Diff: main.cpp

Revision:

6:ff3c66f7372b

Parent:

4:25039ea5eb09

Child:

7:ef9ab01b9e26

--- a/main.cpp	Tue Oct 13 11:47:14 2015 +0000
+++ b/main.cpp	Thu Oct 22 00:46:14 2015 +0000
@@ -1,4 +1,4 @@
-/*********************************************************************** 
+/***********************************************************************
 **  ██████╗ ███████╗██╗███████╗██╗    ██╗ █████╗ ██████╗ ███╗   ███╗  **
 **  ██╔══██╗██╔════╝██║██╔════╝██║    ██║██╔══██╗██╔══██╗████╗ ████║  **
 **  ██████╔╝███████╗██║███████╗██║ █╗ ██║███████║██████╔╝██╔████╔██║  **
@@ -9,55 +9,93 @@
 **(C) Dr James Hilder - York Robotics Laboratory - University of York **
 ***********************************************************************/
 
-/// PsiSwarm Example Main File
+/// PsiSwarm Beautiful Meme Project Source Code
+/// Version 0.1
+/// James Hilder, Alan Millard, Homero Elizondo, Jon Timmis
+/// University of York
 
 /// Include psiswarm.h - this includes all the other necessary core files
 #include "psiswarm.h"
 
-/// Use these variables to store the name for the program, the author and the version
-/// NB: Keep the strings as short as possible (ie 12 chars or less) to ensure reliable comms and readability on display
-char * program_name = "Blank";
+//  IMPORTANT!!!
+//  Do not call the IR functions at all as they will interfere with the correct operation of this program
+//  Instead, use the values held in the variables below; they are updated every 500ms
+
+char beacon_found = 0;                   // This will be a 1 when a beacon was detected during the previous 500ms window
+int beacon_heading = 0;                  // This is the heading from the last time a beacon was detected
+char robots_found[8];                    // These will be a 1 when the respective robot [excluding self] was detected during the previous 500ms window
+char robots_heading[8];                  // These are the headings from the last time the respective robots were detected
+unsigned short robots_distance[8];       // This is the maximum sensor value from the last time the respective robot was detected
+unsigned short reflected_sensor_data[8]; // The reflected IR values when this robots emitters are on
+unsigned short background_sensor_data[8];// The raw IR values when no robot (or beacon) should have its IR on
+
+char * program_name = "B-Meme";
 char * author_name  = "YRL";
 char * version_name = "1.0";
 
-// Place user variables here
+char user_code_debug = 1;                // Set to 1 to show terminal messages from "out" function [specific to this code]
 
 
 ///Place user code here that should be run after initialisation but before the main loop
-void user_code_setup(){
+void user_code_setup()
+{
+    out("------------------------------------------------------\n");
+    out("Beautiful Meme Project Demo Code                      \n");
+    out("------------------------------------------------------\n");
+    locate_beacon();
+    while(beacon_found == 0) {
+        locate_beacon();
+    }
 
-   pc.printf("User setup code block\n");
+    start_infrared_timers();
 }
 
 ///This function is the loop where user code should be placed
-void user_code_loop(){   
+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)
-   
-   pc.printf("User loop code block\n");
-   wait(1);
+
+    //pc.printf("User loop code block\n");
+
+    
+    wait(0.5);
 }
 
 
 /// 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   
+    /// 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
     /// NB For maximum compatability it is recommended to minimise reliance on center button press
-    
-    pc.printf("User switch code block: %d\n",switch_state);
+
+    //pc.printf("User switch code block: %d\n",switch_state);
 }
 
 /// The main routine: it is recommended to leave this function alone and add user code to the above functions
-int main() {
+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(5);
+        if(user_code_running)user_code_loop();
+        if(demo_on) demo_mode();
+        //wait_us(5);
+    }
+}
+
+/// Verbose output
+void out(const char* format, ...)
+{
+    char buffer[256];
+    if (debug_mode) {
+        va_list vl;
+        va_start(vl, format);
+        vsprintf(buffer,format,vl);
+        if(user_code_debug == 1) pc.printf("%s", buffer);
+        va_end(vl);
     }
 }
\ No newline at end of file