Diff: main.cpp

Revision:

0:8a5497a2e366

Child:

1:f6356cf1cefc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Oct 03 22:48:50 2015 +0000
@@ -0,0 +1,105 @@
+/*********************************************************************** 
+**  ██████╗ ███████╗██╗███████╗██╗    ██╗ █████╗ ██████╗ ███╗   ███╗  **
+**  ██╔══██╗██╔════╝██║██╔════╝██║    ██║██╔══██╗██╔══██╗████╗ ████║  **
+**  ██████╔╝███████╗██║███████╗██║ █╗ ██║███████║██████╔╝██╔████╔██║  **
+**  ██╔═══╝ ╚════██║██║╚════██║██║███╗██║██╔══██║██╔══██╗██║╚██╔╝██║  **
+**  ██║     ███████║██║███████║╚███╔███╔╝██║  ██║██║  ██║██║ ╚═╝ ██║  **
+**  ╚═╝     ╚══════╝╚═╝╚══════╝ ╚══╝╚══╝ ╚═╝  ╚═╝╚═╝  ╚═╝╚═╝     ╚═╝  **
+************************************************************************
+**(C) Dr James Hilder - York Robotics Laboratory - University of York **
+***********************************************************************/
+
+// PsiSwarm Example Main File
+
+// Include psiswarm.h - this includes all the other necessary core files
+#include "psiswarm.h"
+
+// Use these variables to store the name for the program and the author
+// NB: Keep the strings as short as possible (ie 12 chars or less) to ensure reliable comms
+char * program_name = "Example";
+char * author_name  = "JAH-YRL";
+
+// Place user variables here
+
+char green = 3;
+char red = 48;
+int re =0 ;
+int le =0;
+
+//Place user code here that should be run after initialisation but before the main loop
+void user_code_setup(){
+
+    /*
+    wait(2);
+    calibrate_base_ir_sensors();
+    wait(2);
+    */
+}
+
+//This function is the loop where user code should be placed
+void user_code_loop(){  
+    
+    
+    //Do not place code within a loop, but consider this function to be a loop that is always run
+    //unless the user code is externally paused (such as by debug or recharging system)
+    
+    
+    
+    
+    /*
+    store_base_ir_values();
+    bt.printf("OFF: %d %d %d %d %d\n ON: %d %d %d %d %d\n\n",
+            get_background_base_ir_value(0),
+            get_background_base_ir_value(1),
+            get_background_base_ir_value(2),
+            get_background_base_ir_value(3),
+            get_background_base_ir_value(4),
+            get_illuminated_base_ir_value(0),
+            get_illuminated_base_ir_value(1),
+            get_illuminated_base_ir_value(2),
+            get_illuminated_base_ir_value(3),
+            get_illuminated_base_ir_value(4));
+    set_leds(green,red);
+    switch(green){
+            case 192: green = 129; break;
+            case 129: green = 3; break;
+            default: green = green << 1; break;   
+    }
+    switch(red){
+            case 192: red = 129; break;
+            case 129: red = 3; break;
+            default: red = red << 1; break;   
+    }
+    
+
+    if(re != right_encoder){
+        re = right_encoder;
+        pc.printf("Right:%d\n",re);
+    }
+    if(le != left_encoder){
+        le = left_encoder;
+        pc.printf("Left:%d\n",le);
+    }
+    wait(0.3);
+    */
+}
+
+
+// Code goes here to handle what should happen when the user switch is pressed
+void handle_switch_event(char switch_state)
+{
+    // Switch_state = 1 if up is pressed, 2 if down is pressed, 4 if left is pressed, 8 if right is pressed and 16 if the center button is pressed   
+}
+
+// The main routine: it is recommended to leave this function alone and add user code to the above functions
+int main() {
+    //init() in psiswarm.cpp sets up the robot
+    init();
+    user_code_setup();
+    user_code_running = 1;
+    while(1) {
+       if(user_code_running)user_code_loop();
+       if(demo_on) demo_mode();
+       wait_us(250);
+    }
+}
\ No newline at end of file