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@0:d6269d17c8cf, 2016-02-04 (annotated)

Committer:
jah128
Date:
Thu Feb 04 21:48:54 2016 +0000
Revision:
0:d6269d17c8cf
Child:
2:c6986ee3c7c5
PsiSwarm Library Version 0.4 - Initial Commit

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 0:d6269d17c8cf 8 * PsiSwarm Library Version: 0.4
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 0:d6269d17c8cf 15 * February 2016
jah128 0:d6269d17c8cf 16 *
jah128 0:d6269d17c8cf 17 */
jah128 0:d6269d17c8cf 18
jah128 0:d6269d17c8cf 19
jah128 0:d6269d17c8cf 20 #include "psiswarm.h"
jah128 0:d6269d17c8cf 21
jah128 0:d6269d17c8cf 22 // PID terms
jah128 0:d6269d17c8cf 23 #define LF_P_TERM 0.2
jah128 0:d6269d17c8cf 24 #define LF_I_TERM 0
jah128 0:d6269d17c8cf 25 #define LF_D_TERM 4
jah128 0:d6269d17c8cf 26
jah128 0:d6269d17c8cf 27 char top_menu = 0;
jah128 0:d6269d17c8cf 28 char sub_menu = 0;
jah128 0:d6269d17c8cf 29 char level = 0;
jah128 0:d6269d17c8cf 30 char started = 0;
jah128 0:d6269d17c8cf 31 char topline[17];
jah128 0:d6269d17c8cf 32 char bottomline[17];
jah128 0:d6269d17c8cf 33 char led_state[9];
jah128 0:d6269d17c8cf 34 char all_led_state = 0;
jah128 0:d6269d17c8cf 35 char base_led_state = 0;
jah128 0:d6269d17c8cf 36 char brightness = 20;
jah128 0:d6269d17c8cf 37 char bl_brightness = 100;
jah128 0:d6269d17c8cf 38 char base_ir_index = 0;
jah128 0:d6269d17c8cf 39 char side_ir_index = 0;
jah128 0:d6269d17c8cf 40 signed short left_speed = 0;
jah128 0:d6269d17c8cf 41 signed short right_speed = 0;
jah128 0:d6269d17c8cf 42 char both_motor_mode = 0;
jah128 0:d6269d17c8cf 43 char last_switch_pressed;
jah128 0:d6269d17c8cf 44 Timeout demo_event;
jah128 0:d6269d17c8cf 45 char handling_event = 0;
jah128 0:d6269d17c8cf 46
jah128 0:d6269d17c8cf 47 Timeout demo_timeout;
jah128 0:d6269d17c8cf 48 char demo_running = 0;
jah128 0:d6269d17c8cf 49 Timer demo_timer;
jah128 0:d6269d17c8cf 50 float time_out;
jah128 0:d6269d17c8cf 51 float speed;
jah128 0:d6269d17c8cf 52 char state;
jah128 0:d6269d17c8cf 53 char led_step = 0;
jah128 0:d6269d17c8cf 54 char spin_step = 0;
jah128 0:d6269d17c8cf 55 char stress_step = 0;
jah128 0:d6269d17c8cf 56
jah128 0:d6269d17c8cf 57
jah128 0:d6269d17c8cf 58 float lf_right;
jah128 0:d6269d17c8cf 59 float lf_left;
jah128 0:d6269d17c8cf 60 float lf_current_pos_of_line = 0.0;
jah128 0:d6269d17c8cf 61 float lf_previous_pos_of_line = 0.0;
jah128 0:d6269d17c8cf 62 float lf_derivative,lf_proportional,lf_integral = 0;
jah128 0:d6269d17c8cf 63 float lf_power;
jah128 0:d6269d17c8cf 64 float lf_speed = 0.4;
jah128 0:d6269d17c8cf 65
jah128 0:d6269d17c8cf 66
jah128 0:d6269d17c8cf 67
jah128 0:d6269d17c8cf 68 void demo_mode()
jah128 0:d6269d17c8cf 69 {
jah128 0:d6269d17c8cf 70 debug("- Starting Demo Mode\n");
jah128 0:d6269d17c8cf 71 if(use_flash_basic == 1) top_menu = 7;
jah128 0:d6269d17c8cf 72 demo_on = 1;
jah128 0:d6269d17c8cf 73 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 74 display.clear_display();
jah128 0:d6269d17c8cf 75 display.write_string("PSI SWARM SYSTEM");
jah128 0:d6269d17c8cf 76 display.set_position(1,0);
jah128 0:d6269d17c8cf 77 display.write_string(" DEMO MODE");
jah128 0:d6269d17c8cf 78 wait(0.5);
jah128 0:d6269d17c8cf 79 display.clear_display();
jah128 0:d6269d17c8cf 80 display.write_string("Use cursor to");
jah128 0:d6269d17c8cf 81 display.set_position(1,0);
jah128 0:d6269d17c8cf 82 display.write_string("navigate menus");
jah128 0:d6269d17c8cf 83 char step = 0;
jah128 0:d6269d17c8cf 84 while(demo_on) {
jah128 0:d6269d17c8cf 85 if(demo_running == 0) {
jah128 0:d6269d17c8cf 86 switch(step) {
jah128 0:d6269d17c8cf 87 case 0:
jah128 0:d6269d17c8cf 88 mbed_led1 = 1;
jah128 0:d6269d17c8cf 89 mbed_led2 = 0;
jah128 0:d6269d17c8cf 90 break;
jah128 0:d6269d17c8cf 91 case 1:
jah128 0:d6269d17c8cf 92 mbed_led2 = 1;
jah128 0:d6269d17c8cf 93 mbed_led1 = 0;
jah128 0:d6269d17c8cf 94 break;
jah128 0:d6269d17c8cf 95 }
jah128 0:d6269d17c8cf 96 step++;
jah128 0:d6269d17c8cf 97 if(step==2)step=0;
jah128 0:d6269d17c8cf 98 } else {
jah128 0:d6269d17c8cf 99 mbed_led1 = 0;
jah128 0:d6269d17c8cf 100 mbed_led2 = 0;
jah128 0:d6269d17c8cf 101 mbed_led3 = 0;
jah128 0:d6269d17c8cf 102 mbed_led4 = 0;
jah128 0:d6269d17c8cf 103 }
jah128 0:d6269d17c8cf 104 wait(0.5);
jah128 0:d6269d17c8cf 105 }
jah128 0:d6269d17c8cf 106 debug("- Demo mode ended\n");
jah128 0:d6269d17c8cf 107 }
jah128 0:d6269d17c8cf 108
jah128 0:d6269d17c8cf 109 void demo_handle_switch_event(char switch_pressed)
jah128 0:d6269d17c8cf 110 {
jah128 0:d6269d17c8cf 111 if(!handling_event) {
jah128 0:d6269d17c8cf 112 handling_event = 1;
jah128 0:d6269d17c8cf 113 last_switch_pressed = switch_pressed;
jah128 0:d6269d17c8cf 114 demo_event.attach_us(&demo_event_thread, 1000);
jah128 0:d6269d17c8cf 115 }
jah128 0:d6269d17c8cf 116 }
jah128 0:d6269d17c8cf 117
jah128 0:d6269d17c8cf 118 void demo_event_thread()
jah128 0:d6269d17c8cf 119 {
jah128 0:d6269d17c8cf 120 handling_event = 0;
jah128 0:d6269d17c8cf 121 if(started == 1) {
jah128 0:d6269d17c8cf 122 switch(last_switch_pressed) {
jah128 0:d6269d17c8cf 123 case 1: //Up pressed
jah128 0:d6269d17c8cf 124 switch(level) {
jah128 0:d6269d17c8cf 125 case 0:
jah128 0:d6269d17c8cf 126 if(top_menu != 6) {
jah128 0:d6269d17c8cf 127 level++;
jah128 0:d6269d17c8cf 128 sub_menu = 0;
jah128 0:d6269d17c8cf 129 } else {
jah128 0:d6269d17c8cf 130 demo_on = 0;
jah128 0:d6269d17c8cf 131 user_code_running = user_code_restore_mode;
jah128 0:d6269d17c8cf 132 }
jah128 0:d6269d17c8cf 133 break;
jah128 0:d6269d17c8cf 134 case 1:
jah128 0:d6269d17c8cf 135 switch(top_menu) {
jah128 0:d6269d17c8cf 136 case 7: // PsiBasic Menu
jah128 0:d6269d17c8cf 137 if(sub_menu == psi_basic_file_count) level = 0;
jah128 0:d6269d17c8cf 138 break;
jah128 0:d6269d17c8cf 139 case 0: //LED Menu
jah128 0:d6269d17c8cf 140 if(sub_menu < 9) {
jah128 0:d6269d17c8cf 141 if(led_state[sub_menu] == 0) led_state[sub_menu] = 3;
jah128 0:d6269d17c8cf 142 else led_state[sub_menu]--;
jah128 0:d6269d17c8cf 143 demo_update_leds();
jah128 0:d6269d17c8cf 144 }
jah128 0:d6269d17c8cf 145 if(sub_menu == 9) {
jah128 0:d6269d17c8cf 146 if(all_led_state == 0) all_led_state = 3;
jah128 0:d6269d17c8cf 147 else all_led_state--;
jah128 0:d6269d17c8cf 148 for(int i=0; i<9; i++) {
jah128 0:d6269d17c8cf 149 led_state[i]=all_led_state;
jah128 0:d6269d17c8cf 150 }
jah128 0:d6269d17c8cf 151 demo_update_leds();
jah128 0:d6269d17c8cf 152 }
jah128 0:d6269d17c8cf 153 if(sub_menu == 10) {
jah128 0:d6269d17c8cf 154 base_led_state = 1 - base_led_state;
jah128 0:d6269d17c8cf 155 demo_update_leds();
jah128 0:d6269d17c8cf 156 }
jah128 0:d6269d17c8cf 157 if(sub_menu == 11) {
jah128 0:d6269d17c8cf 158 switch(brightness) {
jah128 0:d6269d17c8cf 159 case 100:
jah128 0:d6269d17c8cf 160 brightness = 50;
jah128 0:d6269d17c8cf 161 break;
jah128 0:d6269d17c8cf 162 case 2:
jah128 0:d6269d17c8cf 163 brightness = 1;
jah128 0:d6269d17c8cf 164 break;
jah128 0:d6269d17c8cf 165 case 5:
jah128 0:d6269d17c8cf 166 brightness = 2;
jah128 0:d6269d17c8cf 167 break;
jah128 0:d6269d17c8cf 168 case 10:
jah128 0:d6269d17c8cf 169 brightness = 5;
jah128 0:d6269d17c8cf 170 break;
jah128 0:d6269d17c8cf 171 case 20:
jah128 0:d6269d17c8cf 172 brightness = 10;
jah128 0:d6269d17c8cf 173 break;
jah128 0:d6269d17c8cf 174 case 50:
jah128 0:d6269d17c8cf 175 brightness = 20;
jah128 0:d6269d17c8cf 176 break;
jah128 0:d6269d17c8cf 177 }
jah128 0:d6269d17c8cf 178 demo_update_leds();
jah128 0:d6269d17c8cf 179 }
jah128 0:d6269d17c8cf 180 if(sub_menu == 12) {
jah128 0:d6269d17c8cf 181 if(bl_brightness > 0) bl_brightness-=10;
jah128 0:d6269d17c8cf 182 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 183 }
jah128 0:d6269d17c8cf 184 if(sub_menu == 13) level = 0;
jah128 0:d6269d17c8cf 185 break;
jah128 0:d6269d17c8cf 186 case 1: // Sensors Menu
jah128 0:d6269d17c8cf 187 if(sub_menu == 4 || sub_menu == 5) {
jah128 0:d6269d17c8cf 188 if(base_ir_index == 0) base_ir_index = 4;
jah128 0:d6269d17c8cf 189 else base_ir_index --;
jah128 0:d6269d17c8cf 190 }
jah128 0:d6269d17c8cf 191 if(sub_menu > 5 && sub_menu < 9) {
jah128 0:d6269d17c8cf 192 if(side_ir_index == 0) side_ir_index = 7;
jah128 0:d6269d17c8cf 193 else side_ir_index --;
jah128 0:d6269d17c8cf 194 }
jah128 0:d6269d17c8cf 195 if(sub_menu == 11) level = 0;
jah128 0:d6269d17c8cf 196 break;
jah128 0:d6269d17c8cf 197 case 2: // Motor Menu
jah128 0:d6269d17c8cf 198 if(sub_menu == 0) {
jah128 0:d6269d17c8cf 199 left_speed += 5;
jah128 0:d6269d17c8cf 200 if(left_speed > 100) left_speed = 100;
jah128 0:d6269d17c8cf 201 set_left_motor_speed(left_speed / 100.0f);
jah128 0:d6269d17c8cf 202 }
jah128 0:d6269d17c8cf 203 if(sub_menu == 1) {
jah128 0:d6269d17c8cf 204 right_speed += 5;
jah128 0:d6269d17c8cf 205 if(right_speed > 100) right_speed = 100;
jah128 0:d6269d17c8cf 206 set_right_motor_speed(right_speed / 100.0f);
jah128 0:d6269d17c8cf 207 }
jah128 0:d6269d17c8cf 208 if(sub_menu == 2) {
jah128 0:d6269d17c8cf 209 if(both_motor_mode == 0) both_motor_mode=5;
jah128 0:d6269d17c8cf 210 else both_motor_mode--;
jah128 0:d6269d17c8cf 211 switch(both_motor_mode) {
jah128 0:d6269d17c8cf 212 case 0:
jah128 0:d6269d17c8cf 213 stop();
jah128 0:d6269d17c8cf 214 break;
jah128 0:d6269d17c8cf 215 case 1:
jah128 0:d6269d17c8cf 216 brake();
jah128 0:d6269d17c8cf 217 break;
jah128 0:d6269d17c8cf 218 case 2:
jah128 0:d6269d17c8cf 219 forward(0.5);
jah128 0:d6269d17c8cf 220 break;
jah128 0:d6269d17c8cf 221 case 3:
jah128 0:d6269d17c8cf 222 forward(1);
jah128 0:d6269d17c8cf 223 break;
jah128 0:d6269d17c8cf 224 case 4:
jah128 0:d6269d17c8cf 225 backward(0.5);
jah128 0:d6269d17c8cf 226 break;
jah128 0:d6269d17c8cf 227 case 5:
jah128 0:d6269d17c8cf 228 backward(1.0);
jah128 0:d6269d17c8cf 229 break;
jah128 0:d6269d17c8cf 230 }
jah128 0:d6269d17c8cf 231 }
jah128 0:d6269d17c8cf 232 if(sub_menu == 3) {
jah128 0:d6269d17c8cf 233 level = 0;
jah128 0:d6269d17c8cf 234 }
jah128 0:d6269d17c8cf 235 break;
jah128 0:d6269d17c8cf 236 case 3: // Radio Menu
jah128 0:d6269d17c8cf 237 if(sub_menu == 0) level = 0;
jah128 0:d6269d17c8cf 238 break;
jah128 0:d6269d17c8cf 239 case 4: // Info Menu
jah128 0:d6269d17c8cf 240 if(sub_menu == 6) level = 0;
jah128 0:d6269d17c8cf 241 break;
jah128 0:d6269d17c8cf 242 case 5: // Demo Menu
jah128 0:d6269d17c8cf 243 if(sub_menu == 0) {
jah128 0:d6269d17c8cf 244 if(demo_running == 0) {
jah128 0:d6269d17c8cf 245 start_line_demo();
jah128 0:d6269d17c8cf 246 } else {
jah128 0:d6269d17c8cf 247 demo_running = 0;
jah128 0:d6269d17c8cf 248 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 249 stop();
jah128 0:d6269d17c8cf 250 }
jah128 0:d6269d17c8cf 251 }
jah128 0:d6269d17c8cf 252 if(sub_menu == 1) {
jah128 0:d6269d17c8cf 253 if(demo_running == 0) {
jah128 0:d6269d17c8cf 254 start_obstacle_demo();
jah128 0:d6269d17c8cf 255 } else {
jah128 0:d6269d17c8cf 256 demo_running = 0;
jah128 0:d6269d17c8cf 257 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 258 stop();
jah128 0:d6269d17c8cf 259 }
jah128 0:d6269d17c8cf 260 }
jah128 0:d6269d17c8cf 261 if(sub_menu == 2) {
jah128 0:d6269d17c8cf 262 if(demo_running == 0) {
jah128 0:d6269d17c8cf 263 start_spinning_demo();
jah128 0:d6269d17c8cf 264 } else {
jah128 0:d6269d17c8cf 265 demo_running = 0;
jah128 0:d6269d17c8cf 266 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 267 stop();
jah128 0:d6269d17c8cf 268 }
jah128 0:d6269d17c8cf 269 }
jah128 0:d6269d17c8cf 270 if(sub_menu == 3) {
jah128 0:d6269d17c8cf 271 if(demo_running == 0) {
jah128 0:d6269d17c8cf 272 start_stress_demo();
jah128 0:d6269d17c8cf 273 } else {
jah128 0:d6269d17c8cf 274 demo_running = 0;
jah128 0:d6269d17c8cf 275 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 276 stop();
jah128 0:d6269d17c8cf 277 }
jah128 0:d6269d17c8cf 278 }
jah128 0:d6269d17c8cf 279 if(sub_menu == 4) level = 0;
jah128 0:d6269d17c8cf 280 break;
jah128 0:d6269d17c8cf 281 }
jah128 0:d6269d17c8cf 282 break;
jah128 0:d6269d17c8cf 283 }
jah128 0:d6269d17c8cf 284 break;
jah128 0:d6269d17c8cf 285 case 2: //Down pressed
jah128 0:d6269d17c8cf 286 switch(level) {
jah128 0:d6269d17c8cf 287 case 0:
jah128 0:d6269d17c8cf 288 if(top_menu != 6) {
jah128 0:d6269d17c8cf 289 level++;
jah128 0:d6269d17c8cf 290 sub_menu = 0;
jah128 0:d6269d17c8cf 291 } else {
jah128 0:d6269d17c8cf 292 demo_on = 0;
jah128 0:d6269d17c8cf 293 user_code_running = user_code_restore_mode;
jah128 0:d6269d17c8cf 294 }
jah128 0:d6269d17c8cf 295 break;
jah128 0:d6269d17c8cf 296 case 1:
jah128 0:d6269d17c8cf 297 switch(top_menu) {
jah128 0:d6269d17c8cf 298 case 7: // PsiBasic Menu
jah128 0:d6269d17c8cf 299 if(sub_menu == psi_basic_file_count) level = 0;
jah128 0:d6269d17c8cf 300 break;
jah128 0:d6269d17c8cf 301 case 0: //LED Menu
jah128 0:d6269d17c8cf 302 if(sub_menu < 9) {
jah128 0:d6269d17c8cf 303 led_state[sub_menu]++;
jah128 0:d6269d17c8cf 304 if(led_state[sub_menu] == 4) led_state[sub_menu] = 0;
jah128 0:d6269d17c8cf 305 demo_update_leds();
jah128 0:d6269d17c8cf 306 }
jah128 0:d6269d17c8cf 307 if(sub_menu == 9) {
jah128 0:d6269d17c8cf 308 all_led_state++;
jah128 0:d6269d17c8cf 309 if(all_led_state == 4) all_led_state = 0;
jah128 0:d6269d17c8cf 310 for(int i=0; i<9; i++) {
jah128 0:d6269d17c8cf 311 led_state[i]=all_led_state;
jah128 0:d6269d17c8cf 312 }
jah128 0:d6269d17c8cf 313 demo_update_leds();
jah128 0:d6269d17c8cf 314 }
jah128 0:d6269d17c8cf 315 if(sub_menu == 10) {
jah128 0:d6269d17c8cf 316 base_led_state = 1 - base_led_state;
jah128 0:d6269d17c8cf 317 demo_update_leds();
jah128 0:d6269d17c8cf 318 }
jah128 0:d6269d17c8cf 319 if(sub_menu == 11) {
jah128 0:d6269d17c8cf 320 switch(brightness) {
jah128 0:d6269d17c8cf 321 case 1:
jah128 0:d6269d17c8cf 322 brightness = 2;
jah128 0:d6269d17c8cf 323 break;
jah128 0:d6269d17c8cf 324 case 2:
jah128 0:d6269d17c8cf 325 brightness = 5;
jah128 0:d6269d17c8cf 326 break;
jah128 0:d6269d17c8cf 327 case 5:
jah128 0:d6269d17c8cf 328 brightness = 10;
jah128 0:d6269d17c8cf 329 break;
jah128 0:d6269d17c8cf 330 case 10:
jah128 0:d6269d17c8cf 331 brightness = 20;
jah128 0:d6269d17c8cf 332 break;
jah128 0:d6269d17c8cf 333 case 20:
jah128 0:d6269d17c8cf 334 brightness = 50;
jah128 0:d6269d17c8cf 335 break;
jah128 0:d6269d17c8cf 336 case 50:
jah128 0:d6269d17c8cf 337 brightness = 100;
jah128 0:d6269d17c8cf 338 break;
jah128 0:d6269d17c8cf 339 }
jah128 0:d6269d17c8cf 340 demo_update_leds();
jah128 0:d6269d17c8cf 341 }
jah128 0:d6269d17c8cf 342
jah128 0:d6269d17c8cf 343 if(sub_menu == 12) {
jah128 0:d6269d17c8cf 344 if(bl_brightness < 100) bl_brightness+=10;
jah128 0:d6269d17c8cf 345 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 346 }
jah128 0:d6269d17c8cf 347 if(sub_menu == 13) level = 0;
jah128 0:d6269d17c8cf 348
jah128 0:d6269d17c8cf 349 break;
jah128 0:d6269d17c8cf 350 case 1: // Sensors Menu
jah128 0:d6269d17c8cf 351 if(sub_menu == 4 || sub_menu == 5) {
jah128 0:d6269d17c8cf 352 if(base_ir_index == 4) base_ir_index = 0;
jah128 0:d6269d17c8cf 353 else base_ir_index ++;
jah128 0:d6269d17c8cf 354 }
jah128 0:d6269d17c8cf 355 if(sub_menu > 5 && sub_menu < 9) {
jah128 0:d6269d17c8cf 356 if(side_ir_index == 7) side_ir_index = 0;
jah128 0:d6269d17c8cf 357 else side_ir_index ++;
jah128 0:d6269d17c8cf 358 }
jah128 0:d6269d17c8cf 359 if(sub_menu == 11) level = 0;
jah128 0:d6269d17c8cf 360 break;
jah128 0:d6269d17c8cf 361 case 2: // Motor Menu
jah128 0:d6269d17c8cf 362 if(sub_menu == 0) {
jah128 0:d6269d17c8cf 363 left_speed -= 5;
jah128 0:d6269d17c8cf 364 if(left_speed < -100) left_speed = -100;
jah128 0:d6269d17c8cf 365 set_left_motor_speed(left_speed / 100.0f);
jah128 0:d6269d17c8cf 366 }
jah128 0:d6269d17c8cf 367 if(sub_menu == 1) {
jah128 0:d6269d17c8cf 368 right_speed -= 5;
jah128 0:d6269d17c8cf 369 if(right_speed < -100) right_speed = -100;
jah128 0:d6269d17c8cf 370 set_right_motor_speed(right_speed / 100.0f);
jah128 0:d6269d17c8cf 371 }
jah128 0:d6269d17c8cf 372 if(sub_menu == 2) {
jah128 0:d6269d17c8cf 373 both_motor_mode++;
jah128 0:d6269d17c8cf 374 if(both_motor_mode == 6) both_motor_mode=0;
jah128 0:d6269d17c8cf 375 switch(both_motor_mode) {
jah128 0:d6269d17c8cf 376 case 0:
jah128 0:d6269d17c8cf 377 stop();
jah128 0:d6269d17c8cf 378 break;
jah128 0:d6269d17c8cf 379 case 1:
jah128 0:d6269d17c8cf 380 brake();
jah128 0:d6269d17c8cf 381 break;
jah128 0:d6269d17c8cf 382 case 2:
jah128 0:d6269d17c8cf 383 forward(0.5);
jah128 0:d6269d17c8cf 384 break;
jah128 0:d6269d17c8cf 385 case 3:
jah128 0:d6269d17c8cf 386 forward(1);
jah128 0:d6269d17c8cf 387 break;
jah128 0:d6269d17c8cf 388 case 4:
jah128 0:d6269d17c8cf 389 backward(0.5);
jah128 0:d6269d17c8cf 390 break;
jah128 0:d6269d17c8cf 391 case 5:
jah128 0:d6269d17c8cf 392 backward(1.0);
jah128 0:d6269d17c8cf 393 break;
jah128 0:d6269d17c8cf 394 }
jah128 0:d6269d17c8cf 395 }
jah128 0:d6269d17c8cf 396 if(sub_menu == 3) {
jah128 0:d6269d17c8cf 397 level = 0;
jah128 0:d6269d17c8cf 398 }
jah128 0:d6269d17c8cf 399 break;
jah128 0:d6269d17c8cf 400 case 3: // Radio Menu
jah128 0:d6269d17c8cf 401 if(sub_menu == 0) level = 0;
jah128 0:d6269d17c8cf 402 break;
jah128 0:d6269d17c8cf 403 case 4: // Info Menu
jah128 0:d6269d17c8cf 404 if(sub_menu == 6) level = 0;
jah128 0:d6269d17c8cf 405 break;
jah128 0:d6269d17c8cf 406 case 5: // Demo Menu
jah128 0:d6269d17c8cf 407 if(sub_menu == 0) {
jah128 0:d6269d17c8cf 408 if(demo_running == 0) {
jah128 0:d6269d17c8cf 409 start_line_demo();
jah128 0:d6269d17c8cf 410 } else {
jah128 0:d6269d17c8cf 411 demo_running = 0;
jah128 0:d6269d17c8cf 412 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 413 stop();
jah128 0:d6269d17c8cf 414 }
jah128 0:d6269d17c8cf 415 }
jah128 0:d6269d17c8cf 416 if(sub_menu == 1) {
jah128 0:d6269d17c8cf 417 if(demo_running == 0) {
jah128 0:d6269d17c8cf 418 start_obstacle_demo();
jah128 0:d6269d17c8cf 419 } else {
jah128 0:d6269d17c8cf 420 demo_running = 0;
jah128 0:d6269d17c8cf 421 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 422 stop();
jah128 0:d6269d17c8cf 423
jah128 0:d6269d17c8cf 424 }
jah128 0:d6269d17c8cf 425 }
jah128 0:d6269d17c8cf 426 if(sub_menu == 2) {
jah128 0:d6269d17c8cf 427 if(demo_running == 0) {
jah128 0:d6269d17c8cf 428 start_spinning_demo();
jah128 0:d6269d17c8cf 429 } else {
jah128 0:d6269d17c8cf 430 demo_running = 0;
jah128 0:d6269d17c8cf 431 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 432 stop();
jah128 0:d6269d17c8cf 433 }
jah128 0:d6269d17c8cf 434 }
jah128 0:d6269d17c8cf 435 if(sub_menu == 3) {
jah128 0:d6269d17c8cf 436 if(demo_running == 0) {
jah128 0:d6269d17c8cf 437 start_stress_demo();
jah128 0:d6269d17c8cf 438 } else {
jah128 0:d6269d17c8cf 439 demo_running = 0;
jah128 0:d6269d17c8cf 440 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 441 stop();
jah128 0:d6269d17c8cf 442 }
jah128 0:d6269d17c8cf 443 }
jah128 0:d6269d17c8cf 444 if(sub_menu == 4) level = 0;
jah128 0:d6269d17c8cf 445 break;
jah128 0:d6269d17c8cf 446 }
jah128 0:d6269d17c8cf 447 break;
jah128 0:d6269d17c8cf 448 }
jah128 0:d6269d17c8cf 449 break;
jah128 0:d6269d17c8cf 450 case 4: //Left pressed
jah128 0:d6269d17c8cf 451 switch(level) {
jah128 0:d6269d17c8cf 452 case 0:
jah128 0:d6269d17c8cf 453 if(top_menu == 0) {
jah128 0:d6269d17c8cf 454 top_menu = 6;
jah128 0:d6269d17c8cf 455 if(use_flash_basic == 1) top_menu = 7;
jah128 0:d6269d17c8cf 456 }
jah128 0:d6269d17c8cf 457 else top_menu --;
jah128 0:d6269d17c8cf 458 break;
jah128 0:d6269d17c8cf 459 case 1:
jah128 0:d6269d17c8cf 460 switch(top_menu) {
jah128 0:d6269d17c8cf 461 case 0: //LED Menu
jah128 0:d6269d17c8cf 462 if(sub_menu == 0) sub_menu = 13;
jah128 0:d6269d17c8cf 463 else sub_menu --;
jah128 0:d6269d17c8cf 464 break;
jah128 0:d6269d17c8cf 465 case 1: //Sensors Menu
jah128 0:d6269d17c8cf 466 if(sub_menu == 0) sub_menu = 11;
jah128 0:d6269d17c8cf 467 else sub_menu --;
jah128 0:d6269d17c8cf 468 break;
jah128 0:d6269d17c8cf 469
jah128 0:d6269d17c8cf 470 case 2: //Motor Menu
jah128 0:d6269d17c8cf 471 if(sub_menu == 0) sub_menu = 3;
jah128 0:d6269d17c8cf 472 else sub_menu --;
jah128 0:d6269d17c8cf 473 break;
jah128 0:d6269d17c8cf 474 case 4: //Info Menu
jah128 0:d6269d17c8cf 475 if(sub_menu == 0) sub_menu = 6;
jah128 0:d6269d17c8cf 476 else sub_menu --;
jah128 0:d6269d17c8cf 477 break;
jah128 0:d6269d17c8cf 478 case 5: //Demo Menu
jah128 0:d6269d17c8cf 479 if(sub_menu == 0) sub_menu = 4;
jah128 0:d6269d17c8cf 480 else sub_menu --;
jah128 0:d6269d17c8cf 481 break;
jah128 0:d6269d17c8cf 482 case 7: //PsiBasic Menu
jah128 0:d6269d17c8cf 483 if(sub_menu == 0) sub_menu = psi_basic_file_count;
jah128 0:d6269d17c8cf 484 else sub_menu --;
jah128 0:d6269d17c8cf 485 }
jah128 0:d6269d17c8cf 486 break;
jah128 0:d6269d17c8cf 487
jah128 0:d6269d17c8cf 488 }
jah128 0:d6269d17c8cf 489 break;
jah128 0:d6269d17c8cf 490 case 8: //Right pressed
jah128 0:d6269d17c8cf 491 switch(level) {
jah128 0:d6269d17c8cf 492 case 0:
jah128 0:d6269d17c8cf 493 top_menu ++;
jah128 0:d6269d17c8cf 494 if((top_menu - use_flash_basic) > 6) top_menu = 0;
jah128 0:d6269d17c8cf 495 break;
jah128 0:d6269d17c8cf 496 case 1:
jah128 0:d6269d17c8cf 497 switch(top_menu) {
jah128 0:d6269d17c8cf 498 case 0: //LED Menu
jah128 0:d6269d17c8cf 499 if(sub_menu == 13) sub_menu = 0;
jah128 0:d6269d17c8cf 500 else sub_menu ++;
jah128 0:d6269d17c8cf 501 break;
jah128 0:d6269d17c8cf 502 case 1: //Sensors Menu
jah128 0:d6269d17c8cf 503 if(sub_menu == 11) sub_menu = 0;
jah128 0:d6269d17c8cf 504 else sub_menu ++;
jah128 0:d6269d17c8cf 505 break;
jah128 0:d6269d17c8cf 506 case 2: //Motor Menu
jah128 0:d6269d17c8cf 507 if(sub_menu == 3) sub_menu = 0;
jah128 0:d6269d17c8cf 508 else sub_menu ++;
jah128 0:d6269d17c8cf 509 break;
jah128 0:d6269d17c8cf 510 case 4: //Info Menu
jah128 0:d6269d17c8cf 511 if(sub_menu == 6) sub_menu = 0;
jah128 0:d6269d17c8cf 512 else sub_menu ++;
jah128 0:d6269d17c8cf 513 break;
jah128 0:d6269d17c8cf 514 case 5: //Demo Menu
jah128 0:d6269d17c8cf 515 if(sub_menu == 4) sub_menu = 0;
jah128 0:d6269d17c8cf 516 else sub_menu ++;
jah128 0:d6269d17c8cf 517 break;
jah128 0:d6269d17c8cf 518 case 7: //PsiBasic Menu
jah128 0:d6269d17c8cf 519 if(sub_menu == psi_basic_file_count) sub_menu = 0;
jah128 0:d6269d17c8cf 520 else sub_menu ++;
jah128 0:d6269d17c8cf 521 }
jah128 0:d6269d17c8cf 522 break;
jah128 0:d6269d17c8cf 523 }
jah128 0:d6269d17c8cf 524 break;
jah128 0:d6269d17c8cf 525 case 16: //Select pressed
jah128 0:d6269d17c8cf 526 switch(level) {
jah128 0:d6269d17c8cf 527 case 0:
jah128 0:d6269d17c8cf 528 if(top_menu != 6) {
jah128 0:d6269d17c8cf 529 level++;
jah128 0:d6269d17c8cf 530 sub_menu = 0;
jah128 0:d6269d17c8cf 531 } else {
jah128 0:d6269d17c8cf 532 demo_on = 0;
jah128 0:d6269d17c8cf 533 user_code_running = user_code_restore_mode;
jah128 0:d6269d17c8cf 534 }
jah128 0:d6269d17c8cf 535 break;
jah128 0:d6269d17c8cf 536 case 1:
jah128 0:d6269d17c8cf 537 switch(top_menu) {
jah128 0:d6269d17c8cf 538 case 0: //LED Menu
jah128 0:d6269d17c8cf 539 if(sub_menu == 9) {
jah128 0:d6269d17c8cf 540 for(int i=0; i<9; i++) {
jah128 0:d6269d17c8cf 541 led_state[i]=all_led_state;
jah128 0:d6269d17c8cf 542 }
jah128 0:d6269d17c8cf 543 demo_update_leds();
jah128 0:d6269d17c8cf 544 }
jah128 0:d6269d17c8cf 545 if(sub_menu == 13) level = 0;
jah128 0:d6269d17c8cf 546 break;
jah128 0:d6269d17c8cf 547 case 1: // Sensors Menu
jah128 0:d6269d17c8cf 548 if(sub_menu == 11) level = 0;
jah128 0:d6269d17c8cf 549 break;
jah128 0:d6269d17c8cf 550 case 2: //Motor Menu
jah128 0:d6269d17c8cf 551 if(sub_menu == 2) {
jah128 0:d6269d17c8cf 552 switch(both_motor_mode) {
jah128 0:d6269d17c8cf 553 case 0:
jah128 0:d6269d17c8cf 554 stop();
jah128 0:d6269d17c8cf 555 break;
jah128 0:d6269d17c8cf 556 case 1:
jah128 0:d6269d17c8cf 557 brake();
jah128 0:d6269d17c8cf 558 break;
jah128 0:d6269d17c8cf 559 case 2:
jah128 0:d6269d17c8cf 560 forward(0.5);
jah128 0:d6269d17c8cf 561 break;
jah128 0:d6269d17c8cf 562 case 3:
jah128 0:d6269d17c8cf 563 forward(1);
jah128 0:d6269d17c8cf 564 break;
jah128 0:d6269d17c8cf 565 case 4:
jah128 0:d6269d17c8cf 566 backward(0.5);
jah128 0:d6269d17c8cf 567 break;
jah128 0:d6269d17c8cf 568 case 5:
jah128 0:d6269d17c8cf 569 backward(1.0);
jah128 0:d6269d17c8cf 570 break;
jah128 0:d6269d17c8cf 571 }
jah128 0:d6269d17c8cf 572 }
jah128 0:d6269d17c8cf 573 if(sub_menu == 3) {
jah128 0:d6269d17c8cf 574 level = 0;
jah128 0:d6269d17c8cf 575 }
jah128 0:d6269d17c8cf 576 break;
jah128 0:d6269d17c8cf 577 case 3: // Radio Menu
jah128 0:d6269d17c8cf 578 if(sub_menu == 0) level = 0;
jah128 0:d6269d17c8cf 579 break;
jah128 0:d6269d17c8cf 580 case 4: // Info Menu
jah128 0:d6269d17c8cf 581 if(sub_menu == 6) level = 0;
jah128 0:d6269d17c8cf 582 break;
jah128 0:d6269d17c8cf 583 case 5: // Demo Menu
jah128 0:d6269d17c8cf 584 if(sub_menu == 4) level = 0;
jah128 0:d6269d17c8cf 585 break;
jah128 0:d6269d17c8cf 586 case 7: // PsiBasic Menu
jah128 0:d6269d17c8cf 587 if(sub_menu == psi_basic_file_count) level = 0;
jah128 0:d6269d17c8cf 588 break;
jah128 0:d6269d17c8cf 589 }
jah128 0:d6269d17c8cf 590 break;
jah128 0:d6269d17c8cf 591 }
jah128 0:d6269d17c8cf 592 break;
jah128 0:d6269d17c8cf 593 }
jah128 0:d6269d17c8cf 594 } else started = 1;
jah128 0:d6269d17c8cf 595 display.clear_display();
jah128 0:d6269d17c8cf 596 switch(level) {
jah128 0:d6269d17c8cf 597 case 0:
jah128 0:d6269d17c8cf 598 //Top level menu
jah128 0:d6269d17c8cf 599 switch(top_menu) {
jah128 0:d6269d17c8cf 600 case 0:
jah128 0:d6269d17c8cf 601 strcpy(topline,"---TEST LEDS----");
jah128 0:d6269d17c8cf 602 break;
jah128 0:d6269d17c8cf 603 case 1:
jah128 0:d6269d17c8cf 604 strcpy(topline,"--TEST SENSORS--");
jah128 0:d6269d17c8cf 605 break;
jah128 0:d6269d17c8cf 606 case 2:
jah128 0:d6269d17c8cf 607 strcpy(topline,"--TEST MOTORS---");
jah128 0:d6269d17c8cf 608 break;
jah128 0:d6269d17c8cf 609 case 3:
jah128 0:d6269d17c8cf 610 strcpy(topline,"---TEST RADIO---");
jah128 0:d6269d17c8cf 611 break;
jah128 0:d6269d17c8cf 612 case 4:
jah128 0:d6269d17c8cf 613 strcpy(topline,"------INFO------");
jah128 0:d6269d17c8cf 614 break;
jah128 0:d6269d17c8cf 615 case 5:
jah128 0:d6269d17c8cf 616 strcpy(topline,"---CODE DEMOS---");
jah128 0:d6269d17c8cf 617 break;
jah128 0:d6269d17c8cf 618 case 6:
jah128 0:d6269d17c8cf 619 strcpy(topline,"------EXIT------");
jah128 0:d6269d17c8cf 620 break;
jah128 0:d6269d17c8cf 621 case 7:
jah128 0:d6269d17c8cf 622 strcpy(topline,"---PSI BASIC----");
jah128 0:d6269d17c8cf 623 break;
jah128 0:d6269d17c8cf 624 }
jah128 0:d6269d17c8cf 625 strcpy(bottomline,"");
jah128 0:d6269d17c8cf 626 break;
jah128 0:d6269d17c8cf 627 case 1:
jah128 0:d6269d17c8cf 628 //Sub level menu
jah128 0:d6269d17c8cf 629 switch(top_menu) {
jah128 0:d6269d17c8cf 630 case 7:
jah128 0:d6269d17c8cf 631 strcpy(topline,"-PSI BASIC MENU-");
jah128 0:d6269d17c8cf 632 if(sub_menu == psi_basic_file_count) strcpy(bottomline,"EXIT");
jah128 0:d6269d17c8cf 633 else strcpy(bottomline,basic_filenames.at(sub_menu).c_str());
jah128 0:d6269d17c8cf 634 break;
jah128 0:d6269d17c8cf 635 case 0:
jah128 0:d6269d17c8cf 636 strcpy(topline,"----LED MENU----");
jah128 0:d6269d17c8cf 637 char led_status[7];
jah128 0:d6269d17c8cf 638 if(sub_menu<9) {
jah128 0:d6269d17c8cf 639 switch(led_state[sub_menu]) {
jah128 0:d6269d17c8cf 640 case 0:
jah128 0:d6269d17c8cf 641 strcpy(led_status,"OFF");
jah128 0:d6269d17c8cf 642 break;
jah128 0:d6269d17c8cf 643 case 1:
jah128 0:d6269d17c8cf 644 strcpy(led_status,"RED");
jah128 0:d6269d17c8cf 645 break;
jah128 0:d6269d17c8cf 646 case 2:
jah128 0:d6269d17c8cf 647 strcpy(led_status,"GREEN");
jah128 0:d6269d17c8cf 648 break;
jah128 0:d6269d17c8cf 649 case 3:
jah128 0:d6269d17c8cf 650 strcpy(led_status,"YELLOW");
jah128 0:d6269d17c8cf 651 break;
jah128 0:d6269d17c8cf 652 }
jah128 0:d6269d17c8cf 653 }
jah128 0:d6269d17c8cf 654 if(sub_menu < 8) sprintf(bottomline,"OUTER %d: %s",(sub_menu + 1),led_status);
jah128 0:d6269d17c8cf 655 if(sub_menu == 8) sprintf(bottomline,"CENTER: %s",led_status);
jah128 0:d6269d17c8cf 656 if(sub_menu == 9) {
jah128 0:d6269d17c8cf 657 switch(all_led_state) {
jah128 0:d6269d17c8cf 658 case 0:
jah128 0:d6269d17c8cf 659 strcpy(led_status,"OFF");
jah128 0:d6269d17c8cf 660 break;
jah128 0:d6269d17c8cf 661 case 1:
jah128 0:d6269d17c8cf 662 strcpy(led_status,"RED");
jah128 0:d6269d17c8cf 663 break;
jah128 0:d6269d17c8cf 664 case 2:
jah128 0:d6269d17c8cf 665 strcpy(led_status,"GREEN");
jah128 0:d6269d17c8cf 666 break;
jah128 0:d6269d17c8cf 667 case 3:
jah128 0:d6269d17c8cf 668 strcpy(led_status,"YELLOW");
jah128 0:d6269d17c8cf 669 break;
jah128 0:d6269d17c8cf 670 }
jah128 0:d6269d17c8cf 671 sprintf(bottomline,"SET ALL %s", led_status);
jah128 0:d6269d17c8cf 672 }
jah128 0:d6269d17c8cf 673 if(sub_menu == 10) {
jah128 0:d6269d17c8cf 674 if(base_led_state == 0) strcpy(led_status,"OFF");
jah128 0:d6269d17c8cf 675 else strcpy(led_status,"ON");
jah128 0:d6269d17c8cf 676 sprintf(bottomline,"BASE: %s",led_status);
jah128 0:d6269d17c8cf 677 }
jah128 0:d6269d17c8cf 678 if(sub_menu == 11) sprintf(bottomline,"CLED BNESS %d%%", brightness);
jah128 0:d6269d17c8cf 679 if(sub_menu == 12) sprintf(bottomline,"DISP BNESS %d%%", bl_brightness);
jah128 0:d6269d17c8cf 680 if(sub_menu == 13) strcpy(bottomline,"EXIT");
jah128 0:d6269d17c8cf 681 break;
jah128 0:d6269d17c8cf 682
jah128 0:d6269d17c8cf 683 case 1:
jah128 0:d6269d17c8cf 684 strcpy(topline,"--SENSORS MENU--");
jah128 0:d6269d17c8cf 685 switch(sub_menu) {
jah128 0:d6269d17c8cf 686 case 0: {
jah128 0:d6269d17c8cf 687 float battery = get_battery_voltage ();
jah128 0:d6269d17c8cf 688 sprintf(bottomline,"BATTERY: %1.3fV",battery);
jah128 0:d6269d17c8cf 689 break;
jah128 0:d6269d17c8cf 690 }
jah128 0:d6269d17c8cf 691 case 1: {
jah128 0:d6269d17c8cf 692 float dc = get_dc_voltage ();
jah128 0:d6269d17c8cf 693 sprintf(bottomline,"DC: %1.3fV",dc);
jah128 0:d6269d17c8cf 694 break;
jah128 0:d6269d17c8cf 695 }
jah128 0:d6269d17c8cf 696 case 2: {
jah128 0:d6269d17c8cf 697 float current = get_current ();
jah128 0:d6269d17c8cf 698 sprintf(bottomline,"CURRENT: %1.3fA",current);
jah128 0:d6269d17c8cf 699 break;
jah128 0:d6269d17c8cf 700 }
jah128 0:d6269d17c8cf 701 case 3: {
jah128 0:d6269d17c8cf 702 float temperature = get_temperature();
jah128 0:d6269d17c8cf 703 sprintf(bottomline,"TEMP: %3.2fC", temperature);
jah128 0:d6269d17c8cf 704 break;
jah128 0:d6269d17c8cf 705 }
jah128 0:d6269d17c8cf 706 case 4:
jah128 0:d6269d17c8cf 707 store_background_base_ir_values();
jah128 0:d6269d17c8cf 708 sprintf(bottomline,"BIR%dB:%d",base_ir_index+1,get_background_base_ir_value(base_ir_index));
jah128 0:d6269d17c8cf 709 break;
jah128 0:d6269d17c8cf 710 case 5:
jah128 0:d6269d17c8cf 711 store_illuminated_base_ir_values();
jah128 0:d6269d17c8cf 712 sprintf(bottomline,"BIR%dR:%d",base_ir_index+1,get_illuminated_base_ir_value(base_ir_index));
jah128 0:d6269d17c8cf 713 break;
jah128 0:d6269d17c8cf 714 case 6:
jah128 0:d6269d17c8cf 715 store_background_raw_ir_values();
jah128 0:d6269d17c8cf 716 sprintf(bottomline,"SIR%dB:%d",side_ir_index+1,get_background_raw_ir_value(side_ir_index));
jah128 0:d6269d17c8cf 717 break;
jah128 0:d6269d17c8cf 718 case 7:
jah128 0:d6269d17c8cf 719 store_illuminated_raw_ir_values();
jah128 0:d6269d17c8cf 720 sprintf(bottomline,"SIR%dR:%d",side_ir_index+1,get_illuminated_raw_ir_value(side_ir_index));
jah128 0:d6269d17c8cf 721 break;
jah128 0:d6269d17c8cf 722 case 8:
jah128 0:d6269d17c8cf 723 sprintf(bottomline,"SIR%dD:%3.1f",side_ir_index+1,0.0);
jah128 0:d6269d17c8cf 724 break;
jah128 0:d6269d17c8cf 725 case 9:
jah128 0:d6269d17c8cf 726 if(ultrasonic_distance_updated == 1) {
jah128 0:d6269d17c8cf 727 sprintf(bottomline,"USONIC:%3dcm",ultrasonic_distance);
jah128 0:d6269d17c8cf 728 } else sprintf(bottomline,"USONIC:---------");
jah128 0:d6269d17c8cf 729 update_ultrasonic_measure();
jah128 0:d6269d17c8cf 730 break;
jah128 0:d6269d17c8cf 731 case 10:
jah128 0:d6269d17c8cf 732 store_line_position();
jah128 0:d6269d17c8cf 733 if(line_found == 1)sprintf(bottomline,"LINE:%1.3f",line_position);
jah128 0:d6269d17c8cf 734 else sprintf(bottomline,"LINE:---------");
jah128 0:d6269d17c8cf 735 break;
jah128 0:d6269d17c8cf 736 case 11:
jah128 0:d6269d17c8cf 737 sprintf(bottomline,"EXIT");
jah128 0:d6269d17c8cf 738 break;
jah128 0:d6269d17c8cf 739 }
jah128 0:d6269d17c8cf 740 break;
jah128 0:d6269d17c8cf 741 case 2:
jah128 0:d6269d17c8cf 742 strcpy(topline,"--MOTORS MENU---");
jah128 0:d6269d17c8cf 743 switch(sub_menu) {
jah128 0:d6269d17c8cf 744 case 0:
jah128 0:d6269d17c8cf 745 sprintf(bottomline,"LEFT: %d%%", left_speed);
jah128 0:d6269d17c8cf 746 break;
jah128 0:d6269d17c8cf 747 case 1:
jah128 0:d6269d17c8cf 748 sprintf(bottomline,"RIGHT: %d%%", right_speed);
jah128 0:d6269d17c8cf 749 break;
jah128 0:d6269d17c8cf 750 case 2:
jah128 0:d6269d17c8cf 751 char both_mode_string[16];
jah128 0:d6269d17c8cf 752 switch(both_motor_mode) {
jah128 0:d6269d17c8cf 753 case 0:
jah128 0:d6269d17c8cf 754 strcpy(both_mode_string,"OFF");
jah128 0:d6269d17c8cf 755 break;
jah128 0:d6269d17c8cf 756 case 1:
jah128 0:d6269d17c8cf 757 strcpy(both_mode_string,"BRAKE");
jah128 0:d6269d17c8cf 758 break;
jah128 0:d6269d17c8cf 759 case 2:
jah128 0:d6269d17c8cf 760 strcpy(both_mode_string,"+50%");
jah128 0:d6269d17c8cf 761 break;
jah128 0:d6269d17c8cf 762 case 3:
jah128 0:d6269d17c8cf 763 strcpy(both_mode_string,"+100%");
jah128 0:d6269d17c8cf 764 break;
jah128 0:d6269d17c8cf 765 case 4:
jah128 0:d6269d17c8cf 766 strcpy(both_mode_string,"-50%");
jah128 0:d6269d17c8cf 767 break;
jah128 0:d6269d17c8cf 768 case 5:
jah128 0:d6269d17c8cf 769 strcpy(both_mode_string,"-100%");
jah128 0:d6269d17c8cf 770 break;
jah128 0:d6269d17c8cf 771 }
jah128 0:d6269d17c8cf 772 sprintf(bottomline,"BOTH TO %s",both_mode_string);
jah128 0:d6269d17c8cf 773 break;
jah128 0:d6269d17c8cf 774 case 3:
jah128 0:d6269d17c8cf 775 sprintf(bottomline,"EXIT");
jah128 0:d6269d17c8cf 776 break;
jah128 0:d6269d17c8cf 777 }
jah128 0:d6269d17c8cf 778 break;
jah128 0:d6269d17c8cf 779 case 3:
jah128 0:d6269d17c8cf 780 strcpy(topline,"---RADIO MENU---");
jah128 0:d6269d17c8cf 781 switch(sub_menu) {
jah128 0:d6269d17c8cf 782
jah128 0:d6269d17c8cf 783 case 0:
jah128 0:d6269d17c8cf 784 sprintf(bottomline,"EXIT");
jah128 0:d6269d17c8cf 785 break;
jah128 0:d6269d17c8cf 786 }
jah128 0:d6269d17c8cf 787 break;
jah128 0:d6269d17c8cf 788 case 4:
jah128 0:d6269d17c8cf 789 strcpy(topline,"---INFO MENU----");
jah128 0:d6269d17c8cf 790 switch(sub_menu) {
jah128 0:d6269d17c8cf 791 case 0:
jah128 0:d6269d17c8cf 792 sprintf(bottomline,"ROBOT ID: %d",robot_id);
jah128 0:d6269d17c8cf 793 break;
jah128 0:d6269d17c8cf 794 case 1:
jah128 0:d6269d17c8cf 795 sprintf(bottomline,"SOFTWARE: %1.2f",SOFTWARE_VERSION_CODE);
jah128 0:d6269d17c8cf 796 break;
jah128 0:d6269d17c8cf 797 case 2:
jah128 0:d6269d17c8cf 798 if(firmware_version > 0) sprintf(bottomline,"FIRMWARE: %1.2f",firmware_version);
jah128 0:d6269d17c8cf 799 else sprintf(bottomline,"FIRMWARE: ?????");
jah128 0:d6269d17c8cf 800 break;
jah128 0:d6269d17c8cf 801 case 3:
jah128 0:d6269d17c8cf 802 sprintf(bottomline,"PROG:%s",program_name);
jah128 0:d6269d17c8cf 803 break;
jah128 0:d6269d17c8cf 804 case 4:
jah128 0:d6269d17c8cf 805 sprintf(bottomline,"AUTH:%s",author_name);
jah128 0:d6269d17c8cf 806 break;
jah128 0:d6269d17c8cf 807 case 5:
jah128 0:d6269d17c8cf 808 sprintf(bottomline,"VER:%s",version_name);
jah128 0:d6269d17c8cf 809 break;
jah128 0:d6269d17c8cf 810 case 6:
jah128 0:d6269d17c8cf 811 sprintf(bottomline,"EXIT");
jah128 0:d6269d17c8cf 812 break;
jah128 0:d6269d17c8cf 813 }
jah128 0:d6269d17c8cf 814 break;
jah128 0:d6269d17c8cf 815 case 5:
jah128 0:d6269d17c8cf 816 strcpy(topline,"---CODE DEMOS---");
jah128 0:d6269d17c8cf 817 switch(sub_menu) {
jah128 0:d6269d17c8cf 818 case 0:
jah128 0:d6269d17c8cf 819 sprintf(bottomline,"LINE FOLLOW");
jah128 0:d6269d17c8cf 820 break;
jah128 0:d6269d17c8cf 821 case 1:
jah128 0:d6269d17c8cf 822 sprintf(bottomline,"OBST. AVOID");
jah128 0:d6269d17c8cf 823 break;
jah128 0:d6269d17c8cf 824 case 2:
jah128 0:d6269d17c8cf 825 sprintf(bottomline,"COLOUR SPIN");
jah128 0:d6269d17c8cf 826 break;
jah128 0:d6269d17c8cf 827 case 3:
jah128 0:d6269d17c8cf 828 sprintf(bottomline,"STRESS TEST");
jah128 0:d6269d17c8cf 829 break;
jah128 0:d6269d17c8cf 830 case 4:
jah128 0:d6269d17c8cf 831 sprintf(bottomline,"EXIT");
jah128 0:d6269d17c8cf 832 break;
jah128 0:d6269d17c8cf 833 }
jah128 0:d6269d17c8cf 834 break;
jah128 0:d6269d17c8cf 835 case 6:
jah128 0:d6269d17c8cf 836 strcpy(topline,"");
jah128 0:d6269d17c8cf 837 break;
jah128 0:d6269d17c8cf 838 }
jah128 0:d6269d17c8cf 839 break;
jah128 0:d6269d17c8cf 840 }
jah128 0:d6269d17c8cf 841 display.write_string(topline);
jah128 0:d6269d17c8cf 842 display.set_position(1,0);
jah128 0:d6269d17c8cf 843 display.write_string(bottomline);
jah128 0:d6269d17c8cf 844 if(top_menu == 1 && level == 1) {
jah128 0:d6269d17c8cf 845 demo_event.attach(&demo_event_thread, 0.25);
jah128 0:d6269d17c8cf 846 }
jah128 0:d6269d17c8cf 847 }
jah128 0:d6269d17c8cf 848
jah128 0:d6269d17c8cf 849 void start_line_demo()
jah128 0:d6269d17c8cf 850 {
jah128 0:d6269d17c8cf 851 display.set_backlight_brightness(0);
jah128 0:d6269d17c8cf 852 time_out = 0.25f;
jah128 0:d6269d17c8cf 853 demo_timer.start();
jah128 0:d6269d17c8cf 854 state = 0;
jah128 0:d6269d17c8cf 855 speed = 0;
jah128 0:d6269d17c8cf 856 led_step = 0;
jah128 0:d6269d17c8cf 857 demo_running = 1;
jah128 0:d6269d17c8cf 858 demo_timeout.attach_us(&line_demo_cycle,1000);
jah128 0:d6269d17c8cf 859 }
jah128 0:d6269d17c8cf 860
jah128 0:d6269d17c8cf 861 void start_obstacle_demo()
jah128 0:d6269d17c8cf 862 {
jah128 0:d6269d17c8cf 863 display.set_backlight_brightness(0);
jah128 0:d6269d17c8cf 864 time_out = 0.25f;
jah128 0:d6269d17c8cf 865 demo_timer.start();
jah128 0:d6269d17c8cf 866 state = 0;
jah128 0:d6269d17c8cf 867 speed = 0;
jah128 0:d6269d17c8cf 868 led_step = 0;
jah128 0:d6269d17c8cf 869 demo_running = 1;
jah128 0:d6269d17c8cf 870 demo_timeout.attach_us(&obstacle_demo_cycle,1000);
jah128 0:d6269d17c8cf 871 }
jah128 0:d6269d17c8cf 872
jah128 0:d6269d17c8cf 873 void start_stress_demo()
jah128 0:d6269d17c8cf 874 {
jah128 0:d6269d17c8cf 875 display.set_backlight_brightness(0.25);
jah128 0:d6269d17c8cf 876 display.write_string("STRESS TEST");
jah128 0:d6269d17c8cf 877 display.set_position(1,0);
jah128 0:d6269d17c8cf 878 display.write_string("----25%----");
jah128 0:d6269d17c8cf 879 time_out = 0.04f;
jah128 0:d6269d17c8cf 880 demo_timer.start();
jah128 0:d6269d17c8cf 881 state = 0;
jah128 0:d6269d17c8cf 882 speed = 0;
jah128 0:d6269d17c8cf 883 stress_step = 0;
jah128 0:d6269d17c8cf 884 spin_step = 0;
jah128 0:d6269d17c8cf 885 demo_running = 1;
jah128 0:d6269d17c8cf 886 demo_timeout.attach_us(&stress_demo_cycle,1000);
jah128 0:d6269d17c8cf 887 }
jah128 0:d6269d17c8cf 888
jah128 0:d6269d17c8cf 889 void start_spinning_demo()
jah128 0:d6269d17c8cf 890 {
jah128 0:d6269d17c8cf 891 display.set_backlight_brightness(0);
jah128 0:d6269d17c8cf 892 time_out = 0.0f;
jah128 0:d6269d17c8cf 893 demo_timer.start();
jah128 0:d6269d17c8cf 894 state = 0;
jah128 0:d6269d17c8cf 895 speed = 0;
jah128 0:d6269d17c8cf 896 led_step = 0;
jah128 0:d6269d17c8cf 897 spin_step = 0;
jah128 0:d6269d17c8cf 898 demo_running = 1;
jah128 0:d6269d17c8cf 899 demo_timeout.attach_us(&spinning_demo_cycle,1000);
jah128 0:d6269d17c8cf 900 }
jah128 0:d6269d17c8cf 901
jah128 0:d6269d17c8cf 902 void line_demo_cycle()
jah128 0:d6269d17c8cf 903 {
jah128 0:d6269d17c8cf 904 if(demo_timer.read() > time_out) {
jah128 0:d6269d17c8cf 905 store_line_position();
jah128 0:d6269d17c8cf 906 if(line_found) {
jah128 0:d6269d17c8cf 907 time_out = 0.01f;
jah128 0:d6269d17c8cf 908 state = 0;
jah128 0:d6269d17c8cf 909 // Get the position of the line.
jah128 0:d6269d17c8cf 910 lf_current_pos_of_line = line_position;
jah128 0:d6269d17c8cf 911 lf_proportional = lf_current_pos_of_line;
jah128 0:d6269d17c8cf 912
jah128 0:d6269d17c8cf 913 // Compute the derivative
jah128 0:d6269d17c8cf 914 lf_derivative = lf_current_pos_of_line - lf_previous_pos_of_line;
jah128 0:d6269d17c8cf 915
jah128 0:d6269d17c8cf 916 // Compute the integral
jah128 0:d6269d17c8cf 917 lf_integral += lf_proportional;
jah128 0:d6269d17c8cf 918
jah128 0:d6269d17c8cf 919 // Remember the last position.
jah128 0:d6269d17c8cf 920 lf_previous_pos_of_line = lf_current_pos_of_line;
jah128 0:d6269d17c8cf 921
jah128 0:d6269d17c8cf 922 // Compute the power
jah128 0:d6269d17c8cf 923 lf_power = (lf_proportional * (LF_P_TERM) ) + (lf_integral*(LF_I_TERM)) + (lf_derivative*(LF_D_TERM)) ;
jah128 0:d6269d17c8cf 924
jah128 0:d6269d17c8cf 925 // Compute new speeds
jah128 0:d6269d17c8cf 926 lf_right = lf_speed-lf_power;
jah128 0:d6269d17c8cf 927 lf_left = lf_speed+lf_power;
jah128 0:d6269d17c8cf 928
jah128 0:d6269d17c8cf 929 // limit checks
jah128 0:d6269d17c8cf 930 if (lf_right < 0)
jah128 0:d6269d17c8cf 931 lf_right = 0;
jah128 0:d6269d17c8cf 932 else if (lf_right > 1.0f)
jah128 0:d6269d17c8cf 933 lf_right = 1.0f;
jah128 0:d6269d17c8cf 934
jah128 0:d6269d17c8cf 935 if (lf_left < 0)
jah128 0:d6269d17c8cf 936 lf_left = 0;
jah128 0:d6269d17c8cf 937 else if (lf_left > 1.0f)
jah128 0:d6269d17c8cf 938 lf_left = 1.0f;
jah128 0:d6269d17c8cf 939 }else{
jah128 0:d6269d17c8cf 940 //Cannot see line: hunt for it
jah128 0:d6269d17c8cf 941 if(lf_left > lf_right){
jah128 0:d6269d17c8cf 942 //Currently turning left, keep turning left
jah128 0:d6269d17c8cf 943 state ++;
jah128 0:d6269d17c8cf 944 float d_step = state * 0.04;
jah128 0:d6269d17c8cf 945 lf_left = 0.2 + d_step;
jah128 0:d6269d17c8cf 946 lf_right = -0.2 - d_step;
jah128 0:d6269d17c8cf 947 if(state > 20){
jah128 0:d6269d17c8cf 948 state = 0;
jah128 0:d6269d17c8cf 949 lf_right = 0.2;
jah128 0:d6269d17c8cf 950 lf_left = -0.2;
jah128 0:d6269d17c8cf 951 time_out += 0.01f;
jah128 0:d6269d17c8cf 952 if(time_out > 0.1f) demo_running = 0;
jah128 0:d6269d17c8cf 953 }
jah128 0:d6269d17c8cf 954 }else{
jah128 0:d6269d17c8cf 955 //Currently turning right, keep turning right
jah128 0:d6269d17c8cf 956 state ++;
jah128 0:d6269d17c8cf 957 float d_step = state * 0.04;
jah128 0:d6269d17c8cf 958 lf_left = -0.2 - d_step;
jah128 0:d6269d17c8cf 959 lf_right = 0.2 + d_step;
jah128 0:d6269d17c8cf 960 if(state > 20){
jah128 0:d6269d17c8cf 961 state = 0;
jah128 0:d6269d17c8cf 962 lf_right = -0.2;
jah128 0:d6269d17c8cf 963 lf_left = 0.2;
jah128 0:d6269d17c8cf 964 time_out += 0.01f;
jah128 0:d6269d17c8cf 965 if(time_out > 0.1f) demo_running = 0;
jah128 0:d6269d17c8cf 966 }
jah128 0:d6269d17c8cf 967 }
jah128 0:d6269d17c8cf 968 }
jah128 0:d6269d17c8cf 969 // set speed
jah128 0:d6269d17c8cf 970 set_left_motor_speed(lf_left);
jah128 0:d6269d17c8cf 971 set_right_motor_speed(lf_right);
jah128 0:d6269d17c8cf 972
jah128 0:d6269d17c8cf 973
jah128 0:d6269d17c8cf 974 demo_timer.reset();
jah128 0:d6269d17c8cf 975 }
jah128 0:d6269d17c8cf 976 if(demo_running == 1)demo_timeout.attach_us(&line_demo_cycle,500);
jah128 0:d6269d17c8cf 977 else {
jah128 0:d6269d17c8cf 978 stop();
jah128 0:d6269d17c8cf 979 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 980 }
jah128 0:d6269d17c8cf 981 }
jah128 0:d6269d17c8cf 982
jah128 0:d6269d17c8cf 983 void stress_demo_cycle()
jah128 0:d6269d17c8cf 984 {
jah128 0:d6269d17c8cf 985 if(demo_timer.read() > time_out) {
jah128 0:d6269d17c8cf 986 float pct = 0.25 + (0.25 * stress_step);
jah128 0:d6269d17c8cf 987 switch(state) {
jah128 0:d6269d17c8cf 988 case 0:
jah128 0:d6269d17c8cf 989 if(spin_step % 2 == 0) {
jah128 0:d6269d17c8cf 990 forward(pct);
jah128 0:d6269d17c8cf 991 set_leds(0xFF,0xFF);
jah128 0:d6269d17c8cf 992 } else {
jah128 0:d6269d17c8cf 993 backward(pct);
jah128 0:d6269d17c8cf 994 set_leds(0,0xFF);
jah128 0:d6269d17c8cf 995 }
jah128 0:d6269d17c8cf 996 spin_step ++;
jah128 0:d6269d17c8cf 997 if(spin_step > 199) {
jah128 0:d6269d17c8cf 998 state ++;
jah128 0:d6269d17c8cf 999 spin_step = 0;
jah128 0:d6269d17c8cf 1000 }
jah128 0:d6269d17c8cf 1001 break;
jah128 0:d6269d17c8cf 1002 case 1:
jah128 0:d6269d17c8cf 1003 if(stress_step < 3) stress_step ++;
jah128 0:d6269d17c8cf 1004 float pct = 0.25 + (0.25 * stress_step);
jah128 0:d6269d17c8cf 1005 display.set_backlight_brightness(pct);
jah128 0:d6269d17c8cf 1006 display.set_position(1,0);
jah128 0:d6269d17c8cf 1007 switch(stress_step) {
jah128 0:d6269d17c8cf 1008 case 1:
jah128 0:d6269d17c8cf 1009 display.write_string("----50%----");
jah128 0:d6269d17c8cf 1010 break;
jah128 0:d6269d17c8cf 1011 case 2:
jah128 0:d6269d17c8cf 1012 display.write_string("----75%----");
jah128 0:d6269d17c8cf 1013 break;
jah128 0:d6269d17c8cf 1014 case 3:
jah128 0:d6269d17c8cf 1015 display.write_string("---100%----");
jah128 0:d6269d17c8cf 1016 break;
jah128 0:d6269d17c8cf 1017 }
jah128 0:d6269d17c8cf 1018 state = 0;
jah128 0:d6269d17c8cf 1019 break;
jah128 0:d6269d17c8cf 1020 }
jah128 0:d6269d17c8cf 1021 demo_timer.reset();
jah128 0:d6269d17c8cf 1022 }
jah128 0:d6269d17c8cf 1023 if(demo_running == 1)demo_timeout.attach_us(&stress_demo_cycle,500);
jah128 0:d6269d17c8cf 1024 else {
jah128 0:d6269d17c8cf 1025 stop();
jah128 0:d6269d17c8cf 1026 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 1027 }
jah128 0:d6269d17c8cf 1028 }
jah128 0:d6269d17c8cf 1029
jah128 0:d6269d17c8cf 1030 void spinning_demo_cycle()
jah128 0:d6269d17c8cf 1031 {
jah128 0:d6269d17c8cf 1032 if(demo_timer.read() > time_out) {
jah128 0:d6269d17c8cf 1033 switch(state) {
jah128 0:d6269d17c8cf 1034 case 0: //Robot is stopped
jah128 0:d6269d17c8cf 1035 set_leds(0,0xFF);
jah128 0:d6269d17c8cf 1036 set_center_led(1,1);
jah128 0:d6269d17c8cf 1037 speed = 0.1f;
jah128 0:d6269d17c8cf 1038 brake();
jah128 0:d6269d17c8cf 1039 time_out = 0.5;
jah128 0:d6269d17c8cf 1040 state = 1;
jah128 0:d6269d17c8cf 1041 led_step = 0;
jah128 0:d6269d17c8cf 1042 break;
jah128 0:d6269d17c8cf 1043 case 1: //Motor is turning right, accelerating
jah128 0:d6269d17c8cf 1044 time_out = 0.1;
jah128 0:d6269d17c8cf 1045 set_center_led(2,1);
jah128 0:d6269d17c8cf 1046 switch(led_step) {
jah128 0:d6269d17c8cf 1047 case 0:
jah128 0:d6269d17c8cf 1048 set_leds(0x01,0);
jah128 0:d6269d17c8cf 1049 break;
jah128 0:d6269d17c8cf 1050 case 1:
jah128 0:d6269d17c8cf 1051 set_leds(0x02,0);
jah128 0:d6269d17c8cf 1052 break;
jah128 0:d6269d17c8cf 1053 case 2:
jah128 0:d6269d17c8cf 1054 set_leds(0x04,0);
jah128 0:d6269d17c8cf 1055 break;
jah128 0:d6269d17c8cf 1056 case 3:
jah128 0:d6269d17c8cf 1057 set_leds(0x08,0);
jah128 0:d6269d17c8cf 1058 break;
jah128 0:d6269d17c8cf 1059 case 4:
jah128 0:d6269d17c8cf 1060 set_leds(0x10,0);
jah128 0:d6269d17c8cf 1061 break;
jah128 0:d6269d17c8cf 1062 case 5:
jah128 0:d6269d17c8cf 1063 set_leds(0x20,0);
jah128 0:d6269d17c8cf 1064 break;
jah128 0:d6269d17c8cf 1065 case 6:
jah128 0:d6269d17c8cf 1066 set_leds(0x40,0);
jah128 0:d6269d17c8cf 1067 break;
jah128 0:d6269d17c8cf 1068 case 7:
jah128 0:d6269d17c8cf 1069 set_leds(0x80,0);
jah128 0:d6269d17c8cf 1070 break;
jah128 0:d6269d17c8cf 1071 }
jah128 0:d6269d17c8cf 1072 led_step ++;
jah128 0:d6269d17c8cf 1073 if(led_step == 8) led_step =0;
jah128 0:d6269d17c8cf 1074 if(speed < 1) {
jah128 0:d6269d17c8cf 1075 speed += 0.0125;
jah128 0:d6269d17c8cf 1076 turn(speed);
jah128 0:d6269d17c8cf 1077 } else {
jah128 0:d6269d17c8cf 1078 state = 2;
jah128 0:d6269d17c8cf 1079 spin_step = 0;
jah128 0:d6269d17c8cf 1080 led_step =0;
jah128 0:d6269d17c8cf 1081 }
jah128 0:d6269d17c8cf 1082 break;
jah128 0:d6269d17c8cf 1083 case 2: //Motor is turning right, full speed
jah128 0:d6269d17c8cf 1084 set_center_led(3,1);
jah128 0:d6269d17c8cf 1085 switch(led_step) {
jah128 0:d6269d17c8cf 1086 case 0:
jah128 0:d6269d17c8cf 1087 set_leds(0x33,0x33);
jah128 0:d6269d17c8cf 1088 break;
jah128 0:d6269d17c8cf 1089 case 1:
jah128 0:d6269d17c8cf 1090 set_leds(0x66,0x66);
jah128 0:d6269d17c8cf 1091 break;
jah128 0:d6269d17c8cf 1092 case 2:
jah128 0:d6269d17c8cf 1093 set_leds(0xCC,0xCC);
jah128 0:d6269d17c8cf 1094 break;
jah128 0:d6269d17c8cf 1095 case 3:
jah128 0:d6269d17c8cf 1096 set_leds(0x99,0x99);
jah128 0:d6269d17c8cf 1097 break;
jah128 0:d6269d17c8cf 1098 }
jah128 0:d6269d17c8cf 1099 led_step ++;
jah128 0:d6269d17c8cf 1100 if(led_step == 4) led_step = 0;
jah128 0:d6269d17c8cf 1101 spin_step ++;
jah128 0:d6269d17c8cf 1102 if(spin_step == 40) {
jah128 0:d6269d17c8cf 1103 state = 3;
jah128 0:d6269d17c8cf 1104 led_step = 0;
jah128 0:d6269d17c8cf 1105 }
jah128 0:d6269d17c8cf 1106 break;
jah128 0:d6269d17c8cf 1107 case 3: //Motor is turning right, decelerating
jah128 0:d6269d17c8cf 1108 set_center_led(2,1);
jah128 0:d6269d17c8cf 1109 switch(led_step) {
jah128 0:d6269d17c8cf 1110 case 0:
jah128 0:d6269d17c8cf 1111 set_leds(0x01,0);
jah128 0:d6269d17c8cf 1112 break;
jah128 0:d6269d17c8cf 1113 case 1:
jah128 0:d6269d17c8cf 1114 set_leds(0x02,0);
jah128 0:d6269d17c8cf 1115 break;
jah128 0:d6269d17c8cf 1116 case 2:
jah128 0:d6269d17c8cf 1117 set_leds(0x04,0);
jah128 0:d6269d17c8cf 1118 break;
jah128 0:d6269d17c8cf 1119 case 3:
jah128 0:d6269d17c8cf 1120 set_leds(0x08,0);
jah128 0:d6269d17c8cf 1121 break;
jah128 0:d6269d17c8cf 1122 case 4:
jah128 0:d6269d17c8cf 1123 set_leds(0x10,0);
jah128 0:d6269d17c8cf 1124 break;
jah128 0:d6269d17c8cf 1125 case 5:
jah128 0:d6269d17c8cf 1126 set_leds(0x20,0);
jah128 0:d6269d17c8cf 1127 break;
jah128 0:d6269d17c8cf 1128 case 6:
jah128 0:d6269d17c8cf 1129 set_leds(0x40,0);
jah128 0:d6269d17c8cf 1130 break;
jah128 0:d6269d17c8cf 1131 case 7:
jah128 0:d6269d17c8cf 1132 set_leds(0x80,0);
jah128 0:d6269d17c8cf 1133 break;
jah128 0:d6269d17c8cf 1134 }
jah128 0:d6269d17c8cf 1135 if(led_step == 0) led_step =8;
jah128 0:d6269d17c8cf 1136 led_step --;
jah128 0:d6269d17c8cf 1137 if(speed > 0.1) {
jah128 0:d6269d17c8cf 1138 speed -= 0.025;
jah128 0:d6269d17c8cf 1139 turn(speed);
jah128 0:d6269d17c8cf 1140 } else {
jah128 0:d6269d17c8cf 1141 state = 4;
jah128 0:d6269d17c8cf 1142 spin_step = 0;
jah128 0:d6269d17c8cf 1143 led_step =0;
jah128 0:d6269d17c8cf 1144 }
jah128 0:d6269d17c8cf 1145 break;
jah128 0:d6269d17c8cf 1146 case 4: //Robot is stopped
jah128 0:d6269d17c8cf 1147 set_leds(0,0xFF);
jah128 0:d6269d17c8cf 1148 set_center_led(1,1);
jah128 0:d6269d17c8cf 1149 speed = 0.1f;
jah128 0:d6269d17c8cf 1150 brake();
jah128 0:d6269d17c8cf 1151 time_out = 0.5;
jah128 0:d6269d17c8cf 1152 led_step =0;
jah128 0:d6269d17c8cf 1153 state = 5;
jah128 0:d6269d17c8cf 1154 break;
jah128 0:d6269d17c8cf 1155 case 5: //Motor is turning left, accelerating
jah128 0:d6269d17c8cf 1156 time_out = 0.1;
jah128 0:d6269d17c8cf 1157 set_center_led(2,1);
jah128 0:d6269d17c8cf 1158 switch(led_step) {
jah128 0:d6269d17c8cf 1159 case 0:
jah128 0:d6269d17c8cf 1160 set_leds(0x01,0);
jah128 0:d6269d17c8cf 1161 break;
jah128 0:d6269d17c8cf 1162 case 1:
jah128 0:d6269d17c8cf 1163 set_leds(0x02,0);
jah128 0:d6269d17c8cf 1164 break;
jah128 0:d6269d17c8cf 1165 case 2:
jah128 0:d6269d17c8cf 1166 set_leds(0x04,0);
jah128 0:d6269d17c8cf 1167 break;
jah128 0:d6269d17c8cf 1168 case 3:
jah128 0:d6269d17c8cf 1169 set_leds(0x08,0);
jah128 0:d6269d17c8cf 1170 break;
jah128 0:d6269d17c8cf 1171 case 4:
jah128 0:d6269d17c8cf 1172 set_leds(0x10,0);
jah128 0:d6269d17c8cf 1173 break;
jah128 0:d6269d17c8cf 1174 case 5:
jah128 0:d6269d17c8cf 1175 set_leds(0x20,0);
jah128 0:d6269d17c8cf 1176 break;
jah128 0:d6269d17c8cf 1177 case 6:
jah128 0:d6269d17c8cf 1178 set_leds(0x40,0);
jah128 0:d6269d17c8cf 1179 break;
jah128 0:d6269d17c8cf 1180 case 7:
jah128 0:d6269d17c8cf 1181 set_leds(0x80,0);
jah128 0:d6269d17c8cf 1182 break;
jah128 0:d6269d17c8cf 1183 }
jah128 0:d6269d17c8cf 1184 if(led_step == 0) led_step =8;
jah128 0:d6269d17c8cf 1185 led_step --;
jah128 0:d6269d17c8cf 1186 if(speed < 1) {
jah128 0:d6269d17c8cf 1187 speed += 0.0125;
jah128 0:d6269d17c8cf 1188 turn(-speed);
jah128 0:d6269d17c8cf 1189 } else {
jah128 0:d6269d17c8cf 1190 state = 6;
jah128 0:d6269d17c8cf 1191 spin_step = 0;
jah128 0:d6269d17c8cf 1192 led_step = 0;
jah128 0:d6269d17c8cf 1193 }
jah128 0:d6269d17c8cf 1194 break;
jah128 0:d6269d17c8cf 1195 case 6: //Motor is turning left, full speed
jah128 0:d6269d17c8cf 1196 set_center_led(3,1);
jah128 0:d6269d17c8cf 1197 switch(led_step) {
jah128 0:d6269d17c8cf 1198 case 0:
jah128 0:d6269d17c8cf 1199 set_leds(0x33,0x33);
jah128 0:d6269d17c8cf 1200 break;
jah128 0:d6269d17c8cf 1201 case 1:
jah128 0:d6269d17c8cf 1202 set_leds(0x66,0x66);
jah128 0:d6269d17c8cf 1203 break;
jah128 0:d6269d17c8cf 1204 case 2:
jah128 0:d6269d17c8cf 1205 set_leds(0xCC,0xCC);
jah128 0:d6269d17c8cf 1206 break;
jah128 0:d6269d17c8cf 1207 case 3:
jah128 0:d6269d17c8cf 1208 set_leds(0x99,0x99);
jah128 0:d6269d17c8cf 1209 break;
jah128 0:d6269d17c8cf 1210 }
jah128 0:d6269d17c8cf 1211 if(led_step == 0) led_step = 4;
jah128 0:d6269d17c8cf 1212 led_step --;
jah128 0:d6269d17c8cf 1213 spin_step ++;
jah128 0:d6269d17c8cf 1214 if(spin_step == 40) {
jah128 0:d6269d17c8cf 1215 state = 7;
jah128 0:d6269d17c8cf 1216 led_step = 0;
jah128 0:d6269d17c8cf 1217 }
jah128 0:d6269d17c8cf 1218 break;
jah128 0:d6269d17c8cf 1219 case 7: //Motor is turning left, decelerating
jah128 0:d6269d17c8cf 1220 set_center_led(2,1);
jah128 0:d6269d17c8cf 1221 switch(led_step) {
jah128 0:d6269d17c8cf 1222 case 0:
jah128 0:d6269d17c8cf 1223 set_leds(0x01,0);
jah128 0:d6269d17c8cf 1224 break;
jah128 0:d6269d17c8cf 1225 case 1:
jah128 0:d6269d17c8cf 1226 set_leds(0x02,0);
jah128 0:d6269d17c8cf 1227 break;
jah128 0:d6269d17c8cf 1228 case 2:
jah128 0:d6269d17c8cf 1229 set_leds(0x04,0);
jah128 0:d6269d17c8cf 1230 break;
jah128 0:d6269d17c8cf 1231 case 3:
jah128 0:d6269d17c8cf 1232 set_leds(0x08,0);
jah128 0:d6269d17c8cf 1233 break;
jah128 0:d6269d17c8cf 1234 case 4:
jah128 0:d6269d17c8cf 1235 set_leds(0x10,0);
jah128 0:d6269d17c8cf 1236 break;
jah128 0:d6269d17c8cf 1237 case 5:
jah128 0:d6269d17c8cf 1238 set_leds(0x20,0);
jah128 0:d6269d17c8cf 1239 break;
jah128 0:d6269d17c8cf 1240 case 6:
jah128 0:d6269d17c8cf 1241 set_leds(0x40,0);
jah128 0:d6269d17c8cf 1242 break;
jah128 0:d6269d17c8cf 1243 case 7:
jah128 0:d6269d17c8cf 1244 set_leds(0x80,0);
jah128 0:d6269d17c8cf 1245 break;
jah128 0:d6269d17c8cf 1246 }
jah128 0:d6269d17c8cf 1247 led_step ++;
jah128 0:d6269d17c8cf 1248 if(led_step == 8) led_step =0;
jah128 0:d6269d17c8cf 1249 if(speed > 0.1) {
jah128 0:d6269d17c8cf 1250 speed -= 0.025;
jah128 0:d6269d17c8cf 1251 turn(-speed);
jah128 0:d6269d17c8cf 1252 } else {
jah128 0:d6269d17c8cf 1253 state = 0;
jah128 0:d6269d17c8cf 1254 spin_step = 0;
jah128 0:d6269d17c8cf 1255 led_step = 0;
jah128 0:d6269d17c8cf 1256 }
jah128 0:d6269d17c8cf 1257 break;
jah128 0:d6269d17c8cf 1258 }
jah128 0:d6269d17c8cf 1259 demo_timer.reset();
jah128 0:d6269d17c8cf 1260 }
jah128 0:d6269d17c8cf 1261 if(demo_running == 1)demo_timeout.attach_us(&spinning_demo_cycle,500);
jah128 0:d6269d17c8cf 1262 else {
jah128 0:d6269d17c8cf 1263 stop();
jah128 0:d6269d17c8cf 1264 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 1265 }
jah128 0:d6269d17c8cf 1266 }
jah128 0:d6269d17c8cf 1267
jah128 0:d6269d17c8cf 1268 void obstacle_demo_cycle()
jah128 0:d6269d17c8cf 1269 {
jah128 0:d6269d17c8cf 1270 if(demo_timer.read() > time_out) {
jah128 0:d6269d17c8cf 1271 switch(state) {
jah128 0:d6269d17c8cf 1272 case 0: //Robot is stopped
jah128 0:d6269d17c8cf 1273 set_leds(0,0xFF);
jah128 0:d6269d17c8cf 1274 set_center_led(1,0.4);
jah128 0:d6269d17c8cf 1275 speed = 0.3f;
jah128 0:d6269d17c8cf 1276 forward(speed);
jah128 0:d6269d17c8cf 1277 time_out = 0.05;
jah128 0:d6269d17c8cf 1278 state = 1;
jah128 0:d6269d17c8cf 1279 break;
jah128 0:d6269d17c8cf 1280 case 1: { //Motor is moving forward
jah128 0:d6269d17c8cf 1281 store_ir_values();
jah128 0:d6269d17c8cf 1282 int front_right = read_illuminated_raw_ir_value(0);
jah128 0:d6269d17c8cf 1283 int front_left = read_illuminated_raw_ir_value(7);
jah128 0:d6269d17c8cf 1284 if(front_left > 400 || front_right > 400) {
jah128 0:d6269d17c8cf 1285 brake();
jah128 0:d6269d17c8cf 1286 time_out = 0.04;
jah128 0:d6269d17c8cf 1287 if(front_left > front_right)state=2;
jah128 0:d6269d17c8cf 1288 else state=3;
jah128 0:d6269d17c8cf 1289 } else {
jah128 0:d6269d17c8cf 1290 if(speed < 0.5) {
jah128 0:d6269d17c8cf 1291 speed += 0.03;
jah128 0:d6269d17c8cf 1292 forward(speed);
jah128 0:d6269d17c8cf 1293 }
jah128 0:d6269d17c8cf 1294 switch(led_step) {
jah128 0:d6269d17c8cf 1295 case 0:
jah128 0:d6269d17c8cf 1296 set_leds(0x01,0);
jah128 0:d6269d17c8cf 1297 break;
jah128 0:d6269d17c8cf 1298 case 1:
jah128 0:d6269d17c8cf 1299 set_leds(0x38,0);
jah128 0:d6269d17c8cf 1300 break;
jah128 0:d6269d17c8cf 1301 case 2:
jah128 0:d6269d17c8cf 1302 set_leds(0x6C,0);
jah128 0:d6269d17c8cf 1303 break;
jah128 0:d6269d17c8cf 1304 case 3:
jah128 0:d6269d17c8cf 1305 set_leds(0xC6,0);
jah128 0:d6269d17c8cf 1306 break;
jah128 0:d6269d17c8cf 1307 case 4:
jah128 0:d6269d17c8cf 1308 set_leds(0x83,0);
jah128 0:d6269d17c8cf 1309 break;
jah128 0:d6269d17c8cf 1310 }
jah128 0:d6269d17c8cf 1311 set_center_led(2, 0.6);
jah128 0:d6269d17c8cf 1312 led_step ++;
jah128 0:d6269d17c8cf 1313 if(led_step == 5) led_step = 0;
jah128 0:d6269d17c8cf 1314 }
jah128 0:d6269d17c8cf 1315 break;
jah128 0:d6269d17c8cf 1316 }
jah128 0:d6269d17c8cf 1317 case 2: //Turn right
jah128 0:d6269d17c8cf 1318 set_left_motor_speed(0.85);
jah128 0:d6269d17c8cf 1319 set_right_motor_speed(-0.85);
jah128 0:d6269d17c8cf 1320 time_out = 0.4;
jah128 0:d6269d17c8cf 1321 state = 0;
jah128 0:d6269d17c8cf 1322 set_leds(0x0E,0x0E);
jah128 0:d6269d17c8cf 1323 set_center_led(3,0.5);
jah128 0:d6269d17c8cf 1324 break;
jah128 0:d6269d17c8cf 1325 case 3: //Turn left
jah128 0:d6269d17c8cf 1326 set_left_motor_speed(-0.85);
jah128 0:d6269d17c8cf 1327 set_right_motor_speed(0.85);
jah128 0:d6269d17c8cf 1328 time_out = 0.4;
jah128 0:d6269d17c8cf 1329 state = 0;
jah128 0:d6269d17c8cf 1330 set_leds(0xE0,0xE0);
jah128 0:d6269d17c8cf 1331 set_center_led(3,0.5);
jah128 0:d6269d17c8cf 1332 break;
jah128 0:d6269d17c8cf 1333 }
jah128 0:d6269d17c8cf 1334 demo_timer.reset();
jah128 0:d6269d17c8cf 1335 }
jah128 0:d6269d17c8cf 1336 if(demo_running == 1)demo_timeout.attach_us(&obstacle_demo_cycle,200);
jah128 0:d6269d17c8cf 1337 else {
jah128 0:d6269d17c8cf 1338 stop();
jah128 0:d6269d17c8cf 1339 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 1340 }
jah128 0:d6269d17c8cf 1341 }
jah128 0:d6269d17c8cf 1342
jah128 0:d6269d17c8cf 1343 void demo_update_leds()
jah128 0:d6269d17c8cf 1344 {
jah128 0:d6269d17c8cf 1345 char red = 0;
jah128 0:d6269d17c8cf 1346 char green = 0;
jah128 0:d6269d17c8cf 1347 for(int i=0; i<8; i++) {
jah128 0:d6269d17c8cf 1348 if(led_state[i]==1 || led_state[i]==3) red+=(1<<i);
jah128 0:d6269d17c8cf 1349 if(led_state[i]==2 || led_state[i]==3) green+=(1<<i);
jah128 0:d6269d17c8cf 1350 }
jah128 0:d6269d17c8cf 1351 set_leds(green,red);
jah128 0:d6269d17c8cf 1352 float brightness_f = brightness / 100.0f;
jah128 0:d6269d17c8cf 1353 set_center_led(led_state[8], brightness_f);
jah128 0:d6269d17c8cf 1354 set_base_led(base_led_state);
jah128 0:d6269d17c8cf 1355 }