UKESF Headstart Summer School / PsiSwarmLab-ScriptingBased

Modified version of the UKESF lab source which can be carried out with no knowledge of C

Fork of PsiSwarm-Headstart by UKESF Headstart Summer School

demo.cpp@2:c6986ee3c7c5, 2016-03-11 (annotated)

Committer:
jah128
Date:
Fri Mar 11 13:51:24 2016 +0000
Revision:
2:c6986ee3c7c5
Parent:
0:d6269d17c8cf
Child:
4:dc77a25f29de
Added Alex' IR functions

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:d6269d17c8cf 1 /* University of York Robotics Laboratory PsiSwarm Library: Demo Mode Source File
jah128 0:d6269d17c8cf 2 *
jah128 0:d6269d17c8cf 3 * File: demo.cpp
jah128 0:d6269d17c8cf 4 *
jah128 0:d6269d17c8cf 5 * (C) Dept. Electronics & Computer Science, University of York
jah128 0:d6269d17c8cf 6 * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
jah128 0:d6269d17c8cf 7 *
jah128 2:c6986ee3c7c5 8 * PsiSwarm Library Version: 0.41
jah128 0:d6269d17c8cf 9 *
jah128 0:d6269d17c8cf 10 * Version 0.4 : Added PsiSwarmBasic menu
jah128 0:d6269d17c8cf 11 * Version 0.2 : Remove most the functionality from center-button push to allow all operations to be accessable from
jah128 0:d6269d17c8cf 12 * four directions alone.
jah128 0:d6269d17c8cf 13 * Added extra sensor information, added various testing demos
jah128 0:d6269d17c8cf 14 *
jah128 2:c6986ee3c7c5 15 *
jah128 2:c6986ee3c7c5 16 * March 2016
jah128 0:d6269d17c8cf 17 *
jah128 0:d6269d17c8cf 18 */
jah128 0:d6269d17c8cf 19
jah128 0:d6269d17c8cf 20
jah128 0:d6269d17c8cf 21 #include "psiswarm.h"
jah128 0:d6269d17c8cf 22
jah128 0:d6269d17c8cf 23 // PID terms
jah128 0:d6269d17c8cf 24 #define LF_P_TERM 0.2
jah128 0:d6269d17c8cf 25 #define LF_I_TERM 0
jah128 0:d6269d17c8cf 26 #define LF_D_TERM 4
jah128 0:d6269d17c8cf 27
jah128 0:d6269d17c8cf 28 char top_menu = 0;
jah128 0:d6269d17c8cf 29 char sub_menu = 0;
jah128 0:d6269d17c8cf 30 char level = 0;
jah128 0:d6269d17c8cf 31 char started = 0;
jah128 0:d6269d17c8cf 32 char topline[17];
jah128 0:d6269d17c8cf 33 char bottomline[17];
jah128 0:d6269d17c8cf 34 char led_state[9];
jah128 0:d6269d17c8cf 35 char all_led_state = 0;
jah128 0:d6269d17c8cf 36 char base_led_state = 0;
jah128 0:d6269d17c8cf 37 char brightness = 20;
jah128 0:d6269d17c8cf 38 char bl_brightness = 100;
jah128 0:d6269d17c8cf 39 char base_ir_index = 0;
jah128 0:d6269d17c8cf 40 char side_ir_index = 0;
jah128 0:d6269d17c8cf 41 signed short left_speed = 0;
jah128 0:d6269d17c8cf 42 signed short right_speed = 0;
jah128 0:d6269d17c8cf 43 char both_motor_mode = 0;
jah128 0:d6269d17c8cf 44 char last_switch_pressed;
jah128 0:d6269d17c8cf 45 Timeout demo_event;
jah128 0:d6269d17c8cf 46 char handling_event = 0;
jah128 0:d6269d17c8cf 47
jah128 0:d6269d17c8cf 48 Timeout demo_timeout;
jah128 0:d6269d17c8cf 49 char demo_running = 0;
jah128 0:d6269d17c8cf 50 Timer demo_timer;
jah128 0:d6269d17c8cf 51 float time_out;
jah128 0:d6269d17c8cf 52 float speed;
jah128 0:d6269d17c8cf 53 char state;
jah128 0:d6269d17c8cf 54 char led_step = 0;
jah128 0:d6269d17c8cf 55 char spin_step = 0;
jah128 0:d6269d17c8cf 56 char stress_step = 0;
jah128 0:d6269d17c8cf 57
jah128 0:d6269d17c8cf 58
jah128 0:d6269d17c8cf 59 float lf_right;
jah128 0:d6269d17c8cf 60 float lf_left;
jah128 0:d6269d17c8cf 61 float lf_current_pos_of_line = 0.0;
jah128 0:d6269d17c8cf 62 float lf_previous_pos_of_line = 0.0;
jah128 0:d6269d17c8cf 63 float lf_derivative,lf_proportional,lf_integral = 0;
jah128 0:d6269d17c8cf 64 float lf_power;
jah128 0:d6269d17c8cf 65 float lf_speed = 0.4;
jah128 0:d6269d17c8cf 66
jah128 0:d6269d17c8cf 67
jah128 0:d6269d17c8cf 68
jah128 0:d6269d17c8cf 69 void demo_mode()
jah128 0:d6269d17c8cf 70 {
jah128 0:d6269d17c8cf 71 debug("- Starting Demo Mode\n");
jah128 0:d6269d17c8cf 72 if(use_flash_basic == 1) top_menu = 7;
jah128 0:d6269d17c8cf 73 demo_on = 1;
jah128 0:d6269d17c8cf 74 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 75 display.clear_display();
jah128 0:d6269d17c8cf 76 display.write_string("PSI SWARM SYSTEM");
jah128 0:d6269d17c8cf 77 display.set_position(1,0);
jah128 0:d6269d17c8cf 78 display.write_string(" DEMO MODE");
jah128 0:d6269d17c8cf 79 wait(0.5);
jah128 0:d6269d17c8cf 80 display.clear_display();
jah128 0:d6269d17c8cf 81 display.write_string("Use cursor to");
jah128 0:d6269d17c8cf 82 display.set_position(1,0);
jah128 0:d6269d17c8cf 83 display.write_string("navigate menus");
jah128 0:d6269d17c8cf 84 char step = 0;
jah128 0:d6269d17c8cf 85 while(demo_on) {
jah128 0:d6269d17c8cf 86 if(demo_running == 0) {
jah128 0:d6269d17c8cf 87 switch(step) {
jah128 0:d6269d17c8cf 88 case 0:
jah128 0:d6269d17c8cf 89 mbed_led1 = 1;
jah128 0:d6269d17c8cf 90 mbed_led2 = 0;
jah128 0:d6269d17c8cf 91 break;
jah128 0:d6269d17c8cf 92 case 1:
jah128 0:d6269d17c8cf 93 mbed_led2 = 1;
jah128 0:d6269d17c8cf 94 mbed_led1 = 0;
jah128 0:d6269d17c8cf 95 break;
jah128 0:d6269d17c8cf 96 }
jah128 0:d6269d17c8cf 97 step++;
jah128 0:d6269d17c8cf 98 if(step==2)step=0;
jah128 0:d6269d17c8cf 99 } else {
jah128 0:d6269d17c8cf 100 mbed_led1 = 0;
jah128 0:d6269d17c8cf 101 mbed_led2 = 0;
jah128 0:d6269d17c8cf 102 mbed_led3 = 0;
jah128 0:d6269d17c8cf 103 mbed_led4 = 0;
jah128 0:d6269d17c8cf 104 }
jah128 0:d6269d17c8cf 105 wait(0.5);
jah128 0:d6269d17c8cf 106 }
jah128 0:d6269d17c8cf 107 debug("- Demo mode ended\n");
jah128 0:d6269d17c8cf 108 }
jah128 0:d6269d17c8cf 109
jah128 0:d6269d17c8cf 110 void demo_handle_switch_event(char switch_pressed)
jah128 0:d6269d17c8cf 111 {
jah128 0:d6269d17c8cf 112 if(!handling_event) {
jah128 0:d6269d17c8cf 113 handling_event = 1;
jah128 0:d6269d17c8cf 114 last_switch_pressed = switch_pressed;
jah128 0:d6269d17c8cf 115 demo_event.attach_us(&demo_event_thread, 1000);
jah128 0:d6269d17c8cf 116 }
jah128 0:d6269d17c8cf 117 }
jah128 0:d6269d17c8cf 118
jah128 0:d6269d17c8cf 119 void demo_event_thread()
jah128 0:d6269d17c8cf 120 {
jah128 0:d6269d17c8cf 121 handling_event = 0;
jah128 0:d6269d17c8cf 122 if(started == 1) {
jah128 0:d6269d17c8cf 123 switch(last_switch_pressed) {
jah128 0:d6269d17c8cf 124 case 1: //Up pressed
jah128 0:d6269d17c8cf 125 switch(level) {
jah128 0:d6269d17c8cf 126 case 0:
jah128 0:d6269d17c8cf 127 if(top_menu != 6) {
jah128 0:d6269d17c8cf 128 level++;
jah128 0:d6269d17c8cf 129 sub_menu = 0;
jah128 0:d6269d17c8cf 130 } else {
jah128 0:d6269d17c8cf 131 demo_on = 0;
jah128 0:d6269d17c8cf 132 user_code_running = user_code_restore_mode;
jah128 0:d6269d17c8cf 133 }
jah128 0:d6269d17c8cf 134 break;
jah128 0:d6269d17c8cf 135 case 1:
jah128 0:d6269d17c8cf 136 switch(top_menu) {
jah128 0:d6269d17c8cf 137 case 7: // PsiBasic Menu
jah128 0:d6269d17c8cf 138 if(sub_menu == psi_basic_file_count) level = 0;
jah128 0:d6269d17c8cf 139 break;
jah128 0:d6269d17c8cf 140 case 0: //LED Menu
jah128 0:d6269d17c8cf 141 if(sub_menu < 9) {
jah128 0:d6269d17c8cf 142 if(led_state[sub_menu] == 0) led_state[sub_menu] = 3;
jah128 0:d6269d17c8cf 143 else led_state[sub_menu]--;
jah128 0:d6269d17c8cf 144 demo_update_leds();
jah128 0:d6269d17c8cf 145 }
jah128 0:d6269d17c8cf 146 if(sub_menu == 9) {
jah128 0:d6269d17c8cf 147 if(all_led_state == 0) all_led_state = 3;
jah128 0:d6269d17c8cf 148 else all_led_state--;
jah128 0:d6269d17c8cf 149 for(int i=0; i<9; i++) {
jah128 0:d6269d17c8cf 150 led_state[i]=all_led_state;
jah128 0:d6269d17c8cf 151 }
jah128 0:d6269d17c8cf 152 demo_update_leds();
jah128 0:d6269d17c8cf 153 }
jah128 0:d6269d17c8cf 154 if(sub_menu == 10) {
jah128 0:d6269d17c8cf 155 base_led_state = 1 - base_led_state;
jah128 0:d6269d17c8cf 156 demo_update_leds();
jah128 0:d6269d17c8cf 157 }
jah128 0:d6269d17c8cf 158 if(sub_menu == 11) {
jah128 0:d6269d17c8cf 159 switch(brightness) {
jah128 0:d6269d17c8cf 160 case 100:
jah128 0:d6269d17c8cf 161 brightness = 50;
jah128 0:d6269d17c8cf 162 break;
jah128 0:d6269d17c8cf 163 case 2:
jah128 0:d6269d17c8cf 164 brightness = 1;
jah128 0:d6269d17c8cf 165 break;
jah128 0:d6269d17c8cf 166 case 5:
jah128 0:d6269d17c8cf 167 brightness = 2;
jah128 0:d6269d17c8cf 168 break;
jah128 0:d6269d17c8cf 169 case 10:
jah128 0:d6269d17c8cf 170 brightness = 5;
jah128 0:d6269d17c8cf 171 break;
jah128 0:d6269d17c8cf 172 case 20:
jah128 0:d6269d17c8cf 173 brightness = 10;
jah128 0:d6269d17c8cf 174 break;
jah128 0:d6269d17c8cf 175 case 50:
jah128 0:d6269d17c8cf 176 brightness = 20;
jah128 0:d6269d17c8cf 177 break;
jah128 0:d6269d17c8cf 178 }
jah128 0:d6269d17c8cf 179 demo_update_leds();
jah128 0:d6269d17c8cf 180 }
jah128 0:d6269d17c8cf 181 if(sub_menu == 12) {
jah128 0:d6269d17c8cf 182 if(bl_brightness > 0) bl_brightness-=10;
jah128 0:d6269d17c8cf 183 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 184 }
jah128 0:d6269d17c8cf 185 if(sub_menu == 13) level = 0;
jah128 0:d6269d17c8cf 186 break;
jah128 0:d6269d17c8cf 187 case 1: // Sensors Menu
jah128 0:d6269d17c8cf 188 if(sub_menu == 4 || sub_menu == 5) {
jah128 0:d6269d17c8cf 189 if(base_ir_index == 0) base_ir_index = 4;
jah128 0:d6269d17c8cf 190 else base_ir_index --;
jah128 0:d6269d17c8cf 191 }
jah128 0:d6269d17c8cf 192 if(sub_menu > 5 && sub_menu < 9) {
jah128 0:d6269d17c8cf 193 if(side_ir_index == 0) side_ir_index = 7;
jah128 0:d6269d17c8cf 194 else side_ir_index --;
jah128 0:d6269d17c8cf 195 }
jah128 0:d6269d17c8cf 196 if(sub_menu == 11) level = 0;
jah128 0:d6269d17c8cf 197 break;
jah128 0:d6269d17c8cf 198 case 2: // Motor Menu
jah128 0:d6269d17c8cf 199 if(sub_menu == 0) {
jah128 0:d6269d17c8cf 200 left_speed += 5;
jah128 0:d6269d17c8cf 201 if(left_speed > 100) left_speed = 100;
jah128 0:d6269d17c8cf 202 set_left_motor_speed(left_speed / 100.0f);
jah128 0:d6269d17c8cf 203 }
jah128 0:d6269d17c8cf 204 if(sub_menu == 1) {
jah128 0:d6269d17c8cf 205 right_speed += 5;
jah128 0:d6269d17c8cf 206 if(right_speed > 100) right_speed = 100;
jah128 0:d6269d17c8cf 207 set_right_motor_speed(right_speed / 100.0f);
jah128 0:d6269d17c8cf 208 }
jah128 0:d6269d17c8cf 209 if(sub_menu == 2) {
jah128 0:d6269d17c8cf 210 if(both_motor_mode == 0) both_motor_mode=5;
jah128 0:d6269d17c8cf 211 else both_motor_mode--;
jah128 0:d6269d17c8cf 212 switch(both_motor_mode) {
jah128 0:d6269d17c8cf 213 case 0:
jah128 0:d6269d17c8cf 214 stop();
jah128 0:d6269d17c8cf 215 break;
jah128 0:d6269d17c8cf 216 case 1:
jah128 0:d6269d17c8cf 217 brake();
jah128 0:d6269d17c8cf 218 break;
jah128 0:d6269d17c8cf 219 case 2:
jah128 0:d6269d17c8cf 220 forward(0.5);
jah128 0:d6269d17c8cf 221 break;
jah128 0:d6269d17c8cf 222 case 3:
jah128 0:d6269d17c8cf 223 forward(1);
jah128 0:d6269d17c8cf 224 break;
jah128 0:d6269d17c8cf 225 case 4:
jah128 0:d6269d17c8cf 226 backward(0.5);
jah128 0:d6269d17c8cf 227 break;
jah128 0:d6269d17c8cf 228 case 5:
jah128 0:d6269d17c8cf 229 backward(1.0);
jah128 0:d6269d17c8cf 230 break;
jah128 0:d6269d17c8cf 231 }
jah128 0:d6269d17c8cf 232 }
jah128 0:d6269d17c8cf 233 if(sub_menu == 3) {
jah128 0:d6269d17c8cf 234 level = 0;
jah128 0:d6269d17c8cf 235 }
jah128 0:d6269d17c8cf 236 break;
jah128 0:d6269d17c8cf 237 case 3: // Radio Menu
jah128 0:d6269d17c8cf 238 if(sub_menu == 0) level = 0;
jah128 0:d6269d17c8cf 239 break;
jah128 0:d6269d17c8cf 240 case 4: // Info Menu
jah128 0:d6269d17c8cf 241 if(sub_menu == 6) level = 0;
jah128 0:d6269d17c8cf 242 break;
jah128 0:d6269d17c8cf 243 case 5: // Demo Menu
jah128 0:d6269d17c8cf 244 if(sub_menu == 0) {
jah128 0:d6269d17c8cf 245 if(demo_running == 0) {
jah128 0:d6269d17c8cf 246 start_line_demo();
jah128 0:d6269d17c8cf 247 } else {
jah128 0:d6269d17c8cf 248 demo_running = 0;
jah128 0:d6269d17c8cf 249 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 250 stop();
jah128 0:d6269d17c8cf 251 }
jah128 0:d6269d17c8cf 252 }
jah128 0:d6269d17c8cf 253 if(sub_menu == 1) {
jah128 0:d6269d17c8cf 254 if(demo_running == 0) {
jah128 0:d6269d17c8cf 255 start_obstacle_demo();
jah128 0:d6269d17c8cf 256 } else {
jah128 0:d6269d17c8cf 257 demo_running = 0;
jah128 0:d6269d17c8cf 258 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 259 stop();
jah128 0:d6269d17c8cf 260 }
jah128 0:d6269d17c8cf 261 }
jah128 0:d6269d17c8cf 262 if(sub_menu == 2) {
jah128 0:d6269d17c8cf 263 if(demo_running == 0) {
jah128 0:d6269d17c8cf 264 start_spinning_demo();
jah128 0:d6269d17c8cf 265 } else {
jah128 0:d6269d17c8cf 266 demo_running = 0;
jah128 0:d6269d17c8cf 267 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 268 stop();
jah128 0:d6269d17c8cf 269 }
jah128 0:d6269d17c8cf 270 }
jah128 0:d6269d17c8cf 271 if(sub_menu == 3) {
jah128 0:d6269d17c8cf 272 if(demo_running == 0) {
jah128 0:d6269d17c8cf 273 start_stress_demo();
jah128 0:d6269d17c8cf 274 } else {
jah128 0:d6269d17c8cf 275 demo_running = 0;
jah128 0:d6269d17c8cf 276 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 277 stop();
jah128 0:d6269d17c8cf 278 }
jah128 0:d6269d17c8cf 279 }
jah128 0:d6269d17c8cf 280 if(sub_menu == 4) level = 0;
jah128 0:d6269d17c8cf 281 break;
jah128 0:d6269d17c8cf 282 }
jah128 0:d6269d17c8cf 283 break;
jah128 0:d6269d17c8cf 284 }
jah128 0:d6269d17c8cf 285 break;
jah128 0:d6269d17c8cf 286 case 2: //Down pressed
jah128 0:d6269d17c8cf 287 switch(level) {
jah128 0:d6269d17c8cf 288 case 0:
jah128 0:d6269d17c8cf 289 if(top_menu != 6) {
jah128 0:d6269d17c8cf 290 level++;
jah128 0:d6269d17c8cf 291 sub_menu = 0;
jah128 0:d6269d17c8cf 292 } else {
jah128 0:d6269d17c8cf 293 demo_on = 0;
jah128 0:d6269d17c8cf 294 user_code_running = user_code_restore_mode;
jah128 0:d6269d17c8cf 295 }
jah128 0:d6269d17c8cf 296 break;
jah128 0:d6269d17c8cf 297 case 1:
jah128 0:d6269d17c8cf 298 switch(top_menu) {
jah128 0:d6269d17c8cf 299 case 7: // PsiBasic Menu
jah128 0:d6269d17c8cf 300 if(sub_menu == psi_basic_file_count) level = 0;
jah128 0:d6269d17c8cf 301 break;
jah128 0:d6269d17c8cf 302 case 0: //LED Menu
jah128 0:d6269d17c8cf 303 if(sub_menu < 9) {
jah128 0:d6269d17c8cf 304 led_state[sub_menu]++;
jah128 0:d6269d17c8cf 305 if(led_state[sub_menu] == 4) led_state[sub_menu] = 0;
jah128 0:d6269d17c8cf 306 demo_update_leds();
jah128 0:d6269d17c8cf 307 }
jah128 0:d6269d17c8cf 308 if(sub_menu == 9) {
jah128 0:d6269d17c8cf 309 all_led_state++;
jah128 0:d6269d17c8cf 310 if(all_led_state == 4) all_led_state = 0;
jah128 0:d6269d17c8cf 311 for(int i=0; i<9; i++) {
jah128 0:d6269d17c8cf 312 led_state[i]=all_led_state;
jah128 0:d6269d17c8cf 313 }
jah128 0:d6269d17c8cf 314 demo_update_leds();
jah128 0:d6269d17c8cf 315 }
jah128 0:d6269d17c8cf 316 if(sub_menu == 10) {
jah128 0:d6269d17c8cf 317 base_led_state = 1 - base_led_state;
jah128 0:d6269d17c8cf 318 demo_update_leds();
jah128 0:d6269d17c8cf 319 }
jah128 0:d6269d17c8cf 320 if(sub_menu == 11) {
jah128 0:d6269d17c8cf 321 switch(brightness) {
jah128 0:d6269d17c8cf 322 case 1:
jah128 0:d6269d17c8cf 323 brightness = 2;
jah128 0:d6269d17c8cf 324 break;
jah128 0:d6269d17c8cf 325 case 2:
jah128 0:d6269d17c8cf 326 brightness = 5;
jah128 0:d6269d17c8cf 327 break;
jah128 0:d6269d17c8cf 328 case 5:
jah128 0:d6269d17c8cf 329 brightness = 10;
jah128 0:d6269d17c8cf 330 break;
jah128 0:d6269d17c8cf 331 case 10:
jah128 0:d6269d17c8cf 332 brightness = 20;
jah128 0:d6269d17c8cf 333 break;
jah128 0:d6269d17c8cf 334 case 20:
jah128 0:d6269d17c8cf 335 brightness = 50;
jah128 0:d6269d17c8cf 336 break;
jah128 0:d6269d17c8cf 337 case 50:
jah128 0:d6269d17c8cf 338 brightness = 100;
jah128 0:d6269d17c8cf 339 break;
jah128 0:d6269d17c8cf 340 }
jah128 0:d6269d17c8cf 341 demo_update_leds();
jah128 0:d6269d17c8cf 342 }
jah128 0:d6269d17c8cf 343
jah128 0:d6269d17c8cf 344 if(sub_menu == 12) {
jah128 0:d6269d17c8cf 345 if(bl_brightness < 100) bl_brightness+=10;
jah128 0:d6269d17c8cf 346 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 347 }
jah128 0:d6269d17c8cf 348 if(sub_menu == 13) level = 0;
jah128 0:d6269d17c8cf 349
jah128 0:d6269d17c8cf 350 break;
jah128 0:d6269d17c8cf 351 case 1: // Sensors Menu
jah128 0:d6269d17c8cf 352 if(sub_menu == 4 || sub_menu == 5) {
jah128 0:d6269d17c8cf 353 if(base_ir_index == 4) base_ir_index = 0;
jah128 0:d6269d17c8cf 354 else base_ir_index ++;
jah128 0:d6269d17c8cf 355 }
jah128 0:d6269d17c8cf 356 if(sub_menu > 5 && sub_menu < 9) {
jah128 0:d6269d17c8cf 357 if(side_ir_index == 7) side_ir_index = 0;
jah128 0:d6269d17c8cf 358 else side_ir_index ++;
jah128 0:d6269d17c8cf 359 }
jah128 0:d6269d17c8cf 360 if(sub_menu == 11) level = 0;
jah128 0:d6269d17c8cf 361 break;
jah128 0:d6269d17c8cf 362 case 2: // Motor Menu
jah128 0:d6269d17c8cf 363 if(sub_menu == 0) {
jah128 0:d6269d17c8cf 364 left_speed -= 5;
jah128 0:d6269d17c8cf 365 if(left_speed < -100) left_speed = -100;
jah128 0:d6269d17c8cf 366 set_left_motor_speed(left_speed / 100.0f);
jah128 0:d6269d17c8cf 367 }
jah128 0:d6269d17c8cf 368 if(sub_menu == 1) {
jah128 0:d6269d17c8cf 369 right_speed -= 5;
jah128 0:d6269d17c8cf 370 if(right_speed < -100) right_speed = -100;
jah128 0:d6269d17c8cf 371 set_right_motor_speed(right_speed / 100.0f);
jah128 0:d6269d17c8cf 372 }
jah128 0:d6269d17c8cf 373 if(sub_menu == 2) {
jah128 0:d6269d17c8cf 374 both_motor_mode++;
jah128 0:d6269d17c8cf 375 if(both_motor_mode == 6) both_motor_mode=0;
jah128 0:d6269d17c8cf 376 switch(both_motor_mode) {
jah128 0:d6269d17c8cf 377 case 0:
jah128 0:d6269d17c8cf 378 stop();
jah128 0:d6269d17c8cf 379 break;
jah128 0:d6269d17c8cf 380 case 1:
jah128 0:d6269d17c8cf 381 brake();
jah128 0:d6269d17c8cf 382 break;
jah128 0:d6269d17c8cf 383 case 2:
jah128 0:d6269d17c8cf 384 forward(0.5);
jah128 0:d6269d17c8cf 385 break;
jah128 0:d6269d17c8cf 386 case 3:
jah128 0:d6269d17c8cf 387 forward(1);
jah128 0:d6269d17c8cf 388 break;
jah128 0:d6269d17c8cf 389 case 4:
jah128 0:d6269d17c8cf 390 backward(0.5);
jah128 0:d6269d17c8cf 391 break;
jah128 0:d6269d17c8cf 392 case 5:
jah128 0:d6269d17c8cf 393 backward(1.0);
jah128 0:d6269d17c8cf 394 break;
jah128 0:d6269d17c8cf 395 }
jah128 0:d6269d17c8cf 396 }
jah128 0:d6269d17c8cf 397 if(sub_menu == 3) {
jah128 0:d6269d17c8cf 398 level = 0;
jah128 0:d6269d17c8cf 399 }
jah128 0:d6269d17c8cf 400 break;
jah128 0:d6269d17c8cf 401 case 3: // Radio Menu
jah128 0:d6269d17c8cf 402 if(sub_menu == 0) level = 0;
jah128 0:d6269d17c8cf 403 break;
jah128 0:d6269d17c8cf 404 case 4: // Info Menu
jah128 0:d6269d17c8cf 405 if(sub_menu == 6) level = 0;
jah128 0:d6269d17c8cf 406 break;
jah128 0:d6269d17c8cf 407 case 5: // Demo Menu
jah128 0:d6269d17c8cf 408 if(sub_menu == 0) {
jah128 0:d6269d17c8cf 409 if(demo_running == 0) {
jah128 0:d6269d17c8cf 410 start_line_demo();
jah128 0:d6269d17c8cf 411 } else {
jah128 0:d6269d17c8cf 412 demo_running = 0;
jah128 0:d6269d17c8cf 413 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 414 stop();
jah128 0:d6269d17c8cf 415 }
jah128 0:d6269d17c8cf 416 }
jah128 0:d6269d17c8cf 417 if(sub_menu == 1) {
jah128 0:d6269d17c8cf 418 if(demo_running == 0) {
jah128 0:d6269d17c8cf 419 start_obstacle_demo();
jah128 0:d6269d17c8cf 420 } else {
jah128 0:d6269d17c8cf 421 demo_running = 0;
jah128 0:d6269d17c8cf 422 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 423 stop();
jah128 0:d6269d17c8cf 424
jah128 0:d6269d17c8cf 425 }
jah128 0:d6269d17c8cf 426 }
jah128 0:d6269d17c8cf 427 if(sub_menu == 2) {
jah128 0:d6269d17c8cf 428 if(demo_running == 0) {
jah128 0:d6269d17c8cf 429 start_spinning_demo();
jah128 0:d6269d17c8cf 430 } else {
jah128 0:d6269d17c8cf 431 demo_running = 0;
jah128 0:d6269d17c8cf 432 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 433 stop();
jah128 0:d6269d17c8cf 434 }
jah128 0:d6269d17c8cf 435 }
jah128 0:d6269d17c8cf 436 if(sub_menu == 3) {
jah128 0:d6269d17c8cf 437 if(demo_running == 0) {
jah128 0:d6269d17c8cf 438 start_stress_demo();
jah128 0:d6269d17c8cf 439 } else {
jah128 0:d6269d17c8cf 440 demo_running = 0;
jah128 0:d6269d17c8cf 441 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 442 stop();
jah128 0:d6269d17c8cf 443 }
jah128 0:d6269d17c8cf 444 }
jah128 0:d6269d17c8cf 445 if(sub_menu == 4) level = 0;
jah128 0:d6269d17c8cf 446 break;
jah128 0:d6269d17c8cf 447 }
jah128 0:d6269d17c8cf 448 break;
jah128 0:d6269d17c8cf 449 }
jah128 0:d6269d17c8cf 450 break;
jah128 0:d6269d17c8cf 451 case 4: //Left pressed
jah128 0:d6269d17c8cf 452 switch(level) {
jah128 0:d6269d17c8cf 453 case 0:
jah128 0:d6269d17c8cf 454 if(top_menu == 0) {
jah128 0:d6269d17c8cf 455 top_menu = 6;
jah128 0:d6269d17c8cf 456 if(use_flash_basic == 1) top_menu = 7;
jah128 0:d6269d17c8cf 457 }
jah128 0:d6269d17c8cf 458 else top_menu --;
jah128 0:d6269d17c8cf 459 break;
jah128 0:d6269d17c8cf 460 case 1:
jah128 0:d6269d17c8cf 461 switch(top_menu) {
jah128 0:d6269d17c8cf 462 case 0: //LED Menu
jah128 0:d6269d17c8cf 463 if(sub_menu == 0) sub_menu = 13;
jah128 0:d6269d17c8cf 464 else sub_menu --;
jah128 0:d6269d17c8cf 465 break;
jah128 0:d6269d17c8cf 466 case 1: //Sensors Menu
jah128 0:d6269d17c8cf 467 if(sub_menu == 0) sub_menu = 11;
jah128 0:d6269d17c8cf 468 else sub_menu --;
jah128 0:d6269d17c8cf 469 break;
jah128 0:d6269d17c8cf 470
jah128 0:d6269d17c8cf 471 case 2: //Motor Menu
jah128 0:d6269d17c8cf 472 if(sub_menu == 0) sub_menu = 3;
jah128 0:d6269d17c8cf 473 else sub_menu --;
jah128 0:d6269d17c8cf 474 break;
jah128 0:d6269d17c8cf 475 case 4: //Info Menu
jah128 0:d6269d17c8cf 476 if(sub_menu == 0) sub_menu = 6;
jah128 0:d6269d17c8cf 477 else sub_menu --;
jah128 0:d6269d17c8cf 478 break;
jah128 0:d6269d17c8cf 479 case 5: //Demo Menu
jah128 0:d6269d17c8cf 480 if(sub_menu == 0) sub_menu = 4;
jah128 0:d6269d17c8cf 481 else sub_menu --;
jah128 0:d6269d17c8cf 482 break;
jah128 0:d6269d17c8cf 483 case 7: //PsiBasic Menu
jah128 0:d6269d17c8cf 484 if(sub_menu == 0) sub_menu = psi_basic_file_count;
jah128 0:d6269d17c8cf 485 else sub_menu --;
jah128 0:d6269d17c8cf 486 }
jah128 0:d6269d17c8cf 487 break;
jah128 0:d6269d17c8cf 488
jah128 0:d6269d17c8cf 489 }
jah128 0:d6269d17c8cf 490 break;
jah128 0:d6269d17c8cf 491 case 8: //Right pressed
jah128 0:d6269d17c8cf 492 switch(level) {
jah128 0:d6269d17c8cf 493 case 0:
jah128 0:d6269d17c8cf 494 top_menu ++;
jah128 0:d6269d17c8cf 495 if((top_menu - use_flash_basic) > 6) top_menu = 0;
jah128 0:d6269d17c8cf 496 break;
jah128 0:d6269d17c8cf 497 case 1:
jah128 0:d6269d17c8cf 498 switch(top_menu) {
jah128 0:d6269d17c8cf 499 case 0: //LED Menu
jah128 0:d6269d17c8cf 500 if(sub_menu == 13) sub_menu = 0;
jah128 0:d6269d17c8cf 501 else sub_menu ++;
jah128 0:d6269d17c8cf 502 break;
jah128 0:d6269d17c8cf 503 case 1: //Sensors Menu
jah128 0:d6269d17c8cf 504 if(sub_menu == 11) sub_menu = 0;
jah128 0:d6269d17c8cf 505 else sub_menu ++;
jah128 0:d6269d17c8cf 506 break;
jah128 0:d6269d17c8cf 507 case 2: //Motor Menu
jah128 0:d6269d17c8cf 508 if(sub_menu == 3) sub_menu = 0;
jah128 0:d6269d17c8cf 509 else sub_menu ++;
jah128 0:d6269d17c8cf 510 break;
jah128 0:d6269d17c8cf 511 case 4: //Info Menu
jah128 0:d6269d17c8cf 512 if(sub_menu == 6) sub_menu = 0;
jah128 0:d6269d17c8cf 513 else sub_menu ++;
jah128 0:d6269d17c8cf 514 break;
jah128 0:d6269d17c8cf 515 case 5: //Demo Menu
jah128 0:d6269d17c8cf 516 if(sub_menu == 4) sub_menu = 0;
jah128 0:d6269d17c8cf 517 else sub_menu ++;
jah128 0:d6269d17c8cf 518 break;
jah128 0:d6269d17c8cf 519 case 7: //PsiBasic Menu
jah128 0:d6269d17c8cf 520 if(sub_menu == psi_basic_file_count) sub_menu = 0;
jah128 0:d6269d17c8cf 521 else sub_menu ++;
jah128 0:d6269d17c8cf 522 }
jah128 0:d6269d17c8cf 523 break;
jah128 0:d6269d17c8cf 524 }
jah128 0:d6269d17c8cf 525 break;
jah128 0:d6269d17c8cf 526 case 16: //Select pressed
jah128 0:d6269d17c8cf 527 switch(level) {
jah128 0:d6269d17c8cf 528 case 0:
jah128 0:d6269d17c8cf 529 if(top_menu != 6) {
jah128 0:d6269d17c8cf 530 level++;
jah128 0:d6269d17c8cf 531 sub_menu = 0;
jah128 0:d6269d17c8cf 532 } else {
jah128 0:d6269d17c8cf 533 demo_on = 0;
jah128 0:d6269d17c8cf 534 user_code_running = user_code_restore_mode;
jah128 0:d6269d17c8cf 535 }
jah128 0:d6269d17c8cf 536 break;
jah128 0:d6269d17c8cf 537 case 1:
jah128 0:d6269d17c8cf 538 switch(top_menu) {
jah128 0:d6269d17c8cf 539 case 0: //LED Menu
jah128 0:d6269d17c8cf 540 if(sub_menu == 9) {
jah128 0:d6269d17c8cf 541 for(int i=0; i<9; i++) {
jah128 0:d6269d17c8cf 542 led_state[i]=all_led_state;
jah128 0:d6269d17c8cf 543 }
jah128 0:d6269d17c8cf 544 demo_update_leds();
jah128 0:d6269d17c8cf 545 }
jah128 0:d6269d17c8cf 546 if(sub_menu == 13) level = 0;
jah128 0:d6269d17c8cf 547 break;
jah128 0:d6269d17c8cf 548 case 1: // Sensors Menu
jah128 0:d6269d17c8cf 549 if(sub_menu == 11) level = 0;
jah128 0:d6269d17c8cf 550 break;
jah128 0:d6269d17c8cf 551 case 2: //Motor Menu
jah128 0:d6269d17c8cf 552 if(sub_menu == 2) {
jah128 0:d6269d17c8cf 553 switch(both_motor_mode) {
jah128 0:d6269d17c8cf 554 case 0:
jah128 0:d6269d17c8cf 555 stop();
jah128 0:d6269d17c8cf 556 break;
jah128 0:d6269d17c8cf 557 case 1:
jah128 0:d6269d17c8cf 558 brake();
jah128 0:d6269d17c8cf 559 break;
jah128 0:d6269d17c8cf 560 case 2:
jah128 0:d6269d17c8cf 561 forward(0.5);
jah128 0:d6269d17c8cf 562 break;
jah128 0:d6269d17c8cf 563 case 3:
jah128 0:d6269d17c8cf 564 forward(1);
jah128 0:d6269d17c8cf 565 break;
jah128 0:d6269d17c8cf 566 case 4:
jah128 0:d6269d17c8cf 567 backward(0.5);
jah128 0:d6269d17c8cf 568 break;
jah128 0:d6269d17c8cf 569 case 5:
jah128 0:d6269d17c8cf 570 backward(1.0);
jah128 0:d6269d17c8cf 571 break;
jah128 0:d6269d17c8cf 572 }
jah128 0:d6269d17c8cf 573 }
jah128 0:d6269d17c8cf 574 if(sub_menu == 3) {
jah128 0:d6269d17c8cf 575 level = 0;
jah128 0:d6269d17c8cf 576 }
jah128 0:d6269d17c8cf 577 break;
jah128 0:d6269d17c8cf 578 case 3: // Radio Menu
jah128 0:d6269d17c8cf 579 if(sub_menu == 0) level = 0;
jah128 0:d6269d17c8cf 580 break;
jah128 0:d6269d17c8cf 581 case 4: // Info Menu
jah128 0:d6269d17c8cf 582 if(sub_menu == 6) level = 0;
jah128 0:d6269d17c8cf 583 break;
jah128 0:d6269d17c8cf 584 case 5: // Demo Menu
jah128 0:d6269d17c8cf 585 if(sub_menu == 4) level = 0;
jah128 0:d6269d17c8cf 586 break;
jah128 0:d6269d17c8cf 587 case 7: // PsiBasic Menu
jah128 0:d6269d17c8cf 588 if(sub_menu == psi_basic_file_count) level = 0;
jah128 0:d6269d17c8cf 589 break;
jah128 0:d6269d17c8cf 590 }
jah128 0:d6269d17c8cf 591 break;
jah128 0:d6269d17c8cf 592 }
jah128 0:d6269d17c8cf 593 break;
jah128 0:d6269d17c8cf 594 }
jah128 0:d6269d17c8cf 595 } else started = 1;
jah128 0:d6269d17c8cf 596 display.clear_display();
jah128 0:d6269d17c8cf 597 switch(level) {
jah128 0:d6269d17c8cf 598 case 0:
jah128 0:d6269d17c8cf 599 //Top level menu
jah128 0:d6269d17c8cf 600 switch(top_menu) {
jah128 0:d6269d17c8cf 601 case 0:
jah128 0:d6269d17c8cf 602 strcpy(topline,"---TEST LEDS----");
jah128 0:d6269d17c8cf 603 break;
jah128 0:d6269d17c8cf 604 case 1:
jah128 0:d6269d17c8cf 605 strcpy(topline,"--TEST SENSORS--");
jah128 0:d6269d17c8cf 606 break;
jah128 0:d6269d17c8cf 607 case 2:
jah128 0:d6269d17c8cf 608 strcpy(topline,"--TEST MOTORS---");
jah128 0:d6269d17c8cf 609 break;
jah128 0:d6269d17c8cf 610 case 3:
jah128 0:d6269d17c8cf 611 strcpy(topline,"---TEST RADIO---");
jah128 0:d6269d17c8cf 612 break;
jah128 0:d6269d17c8cf 613 case 4:
jah128 0:d6269d17c8cf 614 strcpy(topline,"------INFO------");
jah128 0:d6269d17c8cf 615 break;
jah128 0:d6269d17c8cf 616 case 5:
jah128 0:d6269d17c8cf 617 strcpy(topline,"---CODE DEMOS---");
jah128 0:d6269d17c8cf 618 break;
jah128 0:d6269d17c8cf 619 case 6:
jah128 0:d6269d17c8cf 620 strcpy(topline,"------EXIT------");
jah128 0:d6269d17c8cf 621 break;
jah128 0:d6269d17c8cf 622 case 7:
jah128 0:d6269d17c8cf 623 strcpy(topline,"---PSI BASIC----");
jah128 0:d6269d17c8cf 624 break;
jah128 0:d6269d17c8cf 625 }
jah128 0:d6269d17c8cf 626 strcpy(bottomline,"");
jah128 0:d6269d17c8cf 627 break;
jah128 0:d6269d17c8cf 628 case 1:
jah128 0:d6269d17c8cf 629 //Sub level menu
jah128 0:d6269d17c8cf 630 switch(top_menu) {
jah128 0:d6269d17c8cf 631 case 7:
jah128 0:d6269d17c8cf 632 strcpy(topline,"-PSI BASIC MENU-");
jah128 0:d6269d17c8cf 633 if(sub_menu == psi_basic_file_count) strcpy(bottomline,"EXIT");
jah128 0:d6269d17c8cf 634 else strcpy(bottomline,basic_filenames.at(sub_menu).c_str());
jah128 0:d6269d17c8cf 635 break;
jah128 0:d6269d17c8cf 636 case 0:
jah128 0:d6269d17c8cf 637 strcpy(topline,"----LED MENU----");
jah128 0:d6269d17c8cf 638 char led_status[7];
jah128 0:d6269d17c8cf 639 if(sub_menu<9) {
jah128 0:d6269d17c8cf 640 switch(led_state[sub_menu]) {
jah128 0:d6269d17c8cf 641 case 0:
jah128 0:d6269d17c8cf 642 strcpy(led_status,"OFF");
jah128 0:d6269d17c8cf 643 break;
jah128 0:d6269d17c8cf 644 case 1:
jah128 0:d6269d17c8cf 645 strcpy(led_status,"RED");
jah128 0:d6269d17c8cf 646 break;
jah128 0:d6269d17c8cf 647 case 2:
jah128 0:d6269d17c8cf 648 strcpy(led_status,"GREEN");
jah128 0:d6269d17c8cf 649 break;
jah128 0:d6269d17c8cf 650 case 3:
jah128 0:d6269d17c8cf 651 strcpy(led_status,"YELLOW");
jah128 0:d6269d17c8cf 652 break;
jah128 0:d6269d17c8cf 653 }
jah128 0:d6269d17c8cf 654 }
jah128 0:d6269d17c8cf 655 if(sub_menu < 8) sprintf(bottomline,"OUTER %d: %s",(sub_menu + 1),led_status);
jah128 0:d6269d17c8cf 656 if(sub_menu == 8) sprintf(bottomline,"CENTER: %s",led_status);
jah128 0:d6269d17c8cf 657 if(sub_menu == 9) {
jah128 0:d6269d17c8cf 658 switch(all_led_state) {
jah128 0:d6269d17c8cf 659 case 0:
jah128 0:d6269d17c8cf 660 strcpy(led_status,"OFF");
jah128 0:d6269d17c8cf 661 break;
jah128 0:d6269d17c8cf 662 case 1:
jah128 0:d6269d17c8cf 663 strcpy(led_status,"RED");
jah128 0:d6269d17c8cf 664 break;
jah128 0:d6269d17c8cf 665 case 2:
jah128 0:d6269d17c8cf 666 strcpy(led_status,"GREEN");
jah128 0:d6269d17c8cf 667 break;
jah128 0:d6269d17c8cf 668 case 3:
jah128 0:d6269d17c8cf 669 strcpy(led_status,"YELLOW");
jah128 0:d6269d17c8cf 670 break;
jah128 0:d6269d17c8cf 671 }
jah128 0:d6269d17c8cf 672 sprintf(bottomline,"SET ALL %s", led_status);
jah128 0:d6269d17c8cf 673 }
jah128 0:d6269d17c8cf 674 if(sub_menu == 10) {
jah128 0:d6269d17c8cf 675 if(base_led_state == 0) strcpy(led_status,"OFF");
jah128 0:d6269d17c8cf 676 else strcpy(led_status,"ON");
jah128 0:d6269d17c8cf 677 sprintf(bottomline,"BASE: %s",led_status);
jah128 0:d6269d17c8cf 678 }
jah128 0:d6269d17c8cf 679 if(sub_menu == 11) sprintf(bottomline,"CLED BNESS %d%%", brightness);
jah128 0:d6269d17c8cf 680 if(sub_menu == 12) sprintf(bottomline,"DISP BNESS %d%%", bl_brightness);
jah128 0:d6269d17c8cf 681 if(sub_menu == 13) strcpy(bottomline,"EXIT");
jah128 0:d6269d17c8cf 682 break;
jah128 0:d6269d17c8cf 683
jah128 0:d6269d17c8cf 684 case 1:
jah128 0:d6269d17c8cf 685 strcpy(topline,"--SENSORS MENU--");
jah128 0:d6269d17c8cf 686 switch(sub_menu) {
jah128 0:d6269d17c8cf 687 case 0: {
jah128 0:d6269d17c8cf 688 float battery = get_battery_voltage ();
jah128 0:d6269d17c8cf 689 sprintf(bottomline,"BATTERY: %1.3fV",battery);
jah128 0:d6269d17c8cf 690 break;
jah128 0:d6269d17c8cf 691 }
jah128 0:d6269d17c8cf 692 case 1: {
jah128 0:d6269d17c8cf 693 float dc = get_dc_voltage ();
jah128 0:d6269d17c8cf 694 sprintf(bottomline,"DC: %1.3fV",dc);
jah128 0:d6269d17c8cf 695 break;
jah128 0:d6269d17c8cf 696 }
jah128 0:d6269d17c8cf 697 case 2: {
jah128 0:d6269d17c8cf 698 float current = get_current ();
jah128 0:d6269d17c8cf 699 sprintf(bottomline,"CURRENT: %1.3fA",current);
jah128 0:d6269d17c8cf 700 break;
jah128 0:d6269d17c8cf 701 }
jah128 0:d6269d17c8cf 702 case 3: {
jah128 0:d6269d17c8cf 703 float temperature = get_temperature();
jah128 0:d6269d17c8cf 704 sprintf(bottomline,"TEMP: %3.2fC", temperature);
jah128 0:d6269d17c8cf 705 break;
jah128 0:d6269d17c8cf 706 }
jah128 0:d6269d17c8cf 707 case 4:
jah128 0:d6269d17c8cf 708 store_background_base_ir_values();
jah128 0:d6269d17c8cf 709 sprintf(bottomline,"BIR%dB:%d",base_ir_index+1,get_background_base_ir_value(base_ir_index));
jah128 0:d6269d17c8cf 710 break;
jah128 0:d6269d17c8cf 711 case 5:
jah128 0:d6269d17c8cf 712 store_illuminated_base_ir_values();
jah128 0:d6269d17c8cf 713 sprintf(bottomline,"BIR%dR:%d",base_ir_index+1,get_illuminated_base_ir_value(base_ir_index));
jah128 0:d6269d17c8cf 714 break;
jah128 0:d6269d17c8cf 715 case 6:
jah128 0:d6269d17c8cf 716 store_background_raw_ir_values();
jah128 0:d6269d17c8cf 717 sprintf(bottomline,"SIR%dB:%d",side_ir_index+1,get_background_raw_ir_value(side_ir_index));
jah128 0:d6269d17c8cf 718 break;
jah128 0:d6269d17c8cf 719 case 7:
jah128 0:d6269d17c8cf 720 store_illuminated_raw_ir_values();
jah128 0:d6269d17c8cf 721 sprintf(bottomline,"SIR%dR:%d",side_ir_index+1,get_illuminated_raw_ir_value(side_ir_index));
jah128 0:d6269d17c8cf 722 break;
jah128 0:d6269d17c8cf 723 case 8:
jah128 0:d6269d17c8cf 724 sprintf(bottomline,"SIR%dD:%3.1f",side_ir_index+1,0.0);
jah128 0:d6269d17c8cf 725 break;
jah128 0:d6269d17c8cf 726 case 9:
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 0:d6269d17c8cf 730 update_ultrasonic_measure();
jah128 0:d6269d17c8cf 731 break;
jah128 0:d6269d17c8cf 732 case 10:
jah128 0:d6269d17c8cf 733 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 0:d6269d17c8cf 737 case 11:
jah128 0:d6269d17c8cf 738 sprintf(bottomline,"EXIT");
jah128 0:d6269d17c8cf 739 break;
jah128 0:d6269d17c8cf 740 }
jah128 0:d6269d17c8cf 741 break;
jah128 0:d6269d17c8cf 742 case 2:
jah128 0:d6269d17c8cf 743 strcpy(topline,"--MOTORS MENU---");
jah128 0:d6269d17c8cf 744 switch(sub_menu) {
jah128 0:d6269d17c8cf 745 case 0:
jah128 0:d6269d17c8cf 746 sprintf(bottomline,"LEFT: %d%%", left_speed);
jah128 0:d6269d17c8cf 747 break;
jah128 0:d6269d17c8cf 748 case 1:
jah128 0:d6269d17c8cf 749 sprintf(bottomline,"RIGHT: %d%%", right_speed);
jah128 0:d6269d17c8cf 750 break;
jah128 0:d6269d17c8cf 751 case 2:
jah128 0:d6269d17c8cf 752 char both_mode_string[16];
jah128 0:d6269d17c8cf 753 switch(both_motor_mode) {
jah128 0:d6269d17c8cf 754 case 0:
jah128 0:d6269d17c8cf 755 strcpy(both_mode_string,"OFF");
jah128 0:d6269d17c8cf 756 break;
jah128 0:d6269d17c8cf 757 case 1:
jah128 0:d6269d17c8cf 758 strcpy(both_mode_string,"BRAKE");
jah128 0:d6269d17c8cf 759 break;
jah128 0:d6269d17c8cf 760 case 2:
jah128 0:d6269d17c8cf 761 strcpy(both_mode_string,"+50%");
jah128 0:d6269d17c8cf 762 break;
jah128 0:d6269d17c8cf 763 case 3:
jah128 0:d6269d17c8cf 764 strcpy(both_mode_string,"+100%");
jah128 0:d6269d17c8cf 765 break;
jah128 0:d6269d17c8cf 766 case 4:
jah128 0:d6269d17c8cf 767 strcpy(both_mode_string,"-50%");
jah128 0:d6269d17c8cf 768 break;
jah128 0:d6269d17c8cf 769 case 5:
jah128 0:d6269d17c8cf 770 strcpy(both_mode_string,"-100%");
jah128 0:d6269d17c8cf 771 break;
jah128 0:d6269d17c8cf 772 }
jah128 0:d6269d17c8cf 773 sprintf(bottomline,"BOTH TO %s",both_mode_string);
jah128 0:d6269d17c8cf 774 break;
jah128 0:d6269d17c8cf 775 case 3:
jah128 0:d6269d17c8cf 776 sprintf(bottomline,"EXIT");
jah128 0:d6269d17c8cf 777 break;
jah128 0:d6269d17c8cf 778 }
jah128 0:d6269d17c8cf 779 break;
jah128 0:d6269d17c8cf 780 case 3:
jah128 0:d6269d17c8cf 781 strcpy(topline,"---RADIO MENU---");
jah128 0:d6269d17c8cf 782 switch(sub_menu) {
jah128 0:d6269d17c8cf 783
jah128 0:d6269d17c8cf 784 case 0:
jah128 0:d6269d17c8cf 785 sprintf(bottomline,"EXIT");
jah128 0:d6269d17c8cf 786 break;
jah128 0:d6269d17c8cf 787 }
jah128 0:d6269d17c8cf 788 break;
jah128 0:d6269d17c8cf 789 case 4:
jah128 0:d6269d17c8cf 790 strcpy(topline,"---INFO MENU----");
jah128 0:d6269d17c8cf 791 switch(sub_menu) {
jah128 0:d6269d17c8cf 792 case 0:
jah128 0:d6269d17c8cf 793 sprintf(bottomline,"ROBOT ID: %d",robot_id);
jah128 0:d6269d17c8cf 794 break;
jah128 0:d6269d17c8cf 795 case 1:
jah128 0:d6269d17c8cf 796 sprintf(bottomline,"SOFTWARE: %1.2f",SOFTWARE_VERSION_CODE);
jah128 0:d6269d17c8cf 797 break;
jah128 0:d6269d17c8cf 798 case 2:
jah128 0:d6269d17c8cf 799 if(firmware_version > 0) sprintf(bottomline,"FIRMWARE: %1.2f",firmware_version);
jah128 0:d6269d17c8cf 800 else sprintf(bottomline,"FIRMWARE: ?????");
jah128 0:d6269d17c8cf 801 break;
jah128 0:d6269d17c8cf 802 case 3:
jah128 0:d6269d17c8cf 803 sprintf(bottomline,"PROG:%s",program_name);
jah128 0:d6269d17c8cf 804 break;
jah128 0:d6269d17c8cf 805 case 4:
jah128 0:d6269d17c8cf 806 sprintf(bottomline,"AUTH:%s",author_name);
jah128 0:d6269d17c8cf 807 break;
jah128 0:d6269d17c8cf 808 case 5:
jah128 0:d6269d17c8cf 809 sprintf(bottomline,"VER:%s",version_name);
jah128 0:d6269d17c8cf 810 break;
jah128 0:d6269d17c8cf 811 case 6:
jah128 0:d6269d17c8cf 812 sprintf(bottomline,"EXIT");
jah128 0:d6269d17c8cf 813 break;
jah128 0:d6269d17c8cf 814 }
jah128 0:d6269d17c8cf 815 break;
jah128 0:d6269d17c8cf 816 case 5:
jah128 0:d6269d17c8cf 817 strcpy(topline,"---CODE DEMOS---");
jah128 0:d6269d17c8cf 818 switch(sub_menu) {
jah128 0:d6269d17c8cf 819 case 0:
jah128 0:d6269d17c8cf 820 sprintf(bottomline,"LINE FOLLOW");
jah128 0:d6269d17c8cf 821 break;
jah128 0:d6269d17c8cf 822 case 1:
jah128 0:d6269d17c8cf 823 sprintf(bottomline,"OBST. AVOID");
jah128 0:d6269d17c8cf 824 break;
jah128 0:d6269d17c8cf 825 case 2:
jah128 0:d6269d17c8cf 826 sprintf(bottomline,"COLOUR SPIN");
jah128 0:d6269d17c8cf 827 break;
jah128 0:d6269d17c8cf 828 case 3:
jah128 0:d6269d17c8cf 829 sprintf(bottomline,"STRESS TEST");
jah128 0:d6269d17c8cf 830 break;
jah128 0:d6269d17c8cf 831 case 4:
jah128 0:d6269d17c8cf 832 sprintf(bottomline,"EXIT");
jah128 0:d6269d17c8cf 833 break;
jah128 0:d6269d17c8cf 834 }
jah128 0:d6269d17c8cf 835 break;
jah128 0:d6269d17c8cf 836 case 6:
jah128 0:d6269d17c8cf 837 strcpy(topline,"");
jah128 0:d6269d17c8cf 838 break;
jah128 0:d6269d17c8cf 839 }
jah128 0:d6269d17c8cf 840 break;
jah128 0:d6269d17c8cf 841 }
jah128 0:d6269d17c8cf 842 display.write_string(topline);
jah128 0:d6269d17c8cf 843 display.set_position(1,0);
jah128 0:d6269d17c8cf 844 display.write_string(bottomline);
jah128 0:d6269d17c8cf 845 if(top_menu == 1 && level == 1) {
jah128 0:d6269d17c8cf 846 demo_event.attach(&demo_event_thread, 0.25);
jah128 0:d6269d17c8cf 847 }
jah128 0:d6269d17c8cf 848 }
jah128 0:d6269d17c8cf 849
jah128 0:d6269d17c8cf 850 void start_line_demo()
jah128 0:d6269d17c8cf 851 {
jah128 0:d6269d17c8cf 852 display.set_backlight_brightness(0);
jah128 0:d6269d17c8cf 853 time_out = 0.25f;
jah128 0:d6269d17c8cf 854 demo_timer.start();
jah128 0:d6269d17c8cf 855 state = 0;
jah128 0:d6269d17c8cf 856 speed = 0;
jah128 0:d6269d17c8cf 857 led_step = 0;
jah128 0:d6269d17c8cf 858 demo_running = 1;
jah128 0:d6269d17c8cf 859 demo_timeout.attach_us(&line_demo_cycle,1000);
jah128 0:d6269d17c8cf 860 }
jah128 0:d6269d17c8cf 861
jah128 0:d6269d17c8cf 862 void start_obstacle_demo()
jah128 0:d6269d17c8cf 863 {
jah128 0:d6269d17c8cf 864 display.set_backlight_brightness(0);
jah128 0:d6269d17c8cf 865 time_out = 0.25f;
jah128 0:d6269d17c8cf 866 demo_timer.start();
jah128 0:d6269d17c8cf 867 state = 0;
jah128 0:d6269d17c8cf 868 speed = 0;
jah128 0:d6269d17c8cf 869 led_step = 0;
jah128 0:d6269d17c8cf 870 demo_running = 1;
jah128 0:d6269d17c8cf 871 demo_timeout.attach_us(&obstacle_demo_cycle,1000);
jah128 0:d6269d17c8cf 872 }
jah128 0:d6269d17c8cf 873
jah128 0:d6269d17c8cf 874 void start_stress_demo()
jah128 0:d6269d17c8cf 875 {
jah128 0:d6269d17c8cf 876 display.set_backlight_brightness(0.25);
jah128 0:d6269d17c8cf 877 display.write_string("STRESS TEST");
jah128 0:d6269d17c8cf 878 display.set_position(1,0);
jah128 0:d6269d17c8cf 879 display.write_string("----25%----");
jah128 0:d6269d17c8cf 880 time_out = 0.04f;
jah128 0:d6269d17c8cf 881 demo_timer.start();
jah128 0:d6269d17c8cf 882 state = 0;
jah128 0:d6269d17c8cf 883 speed = 0;
jah128 0:d6269d17c8cf 884 stress_step = 0;
jah128 0:d6269d17c8cf 885 spin_step = 0;
jah128 0:d6269d17c8cf 886 demo_running = 1;
jah128 0:d6269d17c8cf 887 demo_timeout.attach_us(&stress_demo_cycle,1000);
jah128 0:d6269d17c8cf 888 }
jah128 0:d6269d17c8cf 889
jah128 0:d6269d17c8cf 890 void start_spinning_demo()
jah128 0:d6269d17c8cf 891 {
jah128 0:d6269d17c8cf 892 display.set_backlight_brightness(0);
jah128 0:d6269d17c8cf 893 time_out = 0.0f;
jah128 0:d6269d17c8cf 894 demo_timer.start();
jah128 0:d6269d17c8cf 895 state = 0;
jah128 0:d6269d17c8cf 896 speed = 0;
jah128 0:d6269d17c8cf 897 led_step = 0;
jah128 0:d6269d17c8cf 898 spin_step = 0;
jah128 0:d6269d17c8cf 899 demo_running = 1;
jah128 0:d6269d17c8cf 900 demo_timeout.attach_us(&spinning_demo_cycle,1000);
jah128 0:d6269d17c8cf 901 }
jah128 0:d6269d17c8cf 902
jah128 0:d6269d17c8cf 903 void line_demo_cycle()
jah128 0:d6269d17c8cf 904 {
jah128 0:d6269d17c8cf 905 if(demo_timer.read() > time_out) {
jah128 0:d6269d17c8cf 906 store_line_position();
jah128 0:d6269d17c8cf 907 if(line_found) {
jah128 0:d6269d17c8cf 908 time_out = 0.01f;
jah128 0:d6269d17c8cf 909 state = 0;
jah128 0:d6269d17c8cf 910 // Get the position of the line.
jah128 0:d6269d17c8cf 911 lf_current_pos_of_line = line_position;
jah128 0:d6269d17c8cf 912 lf_proportional = lf_current_pos_of_line;
jah128 0:d6269d17c8cf 913
jah128 0:d6269d17c8cf 914 // Compute the derivative
jah128 0:d6269d17c8cf 915 lf_derivative = lf_current_pos_of_line - lf_previous_pos_of_line;
jah128 0:d6269d17c8cf 916
jah128 0:d6269d17c8cf 917 // Compute the integral
jah128 0:d6269d17c8cf 918 lf_integral += lf_proportional;
jah128 0:d6269d17c8cf 919
jah128 0:d6269d17c8cf 920 // Remember the last position.
jah128 0:d6269d17c8cf 921 lf_previous_pos_of_line = lf_current_pos_of_line;
jah128 0:d6269d17c8cf 922
jah128 0:d6269d17c8cf 923 // Compute the power
jah128 0:d6269d17c8cf 924 lf_power = (lf_proportional * (LF_P_TERM) ) + (lf_integral*(LF_I_TERM)) + (lf_derivative*(LF_D_TERM)) ;
jah128 0:d6269d17c8cf 925
jah128 0:d6269d17c8cf 926 // Compute new speeds
jah128 0:d6269d17c8cf 927 lf_right = lf_speed-lf_power;
jah128 0:d6269d17c8cf 928 lf_left = lf_speed+lf_power;
jah128 0:d6269d17c8cf 929
jah128 0:d6269d17c8cf 930 // limit checks
jah128 0:d6269d17c8cf 931 if (lf_right < 0)
jah128 0:d6269d17c8cf 932 lf_right = 0;
jah128 0:d6269d17c8cf 933 else if (lf_right > 1.0f)
jah128 0:d6269d17c8cf 934 lf_right = 1.0f;
jah128 0:d6269d17c8cf 935
jah128 0:d6269d17c8cf 936 if (lf_left < 0)
jah128 0:d6269d17c8cf 937 lf_left = 0;
jah128 0:d6269d17c8cf 938 else if (lf_left > 1.0f)
jah128 0:d6269d17c8cf 939 lf_left = 1.0f;
jah128 0:d6269d17c8cf 940 }else{
jah128 0:d6269d17c8cf 941 //Cannot see line: hunt for it
jah128 0:d6269d17c8cf 942 if(lf_left > lf_right){
jah128 0:d6269d17c8cf 943 //Currently turning left, keep turning left
jah128 0:d6269d17c8cf 944 state ++;
jah128 0:d6269d17c8cf 945 float d_step = state * 0.04;
jah128 0:d6269d17c8cf 946 lf_left = 0.2 + d_step;
jah128 0:d6269d17c8cf 947 lf_right = -0.2 - d_step;
jah128 0:d6269d17c8cf 948 if(state > 20){
jah128 0:d6269d17c8cf 949 state = 0;
jah128 0:d6269d17c8cf 950 lf_right = 0.2;
jah128 0:d6269d17c8cf 951 lf_left = -0.2;
jah128 0:d6269d17c8cf 952 time_out += 0.01f;
jah128 0:d6269d17c8cf 953 if(time_out > 0.1f) demo_running = 0;
jah128 0:d6269d17c8cf 954 }
jah128 0:d6269d17c8cf 955 }else{
jah128 0:d6269d17c8cf 956 //Currently turning right, keep turning right
jah128 0:d6269d17c8cf 957 state ++;
jah128 0:d6269d17c8cf 958 float d_step = state * 0.04;
jah128 0:d6269d17c8cf 959 lf_left = -0.2 - d_step;
jah128 0:d6269d17c8cf 960 lf_right = 0.2 + d_step;
jah128 0:d6269d17c8cf 961 if(state > 20){
jah128 0:d6269d17c8cf 962 state = 0;
jah128 0:d6269d17c8cf 963 lf_right = -0.2;
jah128 0:d6269d17c8cf 964 lf_left = 0.2;
jah128 0:d6269d17c8cf 965 time_out += 0.01f;
jah128 0:d6269d17c8cf 966 if(time_out > 0.1f) demo_running = 0;
jah128 0:d6269d17c8cf 967 }
jah128 0:d6269d17c8cf 968 }
jah128 0:d6269d17c8cf 969 }
jah128 0:d6269d17c8cf 970 // set speed
jah128 0:d6269d17c8cf 971 set_left_motor_speed(lf_left);
jah128 0:d6269d17c8cf 972 set_right_motor_speed(lf_right);
jah128 0:d6269d17c8cf 973
jah128 0:d6269d17c8cf 974
jah128 0:d6269d17c8cf 975 demo_timer.reset();
jah128 0:d6269d17c8cf 976 }
jah128 0:d6269d17c8cf 977 if(demo_running == 1)demo_timeout.attach_us(&line_demo_cycle,500);
jah128 0:d6269d17c8cf 978 else {
jah128 0:d6269d17c8cf 979 stop();
jah128 0:d6269d17c8cf 980 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 981 }
jah128 0:d6269d17c8cf 982 }
jah128 0:d6269d17c8cf 983
jah128 0:d6269d17c8cf 984 void stress_demo_cycle()
jah128 0:d6269d17c8cf 985 {
jah128 0:d6269d17c8cf 986 if(demo_timer.read() > time_out) {
jah128 0:d6269d17c8cf 987 float pct = 0.25 + (0.25 * stress_step);
jah128 0:d6269d17c8cf 988 switch(state) {
jah128 0:d6269d17c8cf 989 case 0:
jah128 0:d6269d17c8cf 990 if(spin_step % 2 == 0) {
jah128 0:d6269d17c8cf 991 forward(pct);
jah128 0:d6269d17c8cf 992 set_leds(0xFF,0xFF);
jah128 0:d6269d17c8cf 993 } else {
jah128 0:d6269d17c8cf 994 backward(pct);
jah128 0:d6269d17c8cf 995 set_leds(0,0xFF);
jah128 0:d6269d17c8cf 996 }
jah128 0:d6269d17c8cf 997 spin_step ++;
jah128 0:d6269d17c8cf 998 if(spin_step > 199) {
jah128 0:d6269d17c8cf 999 state ++;
jah128 0:d6269d17c8cf 1000 spin_step = 0;
jah128 0:d6269d17c8cf 1001 }
jah128 0:d6269d17c8cf 1002 break;
jah128 0:d6269d17c8cf 1003 case 1:
jah128 0:d6269d17c8cf 1004 if(stress_step < 3) stress_step ++;
jah128 0:d6269d17c8cf 1005 float pct = 0.25 + (0.25 * stress_step);
jah128 0:d6269d17c8cf 1006 display.set_backlight_brightness(pct);
jah128 0:d6269d17c8cf 1007 display.set_position(1,0);
jah128 0:d6269d17c8cf 1008 switch(stress_step) {
jah128 0:d6269d17c8cf 1009 case 1:
jah128 0:d6269d17c8cf 1010 display.write_string("----50%----");
jah128 0:d6269d17c8cf 1011 break;
jah128 0:d6269d17c8cf 1012 case 2:
jah128 0:d6269d17c8cf 1013 display.write_string("----75%----");
jah128 0:d6269d17c8cf 1014 break;
jah128 0:d6269d17c8cf 1015 case 3:
jah128 0:d6269d17c8cf 1016 display.write_string("---100%----");
jah128 0:d6269d17c8cf 1017 break;
jah128 0:d6269d17c8cf 1018 }
jah128 0:d6269d17c8cf 1019 state = 0;
jah128 0:d6269d17c8cf 1020 break;
jah128 0:d6269d17c8cf 1021 }
jah128 0:d6269d17c8cf 1022 demo_timer.reset();
jah128 0:d6269d17c8cf 1023 }
jah128 0:d6269d17c8cf 1024 if(demo_running == 1)demo_timeout.attach_us(&stress_demo_cycle,500);
jah128 0:d6269d17c8cf 1025 else {
jah128 0:d6269d17c8cf 1026 stop();
jah128 0:d6269d17c8cf 1027 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 1028 }
jah128 0:d6269d17c8cf 1029 }
jah128 0:d6269d17c8cf 1030
jah128 0:d6269d17c8cf 1031 void spinning_demo_cycle()
jah128 0:d6269d17c8cf 1032 {
jah128 0:d6269d17c8cf 1033 if(demo_timer.read() > time_out) {
jah128 0:d6269d17c8cf 1034 switch(state) {
jah128 0:d6269d17c8cf 1035 case 0: //Robot is stopped
jah128 0:d6269d17c8cf 1036 set_leds(0,0xFF);
jah128 0:d6269d17c8cf 1037 set_center_led(1,1);
jah128 0:d6269d17c8cf 1038 speed = 0.1f;
jah128 0:d6269d17c8cf 1039 brake();
jah128 0:d6269d17c8cf 1040 time_out = 0.5;
jah128 0:d6269d17c8cf 1041 state = 1;
jah128 0:d6269d17c8cf 1042 led_step = 0;
jah128 0:d6269d17c8cf 1043 break;
jah128 0:d6269d17c8cf 1044 case 1: //Motor is turning right, accelerating
jah128 0:d6269d17c8cf 1045 time_out = 0.1;
jah128 0:d6269d17c8cf 1046 set_center_led(2,1);
jah128 0:d6269d17c8cf 1047 switch(led_step) {
jah128 0:d6269d17c8cf 1048 case 0:
jah128 0:d6269d17c8cf 1049 set_leds(0x01,0);
jah128 0:d6269d17c8cf 1050 break;
jah128 0:d6269d17c8cf 1051 case 1:
jah128 0:d6269d17c8cf 1052 set_leds(0x02,0);
jah128 0:d6269d17c8cf 1053 break;
jah128 0:d6269d17c8cf 1054 case 2:
jah128 0:d6269d17c8cf 1055 set_leds(0x04,0);
jah128 0:d6269d17c8cf 1056 break;
jah128 0:d6269d17c8cf 1057 case 3:
jah128 0:d6269d17c8cf 1058 set_leds(0x08,0);
jah128 0:d6269d17c8cf 1059 break;
jah128 0:d6269d17c8cf 1060 case 4:
jah128 0:d6269d17c8cf 1061 set_leds(0x10,0);
jah128 0:d6269d17c8cf 1062 break;
jah128 0:d6269d17c8cf 1063 case 5:
jah128 0:d6269d17c8cf 1064 set_leds(0x20,0);
jah128 0:d6269d17c8cf 1065 break;
jah128 0:d6269d17c8cf 1066 case 6:
jah128 0:d6269d17c8cf 1067 set_leds(0x40,0);
jah128 0:d6269d17c8cf 1068 break;
jah128 0:d6269d17c8cf 1069 case 7:
jah128 0:d6269d17c8cf 1070 set_leds(0x80,0);
jah128 0:d6269d17c8cf 1071 break;
jah128 0:d6269d17c8cf 1072 }
jah128 0:d6269d17c8cf 1073 led_step ++;
jah128 0:d6269d17c8cf 1074 if(led_step == 8) led_step =0;
jah128 0:d6269d17c8cf 1075 if(speed < 1) {
jah128 0:d6269d17c8cf 1076 speed += 0.0125;
jah128 0:d6269d17c8cf 1077 turn(speed);
jah128 0:d6269d17c8cf 1078 } else {
jah128 0:d6269d17c8cf 1079 state = 2;
jah128 0:d6269d17c8cf 1080 spin_step = 0;
jah128 0:d6269d17c8cf 1081 led_step =0;
jah128 0:d6269d17c8cf 1082 }
jah128 0:d6269d17c8cf 1083 break;
jah128 0:d6269d17c8cf 1084 case 2: //Motor is turning right, full speed
jah128 0:d6269d17c8cf 1085 set_center_led(3,1);
jah128 0:d6269d17c8cf 1086 switch(led_step) {
jah128 0:d6269d17c8cf 1087 case 0:
jah128 0:d6269d17c8cf 1088 set_leds(0x33,0x33);
jah128 0:d6269d17c8cf 1089 break;
jah128 0:d6269d17c8cf 1090 case 1:
jah128 0:d6269d17c8cf 1091 set_leds(0x66,0x66);
jah128 0:d6269d17c8cf 1092 break;
jah128 0:d6269d17c8cf 1093 case 2:
jah128 0:d6269d17c8cf 1094 set_leds(0xCC,0xCC);
jah128 0:d6269d17c8cf 1095 break;
jah128 0:d6269d17c8cf 1096 case 3:
jah128 0:d6269d17c8cf 1097 set_leds(0x99,0x99);
jah128 0:d6269d17c8cf 1098 break;
jah128 0:d6269d17c8cf 1099 }
jah128 0:d6269d17c8cf 1100 led_step ++;
jah128 0:d6269d17c8cf 1101 if(led_step == 4) led_step = 0;
jah128 0:d6269d17c8cf 1102 spin_step ++;
jah128 0:d6269d17c8cf 1103 if(spin_step == 40) {
jah128 0:d6269d17c8cf 1104 state = 3;
jah128 0:d6269d17c8cf 1105 led_step = 0;
jah128 0:d6269d17c8cf 1106 }
jah128 0:d6269d17c8cf 1107 break;
jah128 0:d6269d17c8cf 1108 case 3: //Motor is turning right, decelerating
jah128 0:d6269d17c8cf 1109 set_center_led(2,1);
jah128 0:d6269d17c8cf 1110 switch(led_step) {
jah128 0:d6269d17c8cf 1111 case 0:
jah128 0:d6269d17c8cf 1112 set_leds(0x01,0);
jah128 0:d6269d17c8cf 1113 break;
jah128 0:d6269d17c8cf 1114 case 1:
jah128 0:d6269d17c8cf 1115 set_leds(0x02,0);
jah128 0:d6269d17c8cf 1116 break;
jah128 0:d6269d17c8cf 1117 case 2:
jah128 0:d6269d17c8cf 1118 set_leds(0x04,0);
jah128 0:d6269d17c8cf 1119 break;
jah128 0:d6269d17c8cf 1120 case 3:
jah128 0:d6269d17c8cf 1121 set_leds(0x08,0);
jah128 0:d6269d17c8cf 1122 break;
jah128 0:d6269d17c8cf 1123 case 4:
jah128 0:d6269d17c8cf 1124 set_leds(0x10,0);
jah128 0:d6269d17c8cf 1125 break;
jah128 0:d6269d17c8cf 1126 case 5:
jah128 0:d6269d17c8cf 1127 set_leds(0x20,0);
jah128 0:d6269d17c8cf 1128 break;
jah128 0:d6269d17c8cf 1129 case 6:
jah128 0:d6269d17c8cf 1130 set_leds(0x40,0);
jah128 0:d6269d17c8cf 1131 break;
jah128 0:d6269d17c8cf 1132 case 7:
jah128 0:d6269d17c8cf 1133 set_leds(0x80,0);
jah128 0:d6269d17c8cf 1134 break;
jah128 0:d6269d17c8cf 1135 }
jah128 0:d6269d17c8cf 1136 if(led_step == 0) led_step =8;
jah128 0:d6269d17c8cf 1137 led_step --;
jah128 0:d6269d17c8cf 1138 if(speed > 0.1) {
jah128 0:d6269d17c8cf 1139 speed -= 0.025;
jah128 0:d6269d17c8cf 1140 turn(speed);
jah128 0:d6269d17c8cf 1141 } else {
jah128 0:d6269d17c8cf 1142 state = 4;
jah128 0:d6269d17c8cf 1143 spin_step = 0;
jah128 0:d6269d17c8cf 1144 led_step =0;
jah128 0:d6269d17c8cf 1145 }
jah128 0:d6269d17c8cf 1146 break;
jah128 0:d6269d17c8cf 1147 case 4: //Robot is stopped
jah128 0:d6269d17c8cf 1148 set_leds(0,0xFF);
jah128 0:d6269d17c8cf 1149 set_center_led(1,1);
jah128 0:d6269d17c8cf 1150 speed = 0.1f;
jah128 0:d6269d17c8cf 1151 brake();
jah128 0:d6269d17c8cf 1152 time_out = 0.5;
jah128 0:d6269d17c8cf 1153 led_step =0;
jah128 0:d6269d17c8cf 1154 state = 5;
jah128 0:d6269d17c8cf 1155 break;
jah128 0:d6269d17c8cf 1156 case 5: //Motor is turning left, accelerating
jah128 0:d6269d17c8cf 1157 time_out = 0.1;
jah128 0:d6269d17c8cf 1158 set_center_led(2,1);
jah128 0:d6269d17c8cf 1159 switch(led_step) {
jah128 0:d6269d17c8cf 1160 case 0:
jah128 0:d6269d17c8cf 1161 set_leds(0x01,0);
jah128 0:d6269d17c8cf 1162 break;
jah128 0:d6269d17c8cf 1163 case 1:
jah128 0:d6269d17c8cf 1164 set_leds(0x02,0);
jah128 0:d6269d17c8cf 1165 break;
jah128 0:d6269d17c8cf 1166 case 2:
jah128 0:d6269d17c8cf 1167 set_leds(0x04,0);
jah128 0:d6269d17c8cf 1168 break;
jah128 0:d6269d17c8cf 1169 case 3:
jah128 0:d6269d17c8cf 1170 set_leds(0x08,0);
jah128 0:d6269d17c8cf 1171 break;
jah128 0:d6269d17c8cf 1172 case 4:
jah128 0:d6269d17c8cf 1173 set_leds(0x10,0);
jah128 0:d6269d17c8cf 1174 break;
jah128 0:d6269d17c8cf 1175 case 5:
jah128 0:d6269d17c8cf 1176 set_leds(0x20,0);
jah128 0:d6269d17c8cf 1177 break;
jah128 0:d6269d17c8cf 1178 case 6:
jah128 0:d6269d17c8cf 1179 set_leds(0x40,0);
jah128 0:d6269d17c8cf 1180 break;
jah128 0:d6269d17c8cf 1181 case 7:
jah128 0:d6269d17c8cf 1182 set_leds(0x80,0);
jah128 0:d6269d17c8cf 1183 break;
jah128 0:d6269d17c8cf 1184 }
jah128 0:d6269d17c8cf 1185 if(led_step == 0) led_step =8;
jah128 0:d6269d17c8cf 1186 led_step --;
jah128 0:d6269d17c8cf 1187 if(speed < 1) {
jah128 0:d6269d17c8cf 1188 speed += 0.0125;
jah128 0:d6269d17c8cf 1189 turn(-speed);
jah128 0:d6269d17c8cf 1190 } else {
jah128 0:d6269d17c8cf 1191 state = 6;
jah128 0:d6269d17c8cf 1192 spin_step = 0;
jah128 0:d6269d17c8cf 1193 led_step = 0;
jah128 0:d6269d17c8cf 1194 }
jah128 0:d6269d17c8cf 1195 break;
jah128 0:d6269d17c8cf 1196 case 6: //Motor is turning left, full speed
jah128 0:d6269d17c8cf 1197 set_center_led(3,1);
jah128 0:d6269d17c8cf 1198 switch(led_step) {
jah128 0:d6269d17c8cf 1199 case 0:
jah128 0:d6269d17c8cf 1200 set_leds(0x33,0x33);
jah128 0:d6269d17c8cf 1201 break;
jah128 0:d6269d17c8cf 1202 case 1:
jah128 0:d6269d17c8cf 1203 set_leds(0x66,0x66);
jah128 0:d6269d17c8cf 1204 break;
jah128 0:d6269d17c8cf 1205 case 2:
jah128 0:d6269d17c8cf 1206 set_leds(0xCC,0xCC);
jah128 0:d6269d17c8cf 1207 break;
jah128 0:d6269d17c8cf 1208 case 3:
jah128 0:d6269d17c8cf 1209 set_leds(0x99,0x99);
jah128 0:d6269d17c8cf 1210 break;
jah128 0:d6269d17c8cf 1211 }
jah128 0:d6269d17c8cf 1212 if(led_step == 0) led_step = 4;
jah128 0:d6269d17c8cf 1213 led_step --;
jah128 0:d6269d17c8cf 1214 spin_step ++;
jah128 0:d6269d17c8cf 1215 if(spin_step == 40) {
jah128 0:d6269d17c8cf 1216 state = 7;
jah128 0:d6269d17c8cf 1217 led_step = 0;
jah128 0:d6269d17c8cf 1218 }
jah128 0:d6269d17c8cf 1219 break;
jah128 0:d6269d17c8cf 1220 case 7: //Motor is turning left, decelerating
jah128 0:d6269d17c8cf 1221 set_center_led(2,1);
jah128 0:d6269d17c8cf 1222 switch(led_step) {
jah128 0:d6269d17c8cf 1223 case 0:
jah128 0:d6269d17c8cf 1224 set_leds(0x01,0);
jah128 0:d6269d17c8cf 1225 break;
jah128 0:d6269d17c8cf 1226 case 1:
jah128 0:d6269d17c8cf 1227 set_leds(0x02,0);
jah128 0:d6269d17c8cf 1228 break;
jah128 0:d6269d17c8cf 1229 case 2:
jah128 0:d6269d17c8cf 1230 set_leds(0x04,0);
jah128 0:d6269d17c8cf 1231 break;
jah128 0:d6269d17c8cf 1232 case 3:
jah128 0:d6269d17c8cf 1233 set_leds(0x08,0);
jah128 0:d6269d17c8cf 1234 break;
jah128 0:d6269d17c8cf 1235 case 4:
jah128 0:d6269d17c8cf 1236 set_leds(0x10,0);
jah128 0:d6269d17c8cf 1237 break;
jah128 0:d6269d17c8cf 1238 case 5:
jah128 0:d6269d17c8cf 1239 set_leds(0x20,0);
jah128 0:d6269d17c8cf 1240 break;
jah128 0:d6269d17c8cf 1241 case 6:
jah128 0:d6269d17c8cf 1242 set_leds(0x40,0);
jah128 0:d6269d17c8cf 1243 break;
jah128 0:d6269d17c8cf 1244 case 7:
jah128 0:d6269d17c8cf 1245 set_leds(0x80,0);
jah128 0:d6269d17c8cf 1246 break;
jah128 0:d6269d17c8cf 1247 }
jah128 0:d6269d17c8cf 1248 led_step ++;
jah128 0:d6269d17c8cf 1249 if(led_step == 8) led_step =0;
jah128 0:d6269d17c8cf 1250 if(speed > 0.1) {
jah128 0:d6269d17c8cf 1251 speed -= 0.025;
jah128 0:d6269d17c8cf 1252 turn(-speed);
jah128 0:d6269d17c8cf 1253 } else {
jah128 0:d6269d17c8cf 1254 state = 0;
jah128 0:d6269d17c8cf 1255 spin_step = 0;
jah128 0:d6269d17c8cf 1256 led_step = 0;
jah128 0:d6269d17c8cf 1257 }
jah128 0:d6269d17c8cf 1258 break;
jah128 0:d6269d17c8cf 1259 }
jah128 0:d6269d17c8cf 1260 demo_timer.reset();
jah128 0:d6269d17c8cf 1261 }
jah128 0:d6269d17c8cf 1262 if(demo_running == 1)demo_timeout.attach_us(&spinning_demo_cycle,500);
jah128 0:d6269d17c8cf 1263 else {
jah128 0:d6269d17c8cf 1264 stop();
jah128 0:d6269d17c8cf 1265 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 1266 }
jah128 0:d6269d17c8cf 1267 }
jah128 0:d6269d17c8cf 1268
jah128 0:d6269d17c8cf 1269 void obstacle_demo_cycle()
jah128 0:d6269d17c8cf 1270 {
jah128 0:d6269d17c8cf 1271 if(demo_timer.read() > time_out) {
jah128 0:d6269d17c8cf 1272 switch(state) {
jah128 0:d6269d17c8cf 1273 case 0: //Robot is stopped
jah128 0:d6269d17c8cf 1274 set_leds(0,0xFF);
jah128 0:d6269d17c8cf 1275 set_center_led(1,0.4);
jah128 0:d6269d17c8cf 1276 speed = 0.3f;
jah128 0:d6269d17c8cf 1277 forward(speed);
jah128 0:d6269d17c8cf 1278 time_out = 0.05;
jah128 0:d6269d17c8cf 1279 state = 1;
jah128 0:d6269d17c8cf 1280 break;
jah128 0:d6269d17c8cf 1281 case 1: { //Motor is moving forward
jah128 0:d6269d17c8cf 1282 store_ir_values();
jah128 0:d6269d17c8cf 1283 int front_right = read_illuminated_raw_ir_value(0);
jah128 0:d6269d17c8cf 1284 int front_left = read_illuminated_raw_ir_value(7);
jah128 0:d6269d17c8cf 1285 if(front_left > 400 || front_right > 400) {
jah128 0:d6269d17c8cf 1286 brake();
jah128 0:d6269d17c8cf 1287 time_out = 0.04;
jah128 0:d6269d17c8cf 1288 if(front_left > front_right)state=2;
jah128 0:d6269d17c8cf 1289 else state=3;
jah128 0:d6269d17c8cf 1290 } else {
jah128 0:d6269d17c8cf 1291 if(speed < 0.5) {
jah128 0:d6269d17c8cf 1292 speed += 0.03;
jah128 0:d6269d17c8cf 1293 forward(speed);
jah128 0:d6269d17c8cf 1294 }
jah128 0:d6269d17c8cf 1295 switch(led_step) {
jah128 0:d6269d17c8cf 1296 case 0:
jah128 0:d6269d17c8cf 1297 set_leds(0x01,0);
jah128 0:d6269d17c8cf 1298 break;
jah128 0:d6269d17c8cf 1299 case 1:
jah128 0:d6269d17c8cf 1300 set_leds(0x38,0);
jah128 0:d6269d17c8cf 1301 break;
jah128 0:d6269d17c8cf 1302 case 2:
jah128 0:d6269d17c8cf 1303 set_leds(0x6C,0);
jah128 0:d6269d17c8cf 1304 break;
jah128 0:d6269d17c8cf 1305 case 3:
jah128 0:d6269d17c8cf 1306 set_leds(0xC6,0);
jah128 0:d6269d17c8cf 1307 break;
jah128 0:d6269d17c8cf 1308 case 4:
jah128 0:d6269d17c8cf 1309 set_leds(0x83,0);
jah128 0:d6269d17c8cf 1310 break;
jah128 0:d6269d17c8cf 1311 }
jah128 0:d6269d17c8cf 1312 set_center_led(2, 0.6);
jah128 0:d6269d17c8cf 1313 led_step ++;
jah128 0:d6269d17c8cf 1314 if(led_step == 5) led_step = 0;
jah128 0:d6269d17c8cf 1315 }
jah128 0:d6269d17c8cf 1316 break;
jah128 0:d6269d17c8cf 1317 }
jah128 0:d6269d17c8cf 1318 case 2: //Turn right
jah128 0:d6269d17c8cf 1319 set_left_motor_speed(0.85);
jah128 0:d6269d17c8cf 1320 set_right_motor_speed(-0.85);
jah128 0:d6269d17c8cf 1321 time_out = 0.4;
jah128 0:d6269d17c8cf 1322 state = 0;
jah128 0:d6269d17c8cf 1323 set_leds(0x0E,0x0E);
jah128 0:d6269d17c8cf 1324 set_center_led(3,0.5);
jah128 0:d6269d17c8cf 1325 break;
jah128 0:d6269d17c8cf 1326 case 3: //Turn left
jah128 0:d6269d17c8cf 1327 set_left_motor_speed(-0.85);
jah128 0:d6269d17c8cf 1328 set_right_motor_speed(0.85);
jah128 0:d6269d17c8cf 1329 time_out = 0.4;
jah128 0:d6269d17c8cf 1330 state = 0;
jah128 0:d6269d17c8cf 1331 set_leds(0xE0,0xE0);
jah128 0:d6269d17c8cf 1332 set_center_led(3,0.5);
jah128 0:d6269d17c8cf 1333 break;
jah128 0:d6269d17c8cf 1334 }
jah128 0:d6269d17c8cf 1335 demo_timer.reset();
jah128 0:d6269d17c8cf 1336 }
jah128 0:d6269d17c8cf 1337 if(demo_running == 1)demo_timeout.attach_us(&obstacle_demo_cycle,200);
jah128 0:d6269d17c8cf 1338 else {
jah128 0:d6269d17c8cf 1339 stop();
jah128 0:d6269d17c8cf 1340 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 1341 }
jah128 0:d6269d17c8cf 1342 }
jah128 0:d6269d17c8cf 1343
jah128 0:d6269d17c8cf 1344 void demo_update_leds()
jah128 0:d6269d17c8cf 1345 {
jah128 0:d6269d17c8cf 1346 char red = 0;
jah128 0:d6269d17c8cf 1347 char green = 0;
jah128 0:d6269d17c8cf 1348 for(int i=0; i<8; i++) {
jah128 0:d6269d17c8cf 1349 if(led_state[i]==1 || led_state[i]==3) red+=(1<<i);
jah128 0:d6269d17c8cf 1350 if(led_state[i]==2 || led_state[i]==3) green+=(1<<i);
jah128 0:d6269d17c8cf 1351 }
jah128 0:d6269d17c8cf 1352 set_leds(green,red);
jah128 0:d6269d17c8cf 1353 float brightness_f = brightness / 100.0f;
jah128 0:d6269d17c8cf 1354 set_center_led(led_state[8], brightness_f);
jah128 0:d6269d17c8cf 1355 set_base_led(base_led_state);
jah128 0:d6269d17c8cf 1356 }