 | 0:d6269d17c8cf | 655 | case 0: |
jah128 | 0:d6269d17c8cf | 656 | strcpy(led_status,"OFF"); |
jah128 | 0:d6269d17c8cf | 657 | break; |
jah128 | 0:d6269d17c8cf | 658 | case 1: |
jah128 | 0:d6269d17c8cf | 659 | strcpy(led_status,"RED"); |
jah128 | 0:d6269d17c8cf | 660 | break; |
jah128 | 0:d6269d17c8cf | 661 | case 2: |
jah128 | 0:d6269d17c8cf | 662 | strcpy(led_status,"GREEN"); |
jah128 | 0:d6269d17c8cf | 663 | break; |
jah128 | 0:d6269d17c8cf | 664 | case 3: |
jah128 | 0:d6269d17c8cf | 665 | strcpy(led_status,"YELLOW"); |
jah128 | 0:d6269d17c8cf | 666 | break; |
jah128 | 0:d6269d17c8cf | 667 | } |
jah128 | 0:d6269d17c8cf | 668 | sprintf(bottomline,"SET ALL %s", led_status); |
jah128 | 0:d6269d17c8cf | 669 | } |
jah128 | 0:d6269d17c8cf | 670 | if(sub_menu == 10) { |
jah128 | 0:d6269d17c8cf | 671 | if(base_led_state == 0) strcpy(led_status,"OFF"); |
jah128 | 0:d6269d17c8cf | 672 | else strcpy(led_status,"ON"); |
jah128 | 0:d6269d17c8cf | 673 | sprintf(bottomline,"BASE: %s",led_status); |
jah128 | 0:d6269d17c8cf | 674 | } |
jah128 | 0:d6269d17c8cf | 675 | if(sub_menu == 11) sprintf(bottomline,"CLED BNESS %d%%", brightness); |
jah128 | 0:d6269d17c8cf | 676 | if(sub_menu == 12) sprintf(bottomline,"DISP BNESS %d%%", bl_brightness); |
jah128 | 0:d6269d17c8cf | 677 | if(sub_menu == 13) strcpy(bottomline,"EXIT"); |
jah128 | 0:d6269d17c8cf | 678 | break; |
jah128 | 0:d6269d17c8cf | 679 | |
jah128 | 15:66be5ec52c3b | 680 | case 2: |
jah128 | 0:d6269d17c8cf | 681 | strcpy(topline,"--SENSORS MENU--"); |
jah128 | 0:d6269d17c8cf | 682 | switch(sub_menu) { |
jah128 | 0:d6269d17c8cf | 683 | case 0: { |
jah128 | 10:e58323951c08 | 684 | float battery = sensors.get_battery_voltage (); |
jah128 | 0:d6269d17c8cf | 685 | sprintf(bottomline,"BATTERY: %1.3fV",battery); |
jah128 | 0:d6269d17c8cf | 686 | break; |
jah128 | 0:d6269d17c8cf | 687 | } |
jah128 | 0:d6269d17c8cf | 688 | case 1: { |
jah128 | 10:e58323951c08 | 689 | float dc = sensors.get_dc_voltage (); |
jah128 | 0:d6269d17c8cf | 690 | sprintf(bottomline,"DC: %1.3fV",dc); |
jah128 | 0:d6269d17c8cf | 691 | break; |
jah128 | 0:d6269d17c8cf | 692 | } |
jah128 | 0:d6269d17c8cf | 693 | case 2: { |
jah128 | 10:e58323951c08 | 694 | float current = sensors.get_current (); |
jah128 | 0:d6269d17c8cf | 695 | sprintf(bottomline,"CURRENT: %1.3fA",current); |
jah128 | 0:d6269d17c8cf | 696 | break; |
jah128 | 0:d6269d17c8cf | 697 | } |
jah128 | 0:d6269d17c8cf | 698 | case 3: { |
jah128 | 10:e58323951c08 | 699 | float temperature = sensors.get_temperature(); |
jah128 | 0:d6269d17c8cf | 700 | sprintf(bottomline,"TEMP: %3.2fC", temperature); |
jah128 | 0:d6269d17c8cf | 701 | break; |
jah128 | 0:d6269d17c8cf | 702 | } |
jah128 | 0:d6269d17c8cf | 703 | case 4: |
jah128 | 10:e58323951c08 | 704 | sensors.store_background_base_ir_values(); |
jah128 | 10:e58323951c08 | 705 | sprintf(bottomline,"BIR%dB:%d",base_ir_index+1,sensors.get_background_base_ir_value(base_ir_index)); |
jah128 | 0:d6269d17c8cf | 706 | break; |
jah128 | 0:d6269d17c8cf | 707 | case 5: |
jah128 | 10:e58323951c08 | 708 | sensors.store_illuminated_base_ir_values(); |
jah128 | 10:e58323951c08 | 709 | sprintf(bottomline,"BIR%dR:%d",base_ir_index+1,sensors.get_illuminated_base_ir_value(base_ir_index)); |
jah128 | 0:d6269d17c8cf | 710 | break; |
jah128 | 0:d6269d17c8cf | 711 | case 6: |
jah128 | 17:bf614e28668f | 712 | sensors.store_illuminated_base_ir_values(); |
jah128 | 17:bf614e28668f | 713 | sprintf(bottomline,"BIC%dR:%1.3f",base_ir_index+1,sensors.get_calibrated_base_ir_value(base_ir_index)); |
jah128 | 17:bf614e28668f | 714 | break; |
jah128 | 17:bf614e28668f | 715 | case 7: |
jah128 | 10:e58323951c08 | 716 | sensors.store_background_raw_ir_values(); |
jah128 | 10:e58323951c08 | 717 | sprintf(bottomline,"SIR%dB:%d",side_ir_index+1,sensors.get_background_raw_ir_value(side_ir_index)); |
jah128 | 0:d6269d17c8cf | 718 | break; |
jah128 | 17:bf614e28668f | 719 | case 8: |
jah128 | 10:e58323951c08 | 720 | sensors.store_illuminated_raw_ir_values(); |
jah128 | 10:e58323951c08 | 721 | sprintf(bottomline,"SIR%dR:%d",side_ir_index+1,sensors.get_illuminated_raw_ir_value(side_ir_index)); |
jah128 | 0:d6269d17c8cf | 722 | break; |
jah128 | 17:bf614e28668f | 723 | case 9: |
jah128 | 0:d6269d17c8cf | 724 | sprintf(bottomline,"SIR%dD:%3.1f",side_ir_index+1,0.0); |
jah128 | 0:d6269d17c8cf | 725 | break; |
jah128 | 17:bf614e28668f | 726 | case 10: |
jah128 | 0:d6269d17c8cf | 727 | if(ultrasonic_distance_updated == 1) { |
jah128 | 0:d6269d17c8cf | 728 | sprintf(bottomline,"USONIC:%3dcm",ultrasonic_distance); |
jah128 | 0:d6269d17c8cf | 729 | } else sprintf(bottomline,"USONIC:---------"); |
jah128 | 10:e58323951c08 | 730 | sensors.update_ultrasonic_measure(); |
jah128 | 0:d6269d17c8cf | 731 | break; |
jah128 | 17:bf614e28668f | 732 | case 11: |
jah128 | 10:e58323951c08 | 733 | sensors.store_line_position(); |
jah128 | 0:d6269d17c8cf | 734 | if(line_found == 1)sprintf(bottomline,"LINE:%1.3f",line_position); |
jah128 | 0:d6269d17c8cf | 735 | else sprintf(bottomline,"LINE:---------"); |
jah128 | 0:d6269d17c8cf | 736 | break; |
jah128 | 17:bf614e28668f | 737 | |
jah128 | 17:bf614e28668f | 738 | case 12: |
jah128 | 16:50686c07ad07 | 739 | sprintf(bottomline,"COLOUR: %s",colour.get_colour_string(colour.detect_colour_once())); |
jah128 | 16:50686c07ad07 | 740 | break; |
jah128 | 17:bf614e28668f | 741 | case 13: |
jah128 | 0:d6269d17c8cf | 742 | sprintf(bottomline,"EXIT"); |
jah128 | 0:d6269d17c8cf | 743 | break; |
jah128 | 0:d6269d17c8cf | 744 | } |
jah128 | 0:d6269d17c8cf | 745 | break; |
jah128 | 15:66be5ec52c3b | 746 | case 3: |
jah128 | 0:d6269d17c8cf | 747 | strcpy(topline,"--MOTORS MENU---"); |
jah128 | 0:d6269d17c8cf | 748 | switch(sub_menu) { |
jah128 | 0:d6269d17c8cf | 749 | case 0: |
jah128 | 0:d6269d17c8cf | 750 | sprintf(bottomline,"LEFT: %d%%", left_speed); |
jah128 | 0:d6269d17c8cf | 751 | break; |
jah128 | 0:d6269d17c8cf | 752 | case 1: |
jah128 | 0:d6269d17c8cf | 753 | sprintf(bottomline,"RIGHT: %d%%", right_speed); |
jah128 | 0:d6269d17c8cf | 754 | break; |
jah128 | 0:d6269d17c8cf | 755 | case 2: |
jah128 | 0:d6269d17c8cf | 756 | char both_mode_string[16]; |
jah128 | 0:d6269d17c8cf | 757 | switch(both_motor_mode) { |
jah128 | 0:d6269d17c8cf | 758 | case 0: |
jah128 | 0:d6269d17c8cf | 759 | strcpy(both_mode_string,"OFF"); |
jah128 | 0:d6269d17c8cf | 760 | break; |
jah128 | 0:d6269d17c8cf | 761 | case 1: |
jah128 | 0:d6269d17c8cf | 762 | strcpy(both_mode_string,"BRAKE"); |
jah128 | 0:d6269d17c8cf | 763 | break; |
jah128 | 0:d6269d17c8cf | 764 | case 2: |
jah128 | 0:d6269d17c8cf | 765 | strcpy(both_mode_string,"+50%"); |
jah128 | 0:d6269d17c8cf | 766 | break; |
jah128 | 0:d6269d17c8cf | 767 | case 3: |
jah128 | 0:d6269d17c8cf | 768 | strcpy(both_mode_string,"+100%"); |
jah128 | 0:d6269d17c8cf | 769 | break; |
jah128 | 0:d6269d17c8cf | 770 | case 4: |
jah128 | 0:d6269d17c8cf | 771 | strcpy(both_mode_string,"-50%"); |
jah128 | 0:d6269d17c8cf | 772 | break; |
jah128 | 0:d6269d17c8cf | 773 | case 5: |
jah128 | 0:d6269d17c8cf | 774 | strcpy(both_mode_string,"-100%"); |
jah128 | 0:d6269d17c8cf | 775 | break; |
jah128 | 0:d6269d17c8cf | 776 | } |
jah128 | 0:d6269d17c8cf | 777 | sprintf(bottomline,"BOTH TO %s",both_mode_string); |
jah128 | 0:d6269d17c8cf | 778 | break; |
jah128 | 0:d6269d17c8cf | 779 | case 3: |
jah128 | 0:d6269d17c8cf | 780 | sprintf(bottomline,"EXIT"); |
jah128 | 0:d6269d17c8cf | 781 | break; |
jah128 | 0:d6269d17c8cf | 782 | } |
jah128 | 0:d6269d17c8cf | 783 | break; |
jah128 | 15:66be5ec52c3b | 784 | case 4: |
jah128 | 0:d6269d17c8cf | 785 | strcpy(topline,"---RADIO MENU---"); |
jah128 | 0:d6269d17c8cf | 786 | switch(sub_menu) { |
jah128 | 0:d6269d17c8cf | 787 | |
jah128 | 0:d6269d17c8cf | 788 | case 0: |
jah128 | 0:d6269d17c8cf | 789 | sprintf(bottomline,"EXIT"); |
jah128 | 0:d6269d17c8cf | 790 | break; |
jah128 | 0:d6269d17c8cf | 791 | } |
jah128 | 0:d6269d17c8cf | 792 | break; |
jah128 | 15:66be5ec52c3b | 793 | case 5: |
jah128 | 0:d6269d17c8cf | 794 | strcpy(topline,"---INFO MENU----"); |
jah128 | 0:d6269d17c8cf | 795 | switch(sub_menu) { |
jah128 | 0:d6269d17c8cf | 796 | case 0: |
jah128 | 0:d6269d17c8cf | 797 | sprintf(bottomline,"ROBOT ID: %d",robot_id); |
jah128 | 0:d6269d17c8cf | 798 | break; |
jah128 | 0:d6269d17c8cf | 799 | case 1: |
jah128 | 0:d6269d17c8cf | 800 | sprintf(bottomline,"SOFTWARE: %1.2f",SOFTWARE_VERSION_CODE); |
jah128 | 0:d6269d17c8cf | 801 | break; |
jah128 | 0:d6269d17c8cf | 802 | case 2: |
jah128 | 0:d6269d17c8cf | 803 | if(firmware_version > 0) sprintf(bottomline,"FIRMWARE: %1.2f",firmware_version); |
jah128 | 0:d6269d17c8cf | 804 | else sprintf(bottomline,"FIRMWARE: ?????"); |
jah128 | 0:d6269d17c8cf | 805 | break; |
jah128 | 0:d6269d17c8cf | 806 | case 3: |
jah128 | 0:d6269d17c8cf | 807 | sprintf(bottomline,"PROG:%s",program_name); |
jah128 | 0:d6269d17c8cf | 808 | break; |
jah128 | 0:d6269d17c8cf | 809 | case 4: |
jah128 | 0:d6269d17c8cf | 810 | sprintf(bottomline,"AUTH:%s",author_name); |
jah128 | 0:d6269d17c8cf | 811 | break; |
jah128 | 0:d6269d17c8cf | 812 | case 5: |
jah128 | 0:d6269d17c8cf | 813 | sprintf(bottomline,"VER:%s",version_name); |
jah128 | 0:d6269d17c8cf | 814 | break; |
jah128 | 0:d6269d17c8cf | 815 | case 6: |
jah128 | 0:d6269d17c8cf | 816 | sprintf(bottomline,"EXIT"); |
jah128 | 0:d6269d17c8cf | 817 | break; |
jah128 | 0:d6269d17c8cf | 818 | } |
jah128 | 0:d6269d17c8cf | 819 | break; |
jah128 | 15:66be5ec52c3b | 820 | case 6: |
jah128 | 0:d6269d17c8cf | 821 | strcpy(topline,"---CODE DEMOS---"); |
jah128 | 0:d6269d17c8cf | 822 | switch(sub_menu) { |
jah128 | 0:d6269d17c8cf | 823 | case 0: |
jah128 | 0:d6269d17c8cf | 824 | sprintf(bottomline,"LINE FOLLOW"); |
jah128 | 0:d6269d17c8cf | 825 | break; |
jah128 | 0:d6269d17c8cf | 826 | case 1: |
jah128 | 0:d6269d17c8cf | 827 | sprintf(bottomline,"OBST. AVOID"); |
jah128 | 0:d6269d17c8cf | 828 | break; |
jah128 | 0:d6269d17c8cf | 829 | case 2: |
jah128 | 0:d6269d17c8cf | 830 | sprintf(bottomline,"COLOUR SPIN"); |
jah128 | 0:d6269d17c8cf | 831 | break; |
jah128 | 0:d6269d17c8cf | 832 | case 3: |
jah128 | 0:d6269d17c8cf | 833 | sprintf(bottomline,"STRESS TEST"); |
jah128 | 0:d6269d17c8cf | 834 | break; |
jah128 | 0:d6269d17c8cf | 835 | case 4: |
jah128 | 16:50686c07ad07 | 836 | sprintf(bottomline,"COLOUR WALK"); |
jah128 | 16:50686c07ad07 | 837 | break; |
jah128 | 16:50686c07ad07 | 838 | case 5: |
jah128 | 0:d6269d17c8cf | 839 | sprintf(bottomline,"EXIT"); |
jah128 | 0:d6269d17c8cf | 840 | break; |
jah128 | 0:d6269d17c8cf | 841 | } |
jah128 | 0:d6269d17c8cf | 842 | break; |
jah128 | 15:66be5ec52c3b | 843 | case 7: |
jah128 | 17:bf614e28668f | 844 | strcpy(topline,"---CALIB. MENU--"); |
jah128 | 4:1c621cb8cf0d | 845 | switch(sub_menu) { |
jah128 | 4:1c621cb8cf0d | 846 | case 0: |
jah128 | 17:bf614e28668f | 847 | sprintf(bottomline,"BASE SENSOR"); |
jah128 | 4:1c621cb8cf0d | 848 | break; |
jah128 | 4:1c621cb8cf0d | 849 | case 1: |
jah128 | 17:bf614e28668f | 850 | sprintf(bottomline,"MOTOR"); |
jah128 | 15:66be5ec52c3b | 851 | break; |
jah128 | 4:1c621cb8cf0d | 852 | case 2: |
jah128 | 4:1c621cb8cf0d | 853 | sprintf(bottomline,"EXIT"); |
jah128 | 4:1c621cb8cf0d | 854 | break; |
jah128 | 4:1c621cb8cf0d | 855 | } |
jah128 | 0:d6269d17c8cf | 856 | break; |
jah128 | 0:d6269d17c8cf | 857 | } |
jah128 | 0:d6269d17c8cf | 858 | break; |
jah128 | 0:d6269d17c8cf | 859 | } |
jah128 | 0:d6269d17c8cf | 860 | display.write_string(topline); |
jah128 | 0:d6269d17c8cf | 861 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 862 | display.write_string(bottomline); |
jah128 | 16:50686c07ad07 | 863 | // Periodically update when on sensors menu |
jah128 | 16:50686c07ad07 | 864 | if(top_menu == 2 && level == 1) { |
jah128 | 11:312663037b8c | 865 | demo_event.attach(this,&Demo::demo_event_thread, 0.25); |
jah128 | 0:d6269d17c8cf | 866 | } |
jah128 | 0:d6269d17c8cf | 867 | } |
jah128 | 0:d6269d17c8cf | 868 | |
jah128 | 15:66be5ec52c3b | 869 | char test_step = 0; |
jah128 | 15:66be5ec52c3b | 870 | char test_substep = 0; |
jah128 | 15:66be5ec52c3b | 871 | char test_warnings = 0; |
jah128 | 15:66be5ec52c3b | 872 | |
jah128 | 15:66be5ec52c3b | 873 | |
jah128 | 15:66be5ec52c3b | 874 | void Demo::quick_test_cycle() |
jah128 | 15:66be5ec52c3b | 875 | { |
jah128 | 15:66be5ec52c3b | 876 | char next_step [] = {4,5,8,3}; |
jah128 | 15:66be5ec52c3b | 877 | char test_message [17]; |
jah128 | 15:66be5ec52c3b | 878 | int wait_period = SELF_TEST_PERIOD * 10; |
jah128 | 15:66be5ec52c3b | 879 | |
jah128 | 15:66be5ec52c3b | 880 | if(test_substep == 0) { |
jah128 | 15:66be5ec52c3b | 881 | display.clear_display(); |
jah128 | 15:66be5ec52c3b | 882 | switch(test_step) { |
jah128 | 15:66be5ec52c3b | 883 | case 0: |
jah128 | 15:66be5ec52c3b | 884 | display.write_string("01 - Power "); |
jah128 | 15:66be5ec52c3b | 885 | pc.printf("\nTest 01: Power quick tests [%f]\n",psi.get_uptime()); |
jah128 | 15:66be5ec52c3b | 886 | break; |
jah128 | 15:66be5ec52c3b | 887 | case 1: |
jah128 | 15:66be5ec52c3b | 888 | display.write_string("02 - Base IR "); |
jah128 | 15:66be5ec52c3b | 889 | pc.printf("\nTest 02: Base infrared tests [%f]\n",psi.get_uptime()); |
jah128 | 15:66be5ec52c3b | 890 | break; |
jah128 | 15:66be5ec52c3b | 891 | case 2: |
jah128 | 15:66be5ec52c3b | 892 | display.write_string("03 - Side IR "); |
jah128 | 15:66be5ec52c3b | 893 | pc.printf("\nTest 03: Side infrared tests [%f]\n",psi.get_uptime()); |
jah128 | 15:66be5ec52c3b | 894 | break; |
jah128 | 15:66be5ec52c3b | 895 | case 3: |
jah128 | 15:66be5ec52c3b | 896 | display.write_string("04 - LEDs "); |
jah128 | 15:66be5ec52c3b | 897 | pc.printf("\nTest 04: LED quick tests [%f]\n",psi.get_uptime()); |
jah128 | 15:66be5ec52c3b | 898 | break; |
jah128 | 15:66be5ec52c3b | 899 | } |
jah128 | 15:66be5ec52c3b | 900 | } |
jah128 | 15:66be5ec52c3b | 901 | if(test_step == 0) { |
jah128 | 15:66be5ec52c3b | 902 | // Power self-test |
jah128 | 15:66be5ec52c3b | 903 | switch(test_substep) { |
jah128 | 15:66be5ec52c3b | 904 | case 0: { // Battery Voltage |
jah128 | 15:66be5ec52c3b | 905 | float battery_voltages [SAMPLE_SIZE]; |
jah128 | 15:66be5ec52c3b | 906 | float mean_battery_voltage = 0; |
jah128 | 15:66be5ec52c3b | 907 | float sd_battery_voltage = 0; |
jah128 | 15:66be5ec52c3b | 908 | for(int i=0; i<SAMPLE_SIZE; i++) { |
jah128 | 15:66be5ec52c3b | 909 | battery_voltages[i]=sensors.get_battery_voltage (); |
jah128 | 15:66be5ec52c3b | 910 | mean_battery_voltage += battery_voltages[i]; |
jah128 | 15:66be5ec52c3b | 911 | wait_us(SELF_TEST_PERIOD); |
jah128 | 15:66be5ec52c3b | 912 | } |
jah128 | 15:66be5ec52c3b | 913 | mean_battery_voltage /= SAMPLE_SIZE; |
jah128 | 15:66be5ec52c3b | 914 | for(int i=0; i<SAMPLE_SIZE; ++i) sd_battery_voltage += pow(battery_voltages[i] - mean_battery_voltage, 2); |
jah128 | 15:66be5ec52c3b | 915 | sd_battery_voltage = sqrt(sd_battery_voltage/SAMPLE_SIZE); |
jah128 | 15:66be5ec52c3b | 916 | |
jah128 | 15:66be5ec52c3b | 917 | sprintf(test_message,"BATTERY: %1.3fV",mean_battery_voltage); |
jah128 | 15:66be5ec52c3b | 918 | pc.printf(" - Battery Voltage : %1.4fV [SD = % 1.4f]\n",mean_battery_voltage,sd_battery_voltage); |
jah128 | 15:66be5ec52c3b | 919 | if(mean_battery_voltage < 3.6) { |
jah128 | 15:66be5ec52c3b | 920 | pc.printf(" - WARNING : Battery voltage low\n"); |
jah128 | 15:66be5ec52c3b | 921 | test_warnings++; |
jah128 | 15:66be5ec52c3b | 922 | } |
jah128 | 15:66be5ec52c3b | 923 | break; |
jah128 | 15:66be5ec52c3b | 924 | } |
jah128 | 15:66be5ec52c3b | 925 | case 1: {// DC Voltage |
jah128 | 15:66be5ec52c3b | 926 | float dc_voltages [SAMPLE_SIZE]; |
jah128 | 15:66be5ec52c3b | 927 | float mean_dc_voltage = 0; |
jah128 | 15:66be5ec52c3b | 928 | float sd_dc_voltage = 0; |
jah128 | 15:66be5ec52c3b | 929 | for(int i=0; i<SAMPLE_SIZE; i++) { |
jah128 | 15:66be5ec52c3b | 930 | dc_voltages[i]=sensors.get_dc_voltage (); |
jah128 | 15:66be5ec52c3b | 931 | mean_dc_voltage += dc_voltages[i]; |
jah128 | 15:66be5ec52c3b | 932 | wait_us(SELF_TEST_PERIOD); |
jah128 | 15:66be5ec52c3b | 933 | } |
jah128 | 15:66be5ec52c3b | 934 | mean_dc_voltage /= SAMPLE_SIZE; |
jah128 | 15:66be5ec52c3b | 935 | for(int i=0; i<SAMPLE_SIZE; ++i) sd_dc_voltage += pow(dc_voltages[i] - mean_dc_voltage, 2); |
jah128 | 15:66be5ec52c3b | 936 | sd_dc_voltage = sqrt(sd_dc_voltage/SAMPLE_SIZE); |
jah128 | 15:66be5ec52c3b | 937 | |
jah128 | 15:66be5ec52c3b | 938 | sprintf(test_message,"DC : %1.3fV",mean_dc_voltage); |
jah128 | 15:66be5ec52c3b | 939 | pc.printf(" - DC Input Voltage : %1.4fV [SD = % 1.4f]\n",mean_dc_voltage,sd_dc_voltage); |
jah128 | 15:66be5ec52c3b | 940 | if(mean_dc_voltage < 0.5) { |
jah128 | 15:66be5ec52c3b | 941 | pc.printf(" - WARNING : DC voltage low - check charging resistor\n"); |
jah128 | 15:66be5ec52c3b | 942 | test_warnings++; |
jah128 | 15:66be5ec52c3b | 943 | } |
jah128 | 15:66be5ec52c3b | 944 | break; |
jah128 | 15:66be5ec52c3b | 945 | } |
jah128 | 15:66be5ec52c3b | 946 | |
jah128 | 15:66be5ec52c3b | 947 | |
jah128 | 15:66be5ec52c3b | 948 | case 2: { // Current |
jah128 | 15:66be5ec52c3b | 949 | float currents [SAMPLE_SIZE]; |
jah128 | 15:66be5ec52c3b | 950 | float mean_current = 0; |
jah128 | 15:66be5ec52c3b | 951 | float sd_current = 0; |
jah128 | 15:66be5ec52c3b | 952 | for(int i=0; i<SAMPLE_SIZE; i++) { |
jah128 | 15:66be5ec52c3b | 953 | currents[i]=sensors.get_current (); |
jah128 | 15:66be5ec52c3b | 954 | mean_current += currents[i]; |
jah128 | 15:66be5ec52c3b | 955 | wait_us(SELF_TEST_PERIOD); |
jah128 | 15:66be5ec52c3b | 956 | } |
jah128 | 15:66be5ec52c3b | 957 | mean_current /= SAMPLE_SIZE; |
jah128 | 15:66be5ec52c3b | 958 | for(int i=0; i<SAMPLE_SIZE; ++i) sd_current += pow(currents[i] - mean_current, 2); |
jah128 | 15:66be5ec52c3b | 959 | sd_current = sqrt(sd_current/SAMPLE_SIZE); |
jah128 | 15:66be5ec52c3b | 960 | |
jah128 | 15:66be5ec52c3b | 961 | sprintf(test_message,"CURRENT: %1.3fV",mean_current); |
jah128 | 15:66be5ec52c3b | 962 | pc.printf(" - Load Current : %1.4fA [SD = % 1.4f]\n",mean_current,sd_current); |
jah128 | 15:66be5ec52c3b | 963 | if(mean_current > 0.2) { |
jah128 | 15:66be5ec52c3b | 964 | pc.printf(" - WARNING : Higher than expected load current\n"); |
jah128 | 15:66be5ec52c3b | 965 | test_warnings++; |
jah128 | 15:66be5ec52c3b | 966 | } |
jah128 | 15:66be5ec52c3b | 967 | break; |
jah128 | 15:66be5ec52c3b | 968 | } |
jah128 | 15:66be5ec52c3b | 969 | |
jah128 | 15:66be5ec52c3b | 970 | case 3: {// System temperature |
jah128 | 15:66be5ec52c3b | 971 | float temps[SAMPLE_SIZE]; |
jah128 | 15:66be5ec52c3b | 972 | float mean_temp = 0; |
jah128 | 15:66be5ec52c3b | 973 | float sd_temp = 0; |
jah128 | 15:66be5ec52c3b | 974 | for(int i=0; i<SAMPLE_SIZE; i++) { |
jah128 | 15:66be5ec52c3b | 975 | temps[i]=sensors.get_temperature(); |
jah128 | 15:66be5ec52c3b | 976 | mean_temp += temps[i]; |
jah128 | 15:66be5ec52c3b | 977 | wait_us(SELF_TEST_PERIOD); |
jah128 | 15:66be5ec52c3b | 978 | } |
jah128 | 15:66be5ec52c3b | 979 | mean_temp /= SAMPLE_SIZE; |
jah128 | 15:66be5ec52c3b | 980 | for(int i=0; i<SAMPLE_SIZE; ++i) sd_temp += pow(temps[i] - mean_temp, 2); |
jah128 | 15:66be5ec52c3b | 981 | sd_temp = sqrt(sd_temp/SAMPLE_SIZE); |
jah128 | 15:66be5ec52c3b | 982 | |
jah128 | 15:66be5ec52c3b | 983 | sprintf(test_message,"TEMP : %3.2fC",mean_temp); |
jah128 | 15:66be5ec52c3b | 984 | pc.printf(" - System Temperature : %3.2fC [SD = % 1.4f]\n",mean_temp,sd_temp); |
jah128 | 15:66be5ec52c3b | 985 | if(mean_temp > 32) { |
jah128 | 15:66be5ec52c3b | 986 | pc.printf(" - WARNING : High system temperature detected\n"); |
jah128 | 15:66be5ec52c3b | 987 | test_warnings++; |
jah128 | 15:66be5ec52c3b | 988 | } |
jah128 | 15:66be5ec52c3b | 989 | if(mean_temp < 10) { |
jah128 | 15:66be5ec52c3b | 990 | pc.printf(" - WARNING : Low system temperature detected\n"); |
jah128 | 15:66be5ec52c3b | 991 | test_warnings++; |
jah128 | 15:66be5ec52c3b | 992 | } |
jah128 | 15:66be5ec52c3b | 993 | break; |
jah128 | 15:66be5ec52c3b | 994 | } |
jah128 | 15:66be5ec52c3b | 995 | } |
jah128 | 15:66be5ec52c3b | 996 | } |
jah128 | 15:66be5ec52c3b | 997 | |
jah128 | 15:66be5ec52c3b | 998 | display.set_position(1,0); |
jah128 | 15:66be5ec52c3b | 999 | display.write_string(" "); |
jah128 | 15:66be5ec52c3b | 1000 | display.set_position(1,0); |
jah128 | 15:66be5ec52c3b | 1001 | display.write_string(test_message); |
jah128 | 15:66be5ec52c3b | 1002 | test_substep++; |
jah128 | 15:66be5ec52c3b | 1003 | if(test_substep >= next_step[test_step]) { |
jah128 | 15:66be5ec52c3b | 1004 | test_substep = 0; |
jah128 | 15:66be5ec52c3b | 1005 | test_step ++; |
jah128 | 15:66be5ec52c3b | 1006 | if(test_step == 4) test_step = 0; |
jah128 | 15:66be5ec52c3b | 1007 | } |
jah128 | 15:66be5ec52c3b | 1008 | |
jah128 | 15:66be5ec52c3b | 1009 | demo_timeout.attach_us(this,&Demo::quick_test_cycle, wait_period); |
jah128 | 15:66be5ec52c3b | 1010 | } |
jah128 | 15:66be5ec52c3b | 1011 | |
jah128 | 15:66be5ec52c3b | 1012 | void Demo::toggle_quick_test() |
jah128 | 15:66be5ec52c3b | 1013 | { |
jah128 | 15:66be5ec52c3b | 1014 | quick_test = 1 - quick_test; |
jah128 | 15:66be5ec52c3b | 1015 | if(quick_test == 0) { |
jah128 | 15:66be5ec52c3b | 1016 | pc.printf("________________________________________\n"); |
jah128 | 15:66be5ec52c3b | 1017 | pc.printf("Self test stopped at %f with %d warnings\n\n",psi.get_uptime(),test_warnings); |
jah128 | 15:66be5ec52c3b | 1018 | demo_running = 0; |
jah128 | 15:66be5ec52c3b | 1019 | demo_timeout.detach(); |
jah128 | 15:66be5ec52c3b | 1020 | display.set_backlight_brightness(1); |
jah128 | 15:66be5ec52c3b | 1021 | display.clear_display(); |
jah128 | 15:66be5ec52c3b | 1022 | display.write_string("---QUICK TEST---"); |
jah128 | 15:66be5ec52c3b | 1023 | |
jah128 | 15:66be5ec52c3b | 1024 | |
jah128 | 15:66be5ec52c3b | 1025 | } else { |
jah128 | 15:66be5ec52c3b | 1026 | // Reset all LEDs, motors, display |
jah128 | 15:66be5ec52c3b | 1027 | pc.printf("\n________________________________________\n"); |
jah128 | 15:66be5ec52c3b | 1028 | pc.printf("Self test started at %f\n\n",psi.get_uptime(),test_warnings); |
jah128 | 15:66be5ec52c3b | 1029 | display.clear_display(); |
jah128 | 15:66be5ec52c3b | 1030 | test_step = 0; |
jah128 | 15:66be5ec52c3b | 1031 | test_substep = 0; |
jah128 | 15:66be5ec52c3b | 1032 | demo_running = 1; |
jah128 | 15:66be5ec52c3b | 1033 | demo_timeout.attach_us(this,&Demo::quick_test_cycle,1000); |
jah128 | 15:66be5ec52c3b | 1034 | } |
jah128 | 15:66be5ec52c3b | 1035 | } |
jah128 | 15:66be5ec52c3b | 1036 | |
jah128 | 11:312663037b8c | 1037 | void Demo::start_line_demo() |
jah128 | 0:d6269d17c8cf | 1038 | { |
jah128 | 0:d6269d17c8cf | 1039 | display.set_backlight_brightness(0); |
jah128 | 0:d6269d17c8cf | 1040 | time_out = 0.25f; |
jah128 | 0:d6269d17c8cf | 1041 | demo_timer.start(); |
jah128 | 0:d6269d17c8cf | 1042 | state = 0; |
jah128 | 0:d6269d17c8cf | 1043 | speed = 0; |
jah128 | 0:d6269d17c8cf | 1044 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1045 | demo_running = 1; |
jah128 | 11:312663037b8c | 1046 | demo_timeout.attach_us(this,&Demo::line_demo_cycle,1000); |
jah128 | 0:d6269d17c8cf | 1047 | } |
jah128 | 0:d6269d17c8cf | 1048 | |
jah128 | 11:312663037b8c | 1049 | void Demo::start_obstacle_demo() |
jah128 | 0:d6269d17c8cf | 1050 | { |
jah128 | 0:d6269d17c8cf | 1051 | display.set_backlight_brightness(0); |
jah128 | 0:d6269d17c8cf | 1052 | time_out = 0.25f; |
jah128 | 0:d6269d17c8cf | 1053 | demo_timer.start(); |
jah128 | 0:d6269d17c8cf | 1054 | state = 0; |
jah128 | 0:d6269d17c8cf | 1055 | speed = 0; |
jah128 | 0:d6269d17c8cf | 1056 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1057 | demo_running = 1; |
jah128 | 11:312663037b8c | 1058 | demo_timeout.attach_us(this,&Demo::obstacle_demo_cycle,1000); |
jah128 | 0:d6269d17c8cf | 1059 | } |
jah128 | 0:d6269d17c8cf | 1060 | |
jah128 | 16:50686c07ad07 | 1061 | void Demo::start_colour_demo() |
jah128 | 16:50686c07ad07 | 1062 | { |
jah128 | 16:50686c07ad07 | 1063 | display.set_backlight_brightness(0); |
jah128 | 16:50686c07ad07 | 1064 | time_out = 0.25f; |
jah128 | 16:50686c07ad07 | 1065 | demo_timer.start(); |
jah128 | 16:50686c07ad07 | 1066 | state = 0; |
jah128 | 16:50686c07ad07 | 1067 | speed = 0; |
jah128 | 16:50686c07ad07 | 1068 | led_step = 0; |
jah128 | 16:50686c07ad07 | 1069 | demo_running = 1; |
jah128 | 16:50686c07ad07 | 1070 | colour.start_colour_ticker(100); |
jah128 | 16:50686c07ad07 | 1071 | demo_timeout.attach_us(this,&Demo::colour_demo_cycle,1000); |
jah128 | 16:50686c07ad07 | 1072 | } |
jah128 | 16:50686c07ad07 | 1073 | |
jah128 | 11:312663037b8c | 1074 | void Demo::start_stress_demo() |
jah128 | 0:d6269d17c8cf | 1075 | { |
jah128 | 0:d6269d17c8cf | 1076 | display.set_backlight_brightness(0.25); |
jah128 | 0:d6269d17c8cf | 1077 | display.write_string("STRESS TEST"); |
jah128 | 0:d6269d17c8cf | 1078 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 1079 | display.write_string("----25%----"); |
jah128 | 0:d6269d17c8cf | 1080 | time_out = 0.04f; |
jah128 | 0:d6269d17c8cf | 1081 | demo_timer.start(); |
jah128 | 0:d6269d17c8cf | 1082 | state = 0; |
jah128 | 0:d6269d17c8cf | 1083 | speed = 0; |
jah128 | 0:d6269d17c8cf | 1084 | stress_step = 0; |
jah128 | 0:d6269d17c8cf | 1085 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 1086 | demo_running = 1; |
jah128 | 11:312663037b8c | 1087 | demo_timeout.attach_us(this,&Demo::stress_demo_cycle,1000); |
jah128 | 0:d6269d17c8cf | 1088 | } |
jah128 | 0:d6269d17c8cf | 1089 | |
jah128 | 11:312663037b8c | 1090 | void Demo::start_spinning_demo() |
jah128 | 0:d6269d17c8cf | 1091 | { |
jah128 | 0:d6269d17c8cf | 1092 | display.set_backlight_brightness(0); |
jah128 | 0:d6269d17c8cf | 1093 | time_out = 0.0f; |
jah128 | 0:d6269d17c8cf | 1094 | demo_timer.start(); |
jah128 | 0:d6269d17c8cf | 1095 | state = 0; |
jah128 | 0:d6269d17c8cf | 1096 | speed = 0; |
jah128 | 0:d6269d17c8cf | 1097 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1098 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 1099 | demo_running = 1; |
jah128 | 11:312663037b8c | 1100 | demo_timeout.attach_us(this,&Demo::spinning_demo_cycle,1000); |
jah128 | 0:d6269d17c8cf | 1101 | } |
jah128 | 0:d6269d17c8cf | 1102 | |
jah128 | 11:312663037b8c | 1103 | void Demo::line_demo_cycle() |
jah128 | 0:d6269d17c8cf | 1104 | { |
jah128 | 0:d6269d17c8cf | 1105 | if(demo_timer.read() > time_out) { |
jah128 | 10:e58323951c08 | 1106 | sensors.store_line_position(); |
jah128 | 0:d6269d17c8cf | 1107 | if(line_found) { |
jah128 | 0:d6269d17c8cf | 1108 | time_out = 0.01f; |
jah128 | 0:d6269d17c8cf | 1109 | state = 0; |
jah128 | 0:d6269d17c8cf | 1110 | // Get the position of the line. |
jah128 | 0:d6269d17c8cf | 1111 | lf_current_pos_of_line = line_position; |
jah128 | 0:d6269d17c8cf | 1112 | lf_proportional = lf_current_pos_of_line; |
jah128 | 0:d6269d17c8cf | 1113 | |
jah128 | 0:d6269d17c8cf | 1114 | // Compute the derivative |
jah128 | 0:d6269d17c8cf | 1115 | lf_derivative = lf_current_pos_of_line - lf_previous_pos_of_line; |
jah128 | 0:d6269d17c8cf | 1116 | |
jah128 | 0:d6269d17c8cf | 1117 | // Compute the integral |
jah128 | 0:d6269d17c8cf | 1118 | lf_integral += lf_proportional; |
jah128 | 0:d6269d17c8cf | 1119 | |
jah128 | 0:d6269d17c8cf | 1120 | // Remember the last position. |
jah128 | 0:d6269d17c8cf | 1121 | lf_previous_pos_of_line = lf_current_pos_of_line; |
jah128 | 0:d6269d17c8cf | 1122 | |
jah128 | 0:d6269d17c8cf | 1123 | // Compute the power |
jah128 | 0:d6269d17c8cf | 1124 | lf_power = (lf_proportional * (LF_P_TERM) ) + (lf_integral*(LF_I_TERM)) + (lf_derivative*(LF_D_TERM)) ; |
jah128 | 0:d6269d17c8cf | 1125 | |
jah128 | 0:d6269d17c8cf | 1126 | // Compute new speeds |
jah128 | 0:d6269d17c8cf | 1127 | lf_right = lf_speed-lf_power; |
jah128 | 0:d6269d17c8cf | 1128 | lf_left = lf_speed+lf_power; |
jah128 | 0:d6269d17c8cf | 1129 | |
jah128 | 0:d6269d17c8cf | 1130 | // limit checks |
jah128 | 0:d6269d17c8cf | 1131 | if (lf_right < 0) |
jah128 | 0:d6269d17c8cf | 1132 | lf_right = 0; |
jah128 | 0:d6269d17c8cf | 1133 | else if (lf_right > 1.0f) |
jah128 | 0:d6269d17c8cf | 1134 | lf_right = 1.0f; |
jah128 | 0:d6269d17c8cf | 1135 | |
jah128 | 0:d6269d17c8cf | 1136 | if (lf_left < 0) |
jah128 | 0:d6269d17c8cf | 1137 | lf_left = 0; |
jah128 | 0:d6269d17c8cf | 1138 | else if (lf_left > 1.0f) |
jah128 | 0:d6269d17c8cf | 1139 | lf_left = 1.0f; |
jah128 | 15:66be5ec52c3b | 1140 | } else { |
jah128 | 15:66be5ec52c3b | 1141 | //Cannot see line: hunt for it |
jah128 | 15:66be5ec52c3b | 1142 | if(lf_left > lf_right) { |
jah128 | 15:66be5ec52c3b | 1143 | //Currently turning left, keep turning left |
jah128 | 15:66be5ec52c3b | 1144 | state ++; |
jah128 | 15:66be5ec52c3b | 1145 | float d_step = state * 0.04; |
jah128 | 15:66be5ec52c3b | 1146 | lf_left = 0.2 + d_step; |
jah128 | 15:66be5ec52c3b | 1147 | lf_right = -0.2 - d_step; |
jah128 | 15:66be5ec52c3b | 1148 | if(state > 20) { |
jah128 | 15:66be5ec52c3b | 1149 | state = 0; |
jah128 | 15:66be5ec52c3b | 1150 | lf_right = 0.2; |
jah128 | 15:66be5ec52c3b | 1151 | lf_left = -0.2; |
jah128 | 15:66be5ec52c3b | 1152 | time_out += 0.01f; |
jah128 | 15:66be5ec52c3b | 1153 | if(time_out > 0.1f) demo_running = 0; |
jah128 | 15:66be5ec52c3b | 1154 | } |
jah128 | 15:66be5ec52c3b | 1155 | } else { |
jah128 | 15:66be5ec52c3b | 1156 | //Currently turning right, keep turning right |
jah128 | 15:66be5ec52c3b | 1157 | state ++; |
jah128 | 15:66be5ec52c3b | 1158 | float d_step = state * 0.04; |
jah128 | 15:66be5ec52c3b | 1159 | lf_left = -0.2 - d_step; |
jah128 | 15:66be5ec52c3b | 1160 | lf_right = 0.2 + d_step; |
jah128 | 15:66be5ec52c3b | 1161 | if(state > 20) { |
jah128 | 15:66be5ec52c3b | 1162 | state = 0; |
jah128 | 15:66be5ec52c3b | 1163 | lf_right = -0.2; |
jah128 | 15:66be5ec52c3b | 1164 | lf_left = 0.2; |
jah128 | 15:66be5ec52c3b | 1165 | time_out += 0.01f; |
jah128 | 15:66be5ec52c3b | 1166 | if(time_out > 0.1f) demo_running = 0; |
jah128 | 15:66be5ec52c3b | 1167 | } |
jah128 | 0:d6269d17c8cf | 1168 | } |
jah128 | 0:d6269d17c8cf | 1169 | } |
jah128 | 0:d6269d17c8cf | 1170 | // set speed |
jah128 | 8:6c92789d5f87 | 1171 | motors.set_left_motor_speed(lf_left); |
jah128 | 8:6c92789d5f87 | 1172 | motors.set_right_motor_speed(lf_right); |
jah128 | 0:d6269d17c8cf | 1173 | |
jah128 | 0:d6269d17c8cf | 1174 | |
jah128 | 0:d6269d17c8cf | 1175 | demo_timer.reset(); |
jah128 | 0:d6269d17c8cf | 1176 | } |
jah128 | 11:312663037b8c | 1177 | if(demo_running == 1)demo_timeout.attach_us(this,&Demo::line_demo_cycle,500); |
jah128 | 0:d6269d17c8cf | 1178 | else { |
jah128 | 8:6c92789d5f87 | 1179 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 1180 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:d6269d17c8cf | 1181 | } |
jah128 | 0:d6269d17c8cf | 1182 | } |
jah128 | 0:d6269d17c8cf | 1183 | |
jah128 | 11:312663037b8c | 1184 | void Demo::stress_demo_cycle() |
jah128 | 0:d6269d17c8cf | 1185 | { |
jah128 | 0:d6269d17c8cf | 1186 | if(demo_timer.read() > time_out) { |
jah128 | 0:d6269d17c8cf | 1187 | float pct = 0.25 + (0.25 * stress_step); |
jah128 | 0:d6269d17c8cf | 1188 | switch(state) { |
jah128 | 0:d6269d17c8cf | 1189 | case 0: |
jah128 | 0:d6269d17c8cf | 1190 | if(spin_step % 2 == 0) { |
jah128 | 8:6c92789d5f87 | 1191 | motors.forward(pct); |
jah128 | 9:dde9e21030eb | 1192 | led.set_leds(0xFF,0xFF); |
jah128 | 0:d6269d17c8cf | 1193 | } else { |
jah128 | 8:6c92789d5f87 | 1194 | motors.backward(pct); |
jah128 | 9:dde9e21030eb | 1195 | led.set_leds(0,0xFF); |
jah128 | 0:d6269d17c8cf | 1196 | } |
jah128 | 0:d6269d17c8cf | 1197 | spin_step ++; |
jah128 | 0:d6269d17c8cf | 1198 | if(spin_step > 199) { |
jah128 | 0:d6269d17c8cf | 1199 | state ++; |
jah128 | 0:d6269d17c8cf | 1200 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 1201 | } |
jah128 | 0:d6269d17c8cf | 1202 | break; |
jah128 | 0:d6269d17c8cf | 1203 | case 1: |
jah128 | 0:d6269d17c8cf | 1204 | if(stress_step < 3) stress_step ++; |
jah128 | 0:d6269d17c8cf | 1205 | float pct = 0.25 + (0.25 * stress_step); |
jah128 | 0:d6269d17c8cf | 1206 | display.set_backlight_brightness(pct); |
jah128 | 0:d6269d17c8cf | 1207 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 1208 | switch(stress_step) { |
jah128 | 0:d6269d17c8cf | 1209 | case 1: |
jah128 | 0:d6269d17c8cf | 1210 | display.write_string("----50%----"); |
jah128 | 0:d6269d17c8cf | 1211 | break; |
jah128 | 0:d6269d17c8cf | 1212 | case 2: |
jah128 | 0:d6269d17c8cf | 1213 | display.write_string("----75%----"); |
jah128 | 0:d6269d17c8cf | 1214 | break; |
jah128 | 0:d6269d17c8cf | 1215 | case 3: |
jah128 | 0:d6269d17c8cf | 1216 | display.write_string("---100%----"); |
jah128 | 0:d6269d17c8cf | 1217 | break; |
jah128 | 0:d6269d17c8cf | 1218 | } |
jah128 | 0:d6269d17c8cf | 1219 | state = 0; |
jah128 | 0:d6269d17c8cf | 1220 | break; |
jah128 | 0:d6269d17c8cf | 1221 | } |
jah128 | 0:d6269d17c8cf | 1222 | demo_timer.reset(); |
jah128 | 0:d6269d17c8cf | 1223 | } |
jah128 | 11:312663037b8c | 1224 | if(demo_running == 1)demo_timeout.attach_us(this,&Demo::stress_demo_cycle,500); |
jah128 | 0:d6269d17c8cf | 1225 | else { |
jah128 | 8:6c92789d5f87 | 1226 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 1227 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:d6269d17c8cf | 1228 | } |
jah128 | 0:d6269d17c8cf | 1229 | } |
jah128 | 0:d6269d17c8cf | 1230 | |
jah128 | 11:312663037b8c | 1231 | void Demo::spinning_demo_cycle() |
jah128 | 0:d6269d17c8cf | 1232 | { |
jah128 | 0:d6269d17c8cf | 1233 | if(demo_timer.read() > time_out) { |
jah128 | 0:d6269d17c8cf | 1234 | switch(state) { |
jah128 | 0:d6269d17c8cf | 1235 | case 0: //Robot is stopped |
jah128 | 9:dde9e21030eb | 1236 | led.set_leds(0,0xFF); |
jah128 | 9:dde9e21030eb | 1237 | led.set_center_led(1,1); |
jah128 | 0:d6269d17c8cf | 1238 | speed = 0.1f; |
jah128 | 8:6c92789d5f87 | 1239 | motors.brake(); |
jah128 | 0:d6269d17c8cf | 1240 | time_out = 0.5; |
jah128 | 0:d6269d17c8cf | 1241 | state = 1; |
jah128 | 0:d6269d17c8cf | 1242 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1243 | break; |
jah128 | 0:d6269d17c8cf | 1244 | case 1: //Motor is turning right, accelerating |
jah128 | 0:d6269d17c8cf | 1245 | time_out = 0.1; |
jah128 | 9:dde9e21030eb | 1246 | led.set_center_led(2,1); |
jah128 | 0:d6269d17c8cf | 1247 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1248 | case 0: |
jah128 | 9:dde9e21030eb | 1249 | led.set_leds(0x01,0); |
jah128 | 0:d6269d17c8cf | 1250 | break; |
jah128 | 0:d6269d17c8cf | 1251 | case 1: |
jah128 | 9:dde9e21030eb | 1252 | led.set_leds(0x02,0); |
jah128 | 0:d6269d17c8cf | 1253 | break; |
jah128 | 0:d6269d17c8cf | 1254 | case 2: |
jah128 | 9:dde9e21030eb | 1255 | led.set_leds(0x04,0); |
jah128 | 0:d6269d17c8cf | 1256 | break; |
jah128 | 0:d6269d17c8cf | 1257 | case 3: |
jah128 | 9:dde9e21030eb | 1258 | led.set_leds(0x08,0); |
jah128 | 0:d6269d17c8cf | 1259 | break; |
jah128 | 0:d6269d17c8cf | 1260 | case 4: |
jah128 | 9:dde9e21030eb | 1261 | led.set_leds(0x10,0); |
jah128 | 0:d6269d17c8cf | 1262 | break; |
jah128 | 0:d6269d17c8cf | 1263 | case 5: |
jah128 | 9:dde9e21030eb | 1264 | led.set_leds(0x20,0); |
jah128 | 0:d6269d17c8cf | 1265 | break; |
jah128 | 0:d6269d17c8cf | 1266 | case 6: |
jah128 | 9:dde9e21030eb | 1267 | led.set_leds(0x40,0); |
jah128 | 0:d6269d17c8cf | 1268 | break; |
jah128 | 0:d6269d17c8cf | 1269 | case 7: |
jah128 | 9:dde9e21030eb | 1270 | led.set_leds(0x80,0); |
jah128 | 0:d6269d17c8cf | 1271 | break; |
jah128 | 0:d6269d17c8cf | 1272 | } |
jah128 | 0:d6269d17c8cf | 1273 | led_step ++; |
jah128 | 0:d6269d17c8cf | 1274 | if(led_step == 8) led_step =0; |
jah128 | 0:d6269d17c8cf | 1275 | if(speed < 1) { |
jah128 | 0:d6269d17c8cf | 1276 | speed += 0.0125; |
jah128 | 8:6c92789d5f87 | 1277 | motors.turn(speed); |
jah128 | 0:d6269d17c8cf | 1278 | } else { |
jah128 | 0:d6269d17c8cf | 1279 | state = 2; |
jah128 | 0:d6269d17c8cf | 1280 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 1281 | led_step =0; |
jah128 | 0:d6269d17c8cf | 1282 | } |
jah128 | 0:d6269d17c8cf | 1283 | break; |
jah128 | 0:d6269d17c8cf | 1284 | case 2: //Motor is turning right, full speed |
jah128 | 9:dde9e21030eb | 1285 | led.set_center_led(3,1); |
jah128 | 0:d6269d17c8cf | 1286 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1287 | case 0: |
jah128 | 9:dde9e21030eb | 1288 | led.set_leds(0x33,0x33); |
jah128 | 0:d6269d17c8cf | 1289 | break; |
jah128 | 0:d6269d17c8cf | 1290 | case 1: |
jah128 | 9:dde9e21030eb | 1291 | led.set_leds(0x66,0x66); |
jah128 | 0:d6269d17c8cf | 1292 | break; |
jah128 | 0:d6269d17c8cf | 1293 | case 2: |
jah128 | 9:dde9e21030eb | 1294 | led.set_leds(0xCC,0xCC); |
jah128 | 0:d6269d17c8cf | 1295 | break; |
jah128 | 0:d6269d17c8cf | 1296 | case 3: |
jah128 | 9:dde9e21030eb | 1297 | led.set_leds(0x99,0x99); |
jah128 | 0:d6269d17c8cf | 1298 | break; |
jah128 | 0:d6269d17c8cf | 1299 | } |
jah128 | 0:d6269d17c8cf | 1300 | led_step ++; |
jah128 | 0:d6269d17c8cf | 1301 | if(led_step == 4) led_step = 0; |
jah128 | 0:d6269d17c8cf | 1302 | spin_step ++; |
jah128 | 0:d6269d17c8cf | 1303 | if(spin_step == 40) { |
jah128 | 0:d6269d17c8cf | 1304 | state = 3; |
jah128 | 0:d6269d17c8cf | 1305 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1306 | } |
jah128 | 0:d6269d17c8cf | 1307 | break; |
jah128 | 0:d6269d17c8cf | 1308 | case 3: //Motor is turning right, decelerating |
jah128 | 9:dde9e21030eb | 1309 | led.set_center_led(2,1); |
jah128 | 0:d6269d17c8cf | 1310 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1311 | case 0: |
jah128 | 9:dde9e21030eb | 1312 | led.set_leds(0x01,0); |
jah128 | 0:d6269d17c8cf | 1313 | break; |
jah128 | 0:d6269d17c8cf | 1314 | case 1: |
jah128 | 9:dde9e21030eb | 1315 | led.set_leds(0x02,0); |
jah128 | 0:d6269d17c8cf | 1316 | break; |
jah128 | 0:d6269d17c8cf | 1317 | case 2: |
jah128 | 9:dde9e21030eb | 1318 | led.set_leds(0x04,0); |
jah128 | 0:d6269d17c8cf | 1319 | break; |
jah128 | 0:d6269d17c8cf | 1320 | case 3: |
jah128 | 9:dde9e21030eb | 1321 | led.set_leds(0x08,0); |
jah128 | 0:d6269d17c8cf | 1322 | break; |
jah128 | 0:d6269d17c8cf | 1323 | case 4: |
jah128 | 9:dde9e21030eb | 1324 | led.set_leds(0x10,0); |
jah128 | 0:d6269d17c8cf | 1325 | break; |
jah128 | 0:d6269d17c8cf | 1326 | case 5: |
jah128 | 9:dde9e21030eb | 1327 | led.set_leds(0x20,0); |
jah128 | 0:d6269d17c8cf | 1328 | break; |
jah128 | 0:d6269d17c8cf | 1329 | case 6: |
jah128 | 9:dde9e21030eb | 1330 | led.set_leds(0x40,0); |
jah128 | 0:d6269d17c8cf | 1331 | break; |
jah128 | 0:d6269d17c8cf | 1332 | case 7: |
jah128 | 9:dde9e21030eb | 1333 | led.set_leds(0x80,0); |
jah128 | 0:d6269d17c8cf | 1334 | break; |
jah128 | 0:d6269d17c8cf | 1335 | } |
jah128 | 0:d6269d17c8cf | 1336 | if(led_step == 0) led_step =8; |
jah128 | 0:d6269d17c8cf | 1337 | led_step --; |
jah128 | 0:d6269d17c8cf | 1338 | if(speed > 0.1) { |
jah128 | 0:d6269d17c8cf | 1339 | speed -= 0.025; |
jah128 | 8:6c92789d5f87 | 1340 | motors.turn(speed); |
jah128 | 0:d6269d17c8cf | 1341 | } else { |
jah128 | 0:d6269d17c8cf | 1342 | state = 4; |
jah128 | 0:d6269d17c8cf | 1343 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 1344 | led_step =0; |
jah128 | 0:d6269d17c8cf | 1345 | } |
jah128 | 0:d6269d17c8cf | 1346 | break; |
jah128 | 0:d6269d17c8cf | 1347 | case 4: //Robot is stopped |
jah128 | 9:dde9e21030eb | 1348 | led.set_leds(0,0xFF); |
jah128 | 9:dde9e21030eb | 1349 | led.set_center_led(1,1); |
jah128 | 0:d6269d17c8cf | 1350 | speed = 0.1f; |
jah128 | 8:6c92789d5f87 | 1351 | motors.brake(); |
jah128 | 0:d6269d17c8cf | 1352 | time_out = 0.5; |
jah128 | 0:d6269d17c8cf | 1353 | led_step =0; |
jah128 | 0:d6269d17c8cf | 1354 | state = 5; |
jah128 | 0:d6269d17c8cf | 1355 | break; |
jah128 | 0:d6269d17c8cf | 1356 | case 5: //Motor is turning left, accelerating |
jah128 | 0:d6269d17c8cf | 1357 | time_out = 0.1; |
jah128 | 9:dde9e21030eb | 1358 | led.set_center_led(2,1); |
jah128 | 0:d6269d17c8cf | 1359 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1360 | case 0: |
jah128 | 9:dde9e21030eb | 1361 | led.set_leds(0x01,0); |
jah128 | 0:d6269d17c8cf | 1362 | break; |
jah128 | 0:d6269d17c8cf | 1363 | case 1: |
jah128 | 9:dde9e21030eb | 1364 | led.set_leds(0x02,0); |
jah128 | 0:d6269d17c8cf | 1365 | break; |
jah128 | 0:d6269d17c8cf | 1366 | case 2: |
jah128 | 9:dde9e21030eb | 1367 | led.set_leds(0x04,0); |
jah128 | 0:d6269d17c8cf | 1368 | break; |
jah128 | 0:d6269d17c8cf | 1369 | case 3: |
jah128 | 9:dde9e21030eb | 1370 | led.set_leds(0x08,0); |
jah128 | 0:d6269d17c8cf | 1371 | break; |
jah128 | 0:d6269d17c8cf | 1372 | case 4: |
jah128 | 9:dde9e21030eb | 1373 | led.set_leds(0x10,0); |
jah128 | 0:d6269d17c8cf | 1374 | break; |
jah128 | 0:d6269d17c8cf | 1375 | case 5: |
jah128 | 9:dde9e21030eb | 1376 | led.set_leds(0x20,0); |
jah128 | 0:d6269d17c8cf | 1377 | break; |
jah128 | 0:d6269d17c8cf | 1378 | case 6: |
jah128 | 9:dde9e21030eb | 1379 | led.set_leds(0x40,0); |
jah128 | 0:d6269d17c8cf | 1380 | break; |
jah128 | 0:d6269d17c8cf | 1381 | case 7: |
jah128 | 9:dde9e21030eb | 1382 | led.set_leds(0x80,0); |
jah128 | 0:d6269d17c8cf | 1383 | break; |
jah128 | 0:d6269d17c8cf | 1384 | } |
jah128 | 0:d6269d17c8cf | 1385 | if(led_step == 0) led_step =8; |
jah128 | 0:d6269d17c8cf | 1386 | led_step --; |
jah128 | 0:d6269d17c8cf | 1387 | if(speed < 1) { |
jah128 | 0:d6269d17c8cf | 1388 | speed += 0.0125; |
jah128 | 8:6c92789d5f87 | 1389 | motors.turn(-speed); |
jah128 | 0:d6269d17c8cf | 1390 | } else { |
jah128 | 0:d6269d17c8cf | 1391 | state = 6; |
jah128 | 0:d6269d17c8cf | 1392 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 1393 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1394 | } |
jah128 | 0:d6269d17c8cf | 1395 | break; |
jah128 | 0:d6269d17c8cf | 1396 | case 6: //Motor is turning left, full speed |
jah128 | 9:dde9e21030eb | 1397 | led.set_center_led(3,1); |
jah128 | 0:d6269d17c8cf | 1398 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1399 | case 0: |
jah128 | 9:dde9e21030eb | 1400 | led.set_leds(0x33,0x33); |
jah128 | 0:d6269d17c8cf | 1401 | break; |
jah128 | 0:d6269d17c8cf | 1402 | case 1: |
jah128 | 9:dde9e21030eb | 1403 | led.set_leds(0x66,0x66); |
jah128 | 0:d6269d17c8cf | 1404 | break; |
jah128 | 0:d6269d17c8cf | 1405 | case 2: |
jah128 | 9:dde9e21030eb | 1406 | led.set_leds(0xCC,0xCC); |
jah128 | 0:d6269d17c8cf | 1407 | break; |
jah128 | 0:d6269d17c8cf | 1408 | case 3: |
jah128 | 9:dde9e21030eb | 1409 | led.set_leds(0x99,0x99); |
jah128 | 0:d6269d17c8cf | 1410 | break; |
jah128 | 0:d6269d17c8cf | 1411 | } |
jah128 | 0:d6269d17c8cf | 1412 | if(led_step == 0) led_step = 4; |
jah128 | 0:d6269d17c8cf | 1413 | led_step --; |
jah128 | 0:d6269d17c8cf | 1414 | spin_step ++; |
jah128 | 0:d6269d17c8cf | 1415 | if(spin_step == 40) { |
jah128 | 0:d6269d17c8cf | 1416 | state = 7; |
jah128 | 0:d6269d17c8cf | 1417 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1418 | } |
jah128 | 0:d6269d17c8cf | 1419 | break; |
jah128 | 0:d6269d17c8cf | 1420 | case 7: //Motor is turning left, decelerating |
jah128 | 9:dde9e21030eb | 1421 | led.set_center_led(2,1); |
jah128 | 0:d6269d17c8cf | 1422 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1423 | case 0: |
jah128 | 9:dde9e21030eb | 1424 | led.set_leds(0x01,0); |
jah128 | 0:d6269d17c8cf | 1425 | break; |
jah128 | 0:d6269d17c8cf | 1426 | case 1: |
jah128 | 9:dde9e21030eb | 1427 | led.set_leds(0x02,0); |
jah128 | 0:d6269d17c8cf | 1428 | break; |
jah128 | 0:d6269d17c8cf | 1429 | case 2: |
jah128 | 9:dde9e21030eb | 1430 | led.set_leds(0x04,0); |
jah128 | 0:d6269d17c8cf | 1431 | break; |
jah128 | 0:d6269d17c8cf | 1432 | case 3: |
jah128 | 9:dde9e21030eb | 1433 | led.set_leds(0x08,0); |
jah128 | 0:d6269d17c8cf | 1434 | break; |
jah128 | 0:d6269d17c8cf | 1435 | case 4: |
jah128 | 9:dde9e21030eb | 1436 | led.set_leds(0x10,0); |
jah128 | 0:d6269d17c8cf | 1437 | break; |
jah128 | 0:d6269d17c8cf | 1438 | case 5: |
jah128 | 9:dde9e21030eb | 1439 | led.set_leds(0x20,0); |
jah128 | 0:d6269d17c8cf | 1440 | break; |
jah128 | 0:d6269d17c8cf | 1441 | case 6: |
jah128 | 9:dde9e21030eb | 1442 | led.set_leds(0x40,0); |
jah128 | 0:d6269d17c8cf | 1443 | break; |
jah128 | 0:d6269d17c8cf | 1444 | case 7: |
jah128 | 9:dde9e21030eb | 1445 | led.set_leds(0x80,0); |
jah128 | 0:d6269d17c8cf | 1446 | break; |
jah128 | 0:d6269d17c8cf | 1447 | } |
jah128 | 0:d6269d17c8cf | 1448 | led_step ++; |
jah128 | 0:d6269d17c8cf | 1449 | if(led_step == 8) led_step =0; |
jah128 | 0:d6269d17c8cf | 1450 | if(speed > 0.1) { |
jah128 | 0:d6269d17c8cf | 1451 | speed -= 0.025; |
jah128 | 8:6c92789d5f87 | 1452 | motors.turn(-speed); |
jah128 | 0:d6269d17c8cf | 1453 | } else { |
jah128 | 0:d6269d17c8cf | 1454 | state = 0; |
jah128 | 0:d6269d17c8cf | 1455 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 1456 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1457 | } |
jah128 | 0:d6269d17c8cf | 1458 | break; |
jah128 | 0:d6269d17c8cf | 1459 | } |
jah128 | 0:d6269d17c8cf | 1460 | demo_timer.reset(); |
jah128 | 0:d6269d17c8cf | 1461 | } |
jah128 | 11:312663037b8c | 1462 | if(demo_running == 1)demo_timeout.attach_us(this,&Demo::spinning_demo_cycle,500); |
jah128 | 0:d6269d17c8cf | 1463 | else { |
jah128 | 8:6c92789d5f87 | 1464 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 1465 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:d6269d17c8cf | 1466 | } |
jah128 | 0:d6269d17c8cf | 1467 | } |
jah128 | 0:d6269d17c8cf | 1468 | |
jah128 | 16:50686c07ad07 | 1469 | void Demo::colour_demo_cycle() |
jah128 | 16:50686c07ad07 | 1470 | { |
jah128 | 16:50686c07ad07 | 1471 | if(demo_timer.read() > time_out) { |
jah128 | 16:50686c07ad07 | 1472 | int col = colour.get_detected_colour(); |
jah128 | 16:50686c07ad07 | 1473 | switch(col){ |
jah128 | 16:50686c07ad07 | 1474 | case 0: led.set_leds(0,0xFF); |
jah128 | 16:50686c07ad07 | 1475 | led.set_center_led(1,1); |
jah128 | 16:50686c07ad07 | 1476 | break; |
jah128 | 16:50686c07ad07 | 1477 | case 1: led.set_leds(0xFF,0xFF); |
jah128 | 16:50686c07ad07 | 1478 | led.set_center_led(3,1); |
jah128 | 16:50686c07ad07 | 1479 | break; |
jah128 | 16:50686c07ad07 | 1480 | case 2: led.set_leds(0xFF,0); |
jah128 | 16:50686c07ad07 | 1481 | led.set_center_led(2,1); |
jah128 | 16:50686c07ad07 | 1482 | break; |
jah128 | 16:50686c07ad07 | 1483 | default: led.set_leds(0,0); |
jah128 | 16:50686c07ad07 | 1484 | led.set_center_led(0,0); |
jah128 | 16:50686c07ad07 | 1485 | break; |
jah128 | 16:50686c07ad07 | 1486 | } |
jah128 | 16:50686c07ad07 | 1487 | switch(state) { |
jah128 | 16:50686c07ad07 | 1488 | case 0: //Robot is stopped |
jah128 | 16:50686c07ad07 | 1489 | speed = 0.2f; |
jah128 | 16:50686c07ad07 | 1490 | motors.forward(speed); |
jah128 | 16:50686c07ad07 | 1491 | time_out = 0.05; |
jah128 | 16:50686c07ad07 | 1492 | state = 1; |
jah128 | 16:50686c07ad07 | 1493 | break; |
jah128 | 16:50686c07ad07 | 1494 | case 1: { //Motor is moving forward |
jah128 | 16:50686c07ad07 | 1495 | sensors.store_ir_values(); |
jah128 | 16:50686c07ad07 | 1496 | int front_right = sensors.read_illuminated_raw_ir_value(0); |
jah128 | 16:50686c07ad07 | 1497 | int front_left = sensors.read_illuminated_raw_ir_value(7); |
jah128 | 16:50686c07ad07 | 1498 | if(front_left > 400 || front_right > 400) { |
jah128 | 16:50686c07ad07 | 1499 | motors.brake(); |
jah128 | 16:50686c07ad07 | 1500 | time_out = 0.04; |
jah128 | 16:50686c07ad07 | 1501 | if(front_left > front_right)state=2; |
jah128 | 16:50686c07ad07 | 1502 | else state=3; |
jah128 | 16:50686c07ad07 | 1503 | } else { |
jah128 | 16:50686c07ad07 | 1504 | if(speed < 0.5) { |
jah128 | 16:50686c07ad07 | 1505 | speed += 0.03; |
jah128 | 16:50686c07ad07 | 1506 | motors.forward(speed); |
jah128 | 16:50686c07ad07 | 1507 | } |
jah128 | 16:50686c07ad07 | 1508 | } |
jah128 | 16:50686c07ad07 | 1509 | break; |
jah128 | 16:50686c07ad07 | 1510 | } |
jah128 | 16:50686c07ad07 | 1511 | case 2: //Turn right |
jah128 | 16:50686c07ad07 | 1512 | motors.set_left_motor_speed(0.35); |
jah128 | 16:50686c07ad07 | 1513 | motors.set_right_motor_speed(-0.35); |
jah128 | 16:50686c07ad07 | 1514 | time_out = 0.5; |
jah128 | 16:50686c07ad07 | 1515 | state = 0; |
jah128 | 16:50686c07ad07 | 1516 | break; |
jah128 | 16:50686c07ad07 | 1517 | case 3: //Turn left |
jah128 | 16:50686c07ad07 | 1518 | motors.set_left_motor_speed(-0.35); |
jah128 | 16:50686c07ad07 | 1519 | motors.set_right_motor_speed(0.35); |
jah128 | 16:50686c07ad07 | 1520 | time_out = 0.5; |
jah128 | 16:50686c07ad07 | 1521 | state = 0; |
jah128 | 16:50686c07ad07 | 1522 | break; |
jah128 | 16:50686c07ad07 | 1523 | } |
jah128 | 16:50686c07ad07 | 1524 | demo_timer.reset(); |
jah128 | 16:50686c07ad07 | 1525 | } |
jah128 | 16:50686c07ad07 | 1526 | if(demo_running == 1)demo_timeout.attach_us(this,&Demo::colour_demo_cycle,200); |
jah128 | 16:50686c07ad07 | 1527 | else { |
jah128 | 16:50686c07ad07 | 1528 | motors.stop(); |
jah128 | 16:50686c07ad07 | 1529 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 16:50686c07ad07 | 1530 | } |
jah128 | 16:50686c07ad07 | 1531 | } |
jah128 | 16:50686c07ad07 | 1532 | |
jah128 | 16:50686c07ad07 | 1533 | |
jah128 | 11:312663037b8c | 1534 | void Demo::obstacle_demo_cycle() |
jah128 | 0:d6269d17c8cf | 1535 | { |
jah128 | 16:50686c07ad07 | 1536 | |
jah128 | 0:d6269d17c8cf | 1537 | if(demo_timer.read() > time_out) { |
jah128 | 0:d6269d17c8cf | 1538 | switch(state) { |
jah128 | 0:d6269d17c8cf | 1539 | case 0: //Robot is stopped |
jah128 | 9:dde9e21030eb | 1540 | led.set_leds(0,0xFF); |
jah128 | 9:dde9e21030eb | 1541 | led.set_center_led(1,0.4); |
jah128 | 0:d6269d17c8cf | 1542 | speed = 0.3f; |
jah128 | 8:6c92789d5f87 | 1543 | motors.forward(speed); |
jah128 | 0:d6269d17c8cf | 1544 | time_out = 0.05; |
jah128 | 0:d6269d17c8cf | 1545 | state = 1; |
jah128 | 0:d6269d17c8cf | 1546 | break; |
jah128 | 0:d6269d17c8cf | 1547 | case 1: { //Motor is moving forward |
jah128 | 10:e58323951c08 | 1548 | sensors.store_ir_values(); |
jah128 | 10:e58323951c08 | 1549 | int front_right = sensors.read_illuminated_raw_ir_value(0); |
jah128 | 10:e58323951c08 | 1550 | int front_left = sensors.read_illuminated_raw_ir_value(7); |
jah128 | 0:d6269d17c8cf | 1551 | if(front_left > 400 || front_right > 400) { |
jah128 | 8:6c92789d5f87 | 1552 | motors.brake(); |
jah128 | 0:d6269d17c8cf | 1553 | time_out = 0.04; |
jah128 | 0:d6269d17c8cf | 1554 | if(front_left > front_right)state=2; |
jah128 | 0:d6269d17c8cf | 1555 | else state=3; |
jah128 | 0:d6269d17c8cf | 1556 | } else { |
jah128 | 0:d6269d17c8cf | 1557 | if(speed < 0.5) { |
jah128 | 0:d6269d17c8cf | 1558 | speed += 0.03; |
jah128 | 8:6c92789d5f87 | 1559 | motors.forward(speed); |
jah128 | 0:d6269d17c8cf | 1560 | } |
jah128 | 0:d6269d17c8cf | 1561 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1562 | case 0: |
jah128 | 9:dde9e21030eb | 1563 | led.set_leds(0x01,0); |
jah128 | 0:d6269d17c8cf | 1564 | break; |
jah128 | 0:d6269d17c8cf | 1565 | case 1: |
jah128 | 9:dde9e21030eb | 1566 | led.set_leds(0x38,0); |
jah128 | 0:d6269d17c8cf | 1567 | break; |
jah128 | 0:d6269d17c8cf | 1568 | case 2: |
jah128 | 9:dde9e21030eb | 1569 | led.set_leds(0x6C,0); |
jah128 | 0:d6269d17c8cf | 1570 | break; |
jah128 | 0:d6269d17c8cf | 1571 | case 3: |
jah128 | 9:dde9e21030eb | 1572 | led.set_leds(0xC6,0); |
jah128 | 0:d6269d17c8cf | 1573 | break; |
jah128 | 0:d6269d17c8cf | 1574 | case 4: |
jah128 | 9:dde9e21030eb | 1575 | led.set_leds(0x83,0); |
jah128 | 0:d6269d17c8cf | 1576 | break; |
jah128 | 0:d6269d17c8cf | 1577 | } |
jah128 | 9:dde9e21030eb | 1578 | led.set_center_led(2, 0.6); |
jah128 | 0:d6269d17c8cf | 1579 | led_step ++; |
jah128 | 0:d6269d17c8cf | 1580 | if(led_step == 5) led_step = 0; |
jah128 | 0:d6269d17c8cf | 1581 | } |
jah128 | 0:d6269d17c8cf | 1582 | break; |
jah128 | 0:d6269d17c8cf | 1583 | } |
jah128 | 0:d6269d17c8cf | 1584 | case 2: //Turn right |
jah128 | 8:6c92789d5f87 | 1585 | motors.set_left_motor_speed(0.85); |
jah128 | 8:6c92789d5f87 | 1586 | motors.set_right_motor_speed(-0.85); |
jah128 | 0:d6269d17c8cf | 1587 | time_out = 0.4; |
jah128 | 0:d6269d17c8cf | 1588 | state = 0; |
jah128 | 9:dde9e21030eb | 1589 | led.set_leds(0x0E,0x0E); |
jah128 | 9:dde9e21030eb | 1590 | led.set_center_led(3,0.5); |
jah128 | 0:d6269d17c8cf | 1591 | break; |
jah128 | 0:d6269d17c8cf | 1592 | case 3: //Turn left |
jah128 | 8:6c92789d5f87 | 1593 | motors.set_left_motor_speed(-0.85); |
jah128 | 8:6c92789d5f87 | 1594 | motors.set_right_motor_speed(0.85); |
jah128 | 0:d6269d17c8cf | 1595 | time_out = 0.4; |
jah128 | 0:d6269d17c8cf | 1596 | state = 0; |
jah128 | 9:dde9e21030eb | 1597 | led.set_leds(0xE0,0xE0); |
jah128 | 9:dde9e21030eb | 1598 | led.set_center_led(3,0.5); |
jah128 | 0:d6269d17c8cf | 1599 | break; |
jah128 | 0:d6269d17c8cf | 1600 | } |
jah128 | 0:d6269d17c8cf | 1601 | demo_timer.reset(); |
jah128 | 0:d6269d17c8cf | 1602 | } |
jah128 | 11:312663037b8c | 1603 | if(demo_running == 1)demo_timeout.attach_us(this,&Demo::obstacle_demo_cycle,200); |
jah128 | 0:d6269d17c8cf | 1604 | else { |
jah128 | 8:6c92789d5f87 | 1605 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 1606 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:d6269d17c8cf | 1607 | } |
jah128 | 0:d6269d17c8cf | 1608 | } |
jah128 | 0:d6269d17c8cf | 1609 | |
jah128 | 16:50686c07ad07 | 1610 | |
jah128 | 11:312663037b8c | 1611 | void Demo::demo_update_leds() |
jah128 | 0:d6269d17c8cf | 1612 | { |
jah128 | 0:d6269d17c8cf | 1613 | char red = 0; |
jah128 | 0:d6269d17c8cf | 1614 | char green = 0; |
jah128 | 0:d6269d17c8cf | 1615 | for(int i=0; i<8; i++) { |
jah128 | 0:d6269d17c8cf | 1616 | if(led_state[i]==1 || led_state[i]==3) red+=(1<<i); |
jah128 | 0:d6269d17c8cf | 1617 | if(led_state[i]==2 || led_state[i]==3) green+=(1<<i); |
jah128 | 0:d6269d17c8cf | 1618 | } |
jah128 | 9:dde9e21030eb | 1619 | led.set_leds(green,red); |
jah128 | 0:d6269d17c8cf | 1620 | float brightness_f = brightness / 100.0f; |
jah128 | 9:dde9e21030eb | 1621 | led.set_center_led(led_state[8], brightness_f); |
jah128 | 9:dde9e21030eb | 1622 | led.set_base_led(base_led_state); |
jah128 | 0:d6269d17c8cf | 1623 | } |