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@5:f6be169e465b, 2018-09-14 (annotated)

Committer:
YRL50
Date:
Fri Sep 14 16:00:48 2018 +0000
Revision:
5:f6be169e465b
Parent:
4:dc77a25f29de 
Fixing compile warnings

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 4:dc77a25f29de 8 * PsiSwarm Library Version: 0.5
jah128 0:d6269d17c8cf 9 *
jah128 4:dc77a25f29de 10 * Version 0.5 : Added motor calibration menu
jah128 0:d6269d17c8cf 11 * Version 0.4 : Added PsiSwarmBasic menu
jah128 0:d6269d17c8cf 12 * Version 0.2 : Remove most the functionality from center-button push to allow all operations to be accessable from
jah128 0:d6269d17c8cf 13 * four directions alone.
jah128 0:d6269d17c8cf 14 * Added extra sensor information, added various testing demos
jah128 0:d6269d17c8cf 15 *
jah128 2:c6986ee3c7c5 16 *
jah128 2:c6986ee3c7c5 17 * March 2016
jah128 0:d6269d17c8cf 18 *
jah128 0:d6269d17c8cf 19 */
jah128 0:d6269d17c8cf 20
jah128 0:d6269d17c8cf 21
jah128 0:d6269d17c8cf 22 #include "psiswarm.h"
jah128 0:d6269d17c8cf 23
jah128 0:d6269d17c8cf 24 // PID terms
jah128 0:d6269d17c8cf 25 #define LF_P_TERM 0.2
jah128 0:d6269d17c8cf 26 #define LF_I_TERM 0
jah128 0:d6269d17c8cf 27 #define LF_D_TERM 4
jah128 0:d6269d17c8cf 28
jah128 0:d6269d17c8cf 29 char top_menu = 0;
jah128 0:d6269d17c8cf 30 char sub_menu = 0;
jah128 0:d6269d17c8cf 31 char level = 0;
jah128 0:d6269d17c8cf 32 char started = 0;
jah128 0:d6269d17c8cf 33 char topline[17];
jah128 0:d6269d17c8cf 34 char bottomline[17];
jah128 0:d6269d17c8cf 35 char led_state[9];
jah128 0:d6269d17c8cf 36 char all_led_state = 0;
jah128 0:d6269d17c8cf 37 char base_led_state = 0;
jah128 0:d6269d17c8cf 38 char brightness = 20;
jah128 0:d6269d17c8cf 39 char bl_brightness = 100;
jah128 0:d6269d17c8cf 40 char base_ir_index = 0;
jah128 0:d6269d17c8cf 41 char side_ir_index = 0;
jah128 0:d6269d17c8cf 42 signed short left_speed = 0;
jah128 0:d6269d17c8cf 43 signed short right_speed = 0;
jah128 0:d6269d17c8cf 44 char both_motor_mode = 0;
jah128 0:d6269d17c8cf 45 char last_switch_pressed;
jah128 0:d6269d17c8cf 46 Timeout demo_event;
jah128 0:d6269d17c8cf 47 char handling_event = 0;
jah128 0:d6269d17c8cf 48
jah128 0:d6269d17c8cf 49 Timeout demo_timeout;
jah128 0:d6269d17c8cf 50 char demo_running = 0;
jah128 0:d6269d17c8cf 51 Timer demo_timer;
jah128 0:d6269d17c8cf 52 float time_out;
jah128 0:d6269d17c8cf 53 float speed;
jah128 0:d6269d17c8cf 54 char state;
jah128 0:d6269d17c8cf 55 char led_step = 0;
jah128 0:d6269d17c8cf 56 char spin_step = 0;
jah128 0:d6269d17c8cf 57 char stress_step = 0;
jah128 0:d6269d17c8cf 58
jah128 0:d6269d17c8cf 59
jah128 0:d6269d17c8cf 60 float lf_right;
jah128 0:d6269d17c8cf 61 float lf_left;
jah128 0:d6269d17c8cf 62 float lf_current_pos_of_line = 0.0;
jah128 0:d6269d17c8cf 63 float lf_previous_pos_of_line = 0.0;
jah128 0:d6269d17c8cf 64 float lf_derivative,lf_proportional,lf_integral = 0;
jah128 0:d6269d17c8cf 65 float lf_power;
jah128 0:d6269d17c8cf 66 float lf_speed = 0.4;
jah128 0:d6269d17c8cf 67
jah128 0:d6269d17c8cf 68
jah128 0:d6269d17c8cf 69
jah128 0:d6269d17c8cf 70 void demo_mode()
jah128 0:d6269d17c8cf 71 {
jah128 0:d6269d17c8cf 72 debug("- Starting Demo Mode\n");
jah128 0:d6269d17c8cf 73 if(use_flash_basic == 1) top_menu = 7;
jah128 0:d6269d17c8cf 74 demo_on = 1;
jah128 0:d6269d17c8cf 75 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 76 display.clear_display();
jah128 0:d6269d17c8cf 77 display.write_string("PSI SWARM SYSTEM");
jah128 0:d6269d17c8cf 78 display.set_position(1,0);
jah128 0:d6269d17c8cf 79 display.write_string(" DEMO MODE");
jah128 0:d6269d17c8cf 80 wait(0.5);
jah128 0:d6269d17c8cf 81 display.clear_display();
jah128 0:d6269d17c8cf 82 display.write_string("Use cursor to");
jah128 0:d6269d17c8cf 83 display.set_position(1,0);
jah128 0:d6269d17c8cf 84 display.write_string("navigate menus");
jah128 0:d6269d17c8cf 85 char step = 0;
jah128 0:d6269d17c8cf 86 while(demo_on) {
jah128 0:d6269d17c8cf 87 if(demo_running == 0) {
jah128 0:d6269d17c8cf 88 switch(step) {
jah128 0:d6269d17c8cf 89 case 0:
jah128 0:d6269d17c8cf 90 mbed_led1 = 1;
jah128 0:d6269d17c8cf 91 mbed_led2 = 0;
jah128 0:d6269d17c8cf 92 break;
jah128 0:d6269d17c8cf 93 case 1:
jah128 0:d6269d17c8cf 94 mbed_led2 = 1;
jah128 0:d6269d17c8cf 95 mbed_led1 = 0;
jah128 0:d6269d17c8cf 96 break;
jah128 0:d6269d17c8cf 97 }
jah128 0:d6269d17c8cf 98 step++;
jah128 0:d6269d17c8cf 99 if(step==2)step=0;
jah128 0:d6269d17c8cf 100 } else {
jah128 0:d6269d17c8cf 101 mbed_led1 = 0;
jah128 0:d6269d17c8cf 102 mbed_led2 = 0;
jah128 0:d6269d17c8cf 103 mbed_led3 = 0;
jah128 0:d6269d17c8cf 104 mbed_led4 = 0;
jah128 0:d6269d17c8cf 105 }
jah128 0:d6269d17c8cf 106 wait(0.5);
jah128 0:d6269d17c8cf 107 }
jah128 0:d6269d17c8cf 108 debug("- Demo mode ended\n");
jah128 0:d6269d17c8cf 109 }
jah128 0:d6269d17c8cf 110
jah128 0:d6269d17c8cf 111 void demo_handle_switch_event(char switch_pressed)
jah128 0:d6269d17c8cf 112 {
jah128 0:d6269d17c8cf 113 if(!handling_event) {
jah128 0:d6269d17c8cf 114 handling_event = 1;
jah128 0:d6269d17c8cf 115 last_switch_pressed = switch_pressed;
jah128 0:d6269d17c8cf 116 demo_event.attach_us(&demo_event_thread, 1000);
jah128 0:d6269d17c8cf 117 }
jah128 0:d6269d17c8cf 118 }
jah128 0:d6269d17c8cf 119
jah128 0:d6269d17c8cf 120 void demo_event_thread()
jah128 0:d6269d17c8cf 121 {
jah128 0:d6269d17c8cf 122 handling_event = 0;
jah128 0:d6269d17c8cf 123 if(started == 1) {
jah128 0:d6269d17c8cf 124 switch(last_switch_pressed) {
jah128 0:d6269d17c8cf 125 case 1: //Up pressed
jah128 0:d6269d17c8cf 126 switch(level) {
jah128 0:d6269d17c8cf 127 case 0:
jah128 4:dc77a25f29de 128 if(top_menu != 8) {
jah128 0:d6269d17c8cf 129 level++;
jah128 0:d6269d17c8cf 130 sub_menu = 0;
jah128 0:d6269d17c8cf 131 } else {
jah128 0:d6269d17c8cf 132 demo_on = 0;
jah128 0:d6269d17c8cf 133 user_code_running = user_code_restore_mode;
jah128 0:d6269d17c8cf 134 }
jah128 0:d6269d17c8cf 135 break;
jah128 0:d6269d17c8cf 136 case 1:
jah128 0:d6269d17c8cf 137 switch(top_menu) {
jah128 0:d6269d17c8cf 138 case 7: // PsiBasic Menu
jah128 0:d6269d17c8cf 139 if(sub_menu == psi_basic_file_count) level = 0;
jah128 0:d6269d17c8cf 140 break;
jah128 0:d6269d17c8cf 141 case 0: //LED Menu
jah128 0:d6269d17c8cf 142 if(sub_menu < 9) {
jah128 0:d6269d17c8cf 143 if(led_state[sub_menu] == 0) led_state[sub_menu] = 3;
jah128 0:d6269d17c8cf 144 else led_state[sub_menu]--;
jah128 0:d6269d17c8cf 145 demo_update_leds();
jah128 0:d6269d17c8cf 146 }
jah128 0:d6269d17c8cf 147 if(sub_menu == 9) {
jah128 0:d6269d17c8cf 148 if(all_led_state == 0) all_led_state = 3;
jah128 0:d6269d17c8cf 149 else all_led_state--;
jah128 0:d6269d17c8cf 150 for(int i=0; i<9; i++) {
jah128 0:d6269d17c8cf 151 led_state[i]=all_led_state;
jah128 0:d6269d17c8cf 152 }
jah128 0:d6269d17c8cf 153 demo_update_leds();
jah128 0:d6269d17c8cf 154 }
jah128 0:d6269d17c8cf 155 if(sub_menu == 10) {
jah128 0:d6269d17c8cf 156 base_led_state = 1 - base_led_state;
jah128 0:d6269d17c8cf 157 demo_update_leds();
jah128 0:d6269d17c8cf 158 }
jah128 0:d6269d17c8cf 159 if(sub_menu == 11) {
jah128 0:d6269d17c8cf 160 switch(brightness) {
jah128 0:d6269d17c8cf 161 case 100:
jah128 0:d6269d17c8cf 162 brightness = 50;
jah128 0:d6269d17c8cf 163 break;
jah128 0:d6269d17c8cf 164 case 2:
jah128 0:d6269d17c8cf 165 brightness = 1;
jah128 0:d6269d17c8cf 166 break;
jah128 0:d6269d17c8cf 167 case 5:
jah128 0:d6269d17c8cf 168 brightness = 2;
jah128 0:d6269d17c8cf 169 break;
jah128 0:d6269d17c8cf 170 case 10:
jah128 0:d6269d17c8cf 171 brightness = 5;
jah128 0:d6269d17c8cf 172 break;
jah128 0:d6269d17c8cf 173 case 20:
jah128 0:d6269d17c8cf 174 brightness = 10;
jah128 0:d6269d17c8cf 175 break;
jah128 0:d6269d17c8cf 176 case 50:
jah128 0:d6269d17c8cf 177 brightness = 20;
jah128 0:d6269d17c8cf 178 break;
jah128 0:d6269d17c8cf 179 }
jah128 0:d6269d17c8cf 180 demo_update_leds();
jah128 0:d6269d17c8cf 181 }
jah128 0:d6269d17c8cf 182 if(sub_menu == 12) {
jah128 0:d6269d17c8cf 183 if(bl_brightness > 0) bl_brightness-=10;
jah128 0:d6269d17c8cf 184 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 185 }
jah128 0:d6269d17c8cf 186 if(sub_menu == 13) level = 0;
jah128 0:d6269d17c8cf 187 break;
jah128 0:d6269d17c8cf 188 case 1: // Sensors Menu
jah128 0:d6269d17c8cf 189 if(sub_menu == 4 || sub_menu == 5) {
jah128 0:d6269d17c8cf 190 if(base_ir_index == 0) base_ir_index = 4;
jah128 0:d6269d17c8cf 191 else base_ir_index --;
jah128 0:d6269d17c8cf 192 }
jah128 0:d6269d17c8cf 193 if(sub_menu > 5 && sub_menu < 9) {
jah128 0:d6269d17c8cf 194 if(side_ir_index == 0) side_ir_index = 7;
jah128 0:d6269d17c8cf 195 else side_ir_index --;
jah128 0:d6269d17c8cf 196 }
jah128 0:d6269d17c8cf 197 if(sub_menu == 11) level = 0;
jah128 0:d6269d17c8cf 198 break;
jah128 0:d6269d17c8cf 199 case 2: // Motor Menu
jah128 0:d6269d17c8cf 200 if(sub_menu == 0) {
jah128 0:d6269d17c8cf 201 left_speed += 5;
jah128 0:d6269d17c8cf 202 if(left_speed > 100) left_speed = 100;
jah128 0:d6269d17c8cf 203 set_left_motor_speed(left_speed / 100.0f);
jah128 0:d6269d17c8cf 204 }
jah128 0:d6269d17c8cf 205 if(sub_menu == 1) {
jah128 0:d6269d17c8cf 206 right_speed += 5;
jah128 0:d6269d17c8cf 207 if(right_speed > 100) right_speed = 100;
jah128 0:d6269d17c8cf 208 set_right_motor_speed(right_speed / 100.0f);
jah128 0:d6269d17c8cf 209 }
jah128 0:d6269d17c8cf 210 if(sub_menu == 2) {
jah128 0:d6269d17c8cf 211 if(both_motor_mode == 0) both_motor_mode=5;
jah128 0:d6269d17c8cf 212 else both_motor_mode--;
jah128 0:d6269d17c8cf 213 switch(both_motor_mode) {
jah128 0:d6269d17c8cf 214 case 0:
jah128 0:d6269d17c8cf 215 stop();
jah128 0:d6269d17c8cf 216 break;
jah128 0:d6269d17c8cf 217 case 1:
jah128 0:d6269d17c8cf 218 brake();
jah128 0:d6269d17c8cf 219 break;
jah128 0:d6269d17c8cf 220 case 2:
jah128 0:d6269d17c8cf 221 forward(0.5);
jah128 0:d6269d17c8cf 222 break;
jah128 0:d6269d17c8cf 223 case 3:
jah128 0:d6269d17c8cf 224 forward(1);
jah128 0:d6269d17c8cf 225 break;
jah128 0:d6269d17c8cf 226 case 4:
jah128 0:d6269d17c8cf 227 backward(0.5);
jah128 0:d6269d17c8cf 228 break;
jah128 0:d6269d17c8cf 229 case 5:
jah128 0:d6269d17c8cf 230 backward(1.0);
jah128 0:d6269d17c8cf 231 break;
jah128 0:d6269d17c8cf 232 }
jah128 0:d6269d17c8cf 233 }
jah128 0:d6269d17c8cf 234 if(sub_menu == 3) {
jah128 0:d6269d17c8cf 235 level = 0;
jah128 0:d6269d17c8cf 236 }
jah128 0:d6269d17c8cf 237 break;
jah128 0:d6269d17c8cf 238 case 3: // Radio Menu
jah128 0:d6269d17c8cf 239 if(sub_menu == 0) level = 0;
jah128 0:d6269d17c8cf 240 break;
jah128 0:d6269d17c8cf 241 case 4: // Info Menu
jah128 0:d6269d17c8cf 242 if(sub_menu == 6) level = 0;
jah128 0:d6269d17c8cf 243 break;
jah128 0:d6269d17c8cf 244 case 5: // Demo Menu
jah128 0:d6269d17c8cf 245 if(sub_menu == 0) {
jah128 0:d6269d17c8cf 246 if(demo_running == 0) {
jah128 0:d6269d17c8cf 247 start_line_demo();
jah128 0:d6269d17c8cf 248 } else {
jah128 0:d6269d17c8cf 249 demo_running = 0;
jah128 0:d6269d17c8cf 250 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 251 stop();
jah128 0:d6269d17c8cf 252 }
jah128 0:d6269d17c8cf 253 }
jah128 0:d6269d17c8cf 254 if(sub_menu == 1) {
jah128 0:d6269d17c8cf 255 if(demo_running == 0) {
jah128 0:d6269d17c8cf 256 start_obstacle_demo();
jah128 0:d6269d17c8cf 257 } else {
jah128 0:d6269d17c8cf 258 demo_running = 0;
jah128 0:d6269d17c8cf 259 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 260 stop();
jah128 0:d6269d17c8cf 261 }
jah128 0:d6269d17c8cf 262 }
jah128 0:d6269d17c8cf 263 if(sub_menu == 2) {
jah128 0:d6269d17c8cf 264 if(demo_running == 0) {
jah128 0:d6269d17c8cf 265 start_spinning_demo();
jah128 0:d6269d17c8cf 266 } else {
jah128 0:d6269d17c8cf 267 demo_running = 0;
jah128 0:d6269d17c8cf 268 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 269 stop();
jah128 0:d6269d17c8cf 270 }
jah128 0:d6269d17c8cf 271 }
jah128 0:d6269d17c8cf 272 if(sub_menu == 3) {
jah128 0:d6269d17c8cf 273 if(demo_running == 0) {
jah128 0:d6269d17c8cf 274 start_stress_demo();
jah128 0:d6269d17c8cf 275 } else {
jah128 0:d6269d17c8cf 276 demo_running = 0;
jah128 0:d6269d17c8cf 277 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 278 stop();
jah128 0:d6269d17c8cf 279 }
jah128 0:d6269d17c8cf 280 }
jah128 0:d6269d17c8cf 281 if(sub_menu == 4) level = 0;
jah128 0:d6269d17c8cf 282 break;
jah128 0:d6269d17c8cf 283 }
jah128 0:d6269d17c8cf 284 break;
jah128 0:d6269d17c8cf 285 }
jah128 0:d6269d17c8cf 286 break;
jah128 0:d6269d17c8cf 287 case 2: //Down pressed
jah128 0:d6269d17c8cf 288 switch(level) {
jah128 0:d6269d17c8cf 289 case 0:
jah128 4:dc77a25f29de 290 if(top_menu != 8) {
jah128 0:d6269d17c8cf 291 level++;
jah128 0:d6269d17c8cf 292 sub_menu = 0;
jah128 0:d6269d17c8cf 293 } else {
jah128 0:d6269d17c8cf 294 demo_on = 0;
jah128 0:d6269d17c8cf 295 user_code_running = user_code_restore_mode;
jah128 0:d6269d17c8cf 296 }
jah128 0:d6269d17c8cf 297 break;
jah128 0:d6269d17c8cf 298 case 1:
jah128 0:d6269d17c8cf 299 switch(top_menu) {
jah128 0:d6269d17c8cf 300 case 7: // PsiBasic Menu
jah128 0:d6269d17c8cf 301 if(sub_menu == psi_basic_file_count) level = 0;
jah128 0:d6269d17c8cf 302 break;
jah128 0:d6269d17c8cf 303 case 0: //LED Menu
jah128 0:d6269d17c8cf 304 if(sub_menu < 9) {
jah128 0:d6269d17c8cf 305 led_state[sub_menu]++;
jah128 0:d6269d17c8cf 306 if(led_state[sub_menu] == 4) led_state[sub_menu] = 0;
jah128 0:d6269d17c8cf 307 demo_update_leds();
jah128 0:d6269d17c8cf 308 }
jah128 0:d6269d17c8cf 309 if(sub_menu == 9) {
jah128 0:d6269d17c8cf 310 all_led_state++;
jah128 0:d6269d17c8cf 311 if(all_led_state == 4) all_led_state = 0;
jah128 0:d6269d17c8cf 312 for(int i=0; i<9; i++) {
jah128 0:d6269d17c8cf 313 led_state[i]=all_led_state;
jah128 0:d6269d17c8cf 314 }
jah128 0:d6269d17c8cf 315 demo_update_leds();
jah128 0:d6269d17c8cf 316 }
jah128 0:d6269d17c8cf 317 if(sub_menu == 10) {
jah128 0:d6269d17c8cf 318 base_led_state = 1 - base_led_state;
jah128 0:d6269d17c8cf 319 demo_update_leds();
jah128 0:d6269d17c8cf 320 }
jah128 0:d6269d17c8cf 321 if(sub_menu == 11) {
jah128 0:d6269d17c8cf 322 switch(brightness) {
jah128 0:d6269d17c8cf 323 case 1:
jah128 0:d6269d17c8cf 324 brightness = 2;
jah128 0:d6269d17c8cf 325 break;
jah128 0:d6269d17c8cf 326 case 2:
jah128 0:d6269d17c8cf 327 brightness = 5;
jah128 0:d6269d17c8cf 328 break;
jah128 0:d6269d17c8cf 329 case 5:
jah128 0:d6269d17c8cf 330 brightness = 10;
jah128 0:d6269d17c8cf 331 break;
jah128 0:d6269d17c8cf 332 case 10:
jah128 0:d6269d17c8cf 333 brightness = 20;
jah128 0:d6269d17c8cf 334 break;
jah128 0:d6269d17c8cf 335 case 20:
jah128 0:d6269d17c8cf 336 brightness = 50;
jah128 0:d6269d17c8cf 337 break;
jah128 0:d6269d17c8cf 338 case 50:
jah128 0:d6269d17c8cf 339 brightness = 100;
jah128 0:d6269d17c8cf 340 break;
jah128 0:d6269d17c8cf 341 }
jah128 0:d6269d17c8cf 342 demo_update_leds();
jah128 0:d6269d17c8cf 343 }
jah128 0:d6269d17c8cf 344
jah128 0:d6269d17c8cf 345 if(sub_menu == 12) {
jah128 0:d6269d17c8cf 346 if(bl_brightness < 100) bl_brightness+=10;
jah128 0:d6269d17c8cf 347 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 348 }
jah128 0:d6269d17c8cf 349 if(sub_menu == 13) level = 0;
jah128 0:d6269d17c8cf 350
jah128 0:d6269d17c8cf 351 break;
jah128 0:d6269d17c8cf 352 case 1: // Sensors Menu
jah128 0:d6269d17c8cf 353 if(sub_menu == 4 || sub_menu == 5) {
jah128 0:d6269d17c8cf 354 if(base_ir_index == 4) base_ir_index = 0;
jah128 0:d6269d17c8cf 355 else base_ir_index ++;
jah128 0:d6269d17c8cf 356 }
jah128 0:d6269d17c8cf 357 if(sub_menu > 5 && sub_menu < 9) {
jah128 0:d6269d17c8cf 358 if(side_ir_index == 7) side_ir_index = 0;
jah128 0:d6269d17c8cf 359 else side_ir_index ++;
jah128 0:d6269d17c8cf 360 }
jah128 0:d6269d17c8cf 361 if(sub_menu == 11) level = 0;
jah128 0:d6269d17c8cf 362 break;
jah128 0:d6269d17c8cf 363 case 2: // Motor Menu
jah128 0:d6269d17c8cf 364 if(sub_menu == 0) {
jah128 0:d6269d17c8cf 365 left_speed -= 5;
jah128 0:d6269d17c8cf 366 if(left_speed < -100) left_speed = -100;
jah128 0:d6269d17c8cf 367 set_left_motor_speed(left_speed / 100.0f);
jah128 0:d6269d17c8cf 368 }
jah128 0:d6269d17c8cf 369 if(sub_menu == 1) {
jah128 0:d6269d17c8cf 370 right_speed -= 5;
jah128 0:d6269d17c8cf 371 if(right_speed < -100) right_speed = -100;
jah128 0:d6269d17c8cf 372 set_right_motor_speed(right_speed / 100.0f);
jah128 0:d6269d17c8cf 373 }
jah128 0:d6269d17c8cf 374 if(sub_menu == 2) {
jah128 0:d6269d17c8cf 375 both_motor_mode++;
jah128 0:d6269d17c8cf 376 if(both_motor_mode == 6) both_motor_mode=0;
jah128 0:d6269d17c8cf 377 switch(both_motor_mode) {
jah128 0:d6269d17c8cf 378 case 0:
jah128 0:d6269d17c8cf 379 stop();
jah128 0:d6269d17c8cf 380 break;
jah128 0:d6269d17c8cf 381 case 1:
jah128 0:d6269d17c8cf 382 brake();
jah128 0:d6269d17c8cf 383 break;
jah128 0:d6269d17c8cf 384 case 2:
jah128 0:d6269d17c8cf 385 forward(0.5);
jah128 0:d6269d17c8cf 386 break;
jah128 0:d6269d17c8cf 387 case 3:
jah128 0:d6269d17c8cf 388 forward(1);
jah128 0:d6269d17c8cf 389 break;
jah128 0:d6269d17c8cf 390 case 4:
jah128 0:d6269d17c8cf 391 backward(0.5);
jah128 0:d6269d17c8cf 392 break;
jah128 0:d6269d17c8cf 393 case 5:
jah128 0:d6269d17c8cf 394 backward(1.0);
jah128 0:d6269d17c8cf 395 break;
jah128 0:d6269d17c8cf 396 }
jah128 0:d6269d17c8cf 397 }
jah128 0:d6269d17c8cf 398 if(sub_menu == 3) {
jah128 0:d6269d17c8cf 399 level = 0;
jah128 0:d6269d17c8cf 400 }
jah128 0:d6269d17c8cf 401 break;
jah128 0:d6269d17c8cf 402 case 3: // Radio Menu
jah128 0:d6269d17c8cf 403 if(sub_menu == 0) level = 0;
jah128 0:d6269d17c8cf 404 break;
jah128 0:d6269d17c8cf 405 case 4: // Info Menu
jah128 0:d6269d17c8cf 406 if(sub_menu == 6) level = 0;
jah128 0:d6269d17c8cf 407 break;
jah128 0:d6269d17c8cf 408 case 5: // Demo Menu
jah128 0:d6269d17c8cf 409 if(sub_menu == 0) {
jah128 0:d6269d17c8cf 410 if(demo_running == 0) {
jah128 0:d6269d17c8cf 411 start_line_demo();
jah128 0:d6269d17c8cf 412 } else {
jah128 0:d6269d17c8cf 413 demo_running = 0;
jah128 0:d6269d17c8cf 414 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 415 stop();
jah128 0:d6269d17c8cf 416 }
jah128 0:d6269d17c8cf 417 }
jah128 0:d6269d17c8cf 418 if(sub_menu == 1) {
jah128 0:d6269d17c8cf 419 if(demo_running == 0) {
jah128 0:d6269d17c8cf 420 start_obstacle_demo();
jah128 0:d6269d17c8cf 421 } else {
jah128 0:d6269d17c8cf 422 demo_running = 0;
jah128 0:d6269d17c8cf 423 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 424 stop();
jah128 0:d6269d17c8cf 425
jah128 0:d6269d17c8cf 426 }
jah128 0:d6269d17c8cf 427 }
jah128 0:d6269d17c8cf 428 if(sub_menu == 2) {
jah128 0:d6269d17c8cf 429 if(demo_running == 0) {
jah128 0:d6269d17c8cf 430 start_spinning_demo();
jah128 0:d6269d17c8cf 431 } else {
jah128 0:d6269d17c8cf 432 demo_running = 0;
jah128 0:d6269d17c8cf 433 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 434 stop();
jah128 0:d6269d17c8cf 435 }
jah128 0:d6269d17c8cf 436 }
jah128 0:d6269d17c8cf 437 if(sub_menu == 3) {
jah128 0:d6269d17c8cf 438 if(demo_running == 0) {
jah128 0:d6269d17c8cf 439 start_stress_demo();
jah128 0:d6269d17c8cf 440 } else {
jah128 0:d6269d17c8cf 441 demo_running = 0;
jah128 0:d6269d17c8cf 442 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 443 stop();
jah128 0:d6269d17c8cf 444 }
jah128 0:d6269d17c8cf 445 }
jah128 0:d6269d17c8cf 446 if(sub_menu == 4) level = 0;
jah128 0:d6269d17c8cf 447 break;
jah128 0:d6269d17c8cf 448 }
jah128 0:d6269d17c8cf 449 break;
jah128 0:d6269d17c8cf 450 }
jah128 0:d6269d17c8cf 451 break;
jah128 0:d6269d17c8cf 452 case 4: //Left pressed
jah128 0:d6269d17c8cf 453 switch(level) {
jah128 0:d6269d17c8cf 454 case 0:
jah128 0:d6269d17c8cf 455 if(top_menu == 0) {
jah128 4:dc77a25f29de 456 top_menu = 8;
jah128 0:d6269d17c8cf 457 }
jah128 4:dc77a25f29de 458 else {
jah128 4:dc77a25f29de 459 if(use_flash_basic == 0 && top_menu == 7) top_menu = 6;
jah128 4:dc77a25f29de 460 top_menu --;
jah128 4:dc77a25f29de 461 }
jah128 0:d6269d17c8cf 462 break;
jah128 0:d6269d17c8cf 463 case 1:
jah128 0:d6269d17c8cf 464 switch(top_menu) {
jah128 0:d6269d17c8cf 465 case 0: //LED Menu
jah128 0:d6269d17c8cf 466 if(sub_menu == 0) sub_menu = 13;
jah128 0:d6269d17c8cf 467 else sub_menu --;
jah128 0:d6269d17c8cf 468 break;
jah128 0:d6269d17c8cf 469 case 1: //Sensors Menu
jah128 0:d6269d17c8cf 470 if(sub_menu == 0) sub_menu = 11;
jah128 0:d6269d17c8cf 471 else sub_menu --;
jah128 0:d6269d17c8cf 472 break;
jah128 0:d6269d17c8cf 473
jah128 0:d6269d17c8cf 474 case 2: //Motor Menu
jah128 0:d6269d17c8cf 475 if(sub_menu == 0) sub_menu = 3;
jah128 0:d6269d17c8cf 476 else sub_menu --;
jah128 0:d6269d17c8cf 477 break;
jah128 0:d6269d17c8cf 478 case 4: //Info Menu
jah128 0:d6269d17c8cf 479 if(sub_menu == 0) sub_menu = 6;
jah128 0:d6269d17c8cf 480 else sub_menu --;
jah128 0:d6269d17c8cf 481 break;
jah128 0:d6269d17c8cf 482 case 5: //Demo Menu
jah128 0:d6269d17c8cf 483 if(sub_menu == 0) sub_menu = 4;
jah128 0:d6269d17c8cf 484 else sub_menu --;
jah128 0:d6269d17c8cf 485 break;
jah128 4:dc77a25f29de 486 case 6: //Calibrate Menu
jah128 4:dc77a25f29de 487 if(sub_menu == 0) sub_menu = 2;
jah128 4:dc77a25f29de 488 else sub_menu --;
jah128 4:dc77a25f29de 489 break;
jah128 0:d6269d17c8cf 490 case 7: //PsiBasic Menu
jah128 0:d6269d17c8cf 491 if(sub_menu == 0) sub_menu = psi_basic_file_count;
jah128 0:d6269d17c8cf 492 else sub_menu --;
jah128 0:d6269d17c8cf 493 }
jah128 0:d6269d17c8cf 494 break;
jah128 0:d6269d17c8cf 495
jah128 0:d6269d17c8cf 496 }
jah128 0:d6269d17c8cf 497 break;
jah128 0:d6269d17c8cf 498 case 8: //Right pressed
jah128 0:d6269d17c8cf 499 switch(level) {
jah128 0:d6269d17c8cf 500 case 0:
jah128 0:d6269d17c8cf 501 top_menu ++;
jah128 4:dc77a25f29de 502 if((top_menu - use_flash_basic) > 7) top_menu = 0;
jah128 0:d6269d17c8cf 503 break;
jah128 0:d6269d17c8cf 504 case 1:
jah128 0:d6269d17c8cf 505 switch(top_menu) {
jah128 0:d6269d17c8cf 506 case 0: //LED Menu
jah128 0:d6269d17c8cf 507 if(sub_menu == 13) sub_menu = 0;
jah128 0:d6269d17c8cf 508 else sub_menu ++;
jah128 0:d6269d17c8cf 509 break;
jah128 0:d6269d17c8cf 510 case 1: //Sensors Menu
jah128 0:d6269d17c8cf 511 if(sub_menu == 11) sub_menu = 0;
jah128 0:d6269d17c8cf 512 else sub_menu ++;
jah128 0:d6269d17c8cf 513 break;
jah128 0:d6269d17c8cf 514 case 2: //Motor Menu
jah128 0:d6269d17c8cf 515 if(sub_menu == 3) sub_menu = 0;
jah128 0:d6269d17c8cf 516 else sub_menu ++;
jah128 0:d6269d17c8cf 517 break;
jah128 0:d6269d17c8cf 518 case 4: //Info Menu
jah128 0:d6269d17c8cf 519 if(sub_menu == 6) sub_menu = 0;
jah128 0:d6269d17c8cf 520 else sub_menu ++;
jah128 0:d6269d17c8cf 521 break;
jah128 0:d6269d17c8cf 522 case 5: //Demo Menu
jah128 0:d6269d17c8cf 523 if(sub_menu == 4) sub_menu = 0;
jah128 0:d6269d17c8cf 524 else sub_menu ++;
jah128 0:d6269d17c8cf 525 break;
jah128 4:dc77a25f29de 526 case 6: //Calibrate Menu
jah128 4:dc77a25f29de 527 if(sub_menu == 2) sub_menu = 0;
jah128 4:dc77a25f29de 528 else sub_menu ++;
jah128 4:dc77a25f29de 529 break;
jah128 0:d6269d17c8cf 530 case 7: //PsiBasic Menu
jah128 0:d6269d17c8cf 531 if(sub_menu == psi_basic_file_count) sub_menu = 0;
jah128 0:d6269d17c8cf 532 else sub_menu ++;
jah128 0:d6269d17c8cf 533 }
jah128 0:d6269d17c8cf 534 break;
jah128 0:d6269d17c8cf 535 }
jah128 0:d6269d17c8cf 536 break;
jah128 0:d6269d17c8cf 537 case 16: //Select pressed
jah128 0:d6269d17c8cf 538 switch(level) {
jah128 0:d6269d17c8cf 539 case 0:
jah128 4:dc77a25f29de 540 if(top_menu != 8) {
jah128 0:d6269d17c8cf 541 level++;
jah128 0:d6269d17c8cf 542 sub_menu = 0;
jah128 0:d6269d17c8cf 543 } else {
jah128 0:d6269d17c8cf 544 demo_on = 0;
jah128 0:d6269d17c8cf 545 user_code_running = user_code_restore_mode;
jah128 0:d6269d17c8cf 546 }
jah128 0:d6269d17c8cf 547 break;
jah128 0:d6269d17c8cf 548 case 1:
jah128 0:d6269d17c8cf 549 switch(top_menu) {
jah128 0:d6269d17c8cf 550 case 0: //LED Menu
jah128 0:d6269d17c8cf 551 if(sub_menu == 9) {
jah128 0:d6269d17c8cf 552 for(int i=0; i<9; i++) {
jah128 0:d6269d17c8cf 553 led_state[i]=all_led_state;
jah128 0:d6269d17c8cf 554 }
jah128 0:d6269d17c8cf 555 demo_update_leds();
jah128 0:d6269d17c8cf 556 }
jah128 0:d6269d17c8cf 557 if(sub_menu == 13) level = 0;
jah128 0:d6269d17c8cf 558 break;
jah128 0:d6269d17c8cf 559 case 1: // Sensors Menu
jah128 0:d6269d17c8cf 560 if(sub_menu == 11) level = 0;
jah128 0:d6269d17c8cf 561 break;
jah128 0:d6269d17c8cf 562 case 2: //Motor Menu
jah128 0:d6269d17c8cf 563 if(sub_menu == 2) {
jah128 0:d6269d17c8cf 564 switch(both_motor_mode) {
jah128 0:d6269d17c8cf 565 case 0:
jah128 0:d6269d17c8cf 566 stop();
jah128 0:d6269d17c8cf 567 break;
jah128 0:d6269d17c8cf 568 case 1:
jah128 0:d6269d17c8cf 569 brake();
jah128 0:d6269d17c8cf 570 break;
jah128 0:d6269d17c8cf 571 case 2:
jah128 0:d6269d17c8cf 572 forward(0.5);
jah128 0:d6269d17c8cf 573 break;
jah128 0:d6269d17c8cf 574 case 3:
jah128 0:d6269d17c8cf 575 forward(1);
jah128 0:d6269d17c8cf 576 break;
jah128 0:d6269d17c8cf 577 case 4:
jah128 0:d6269d17c8cf 578 backward(0.5);
jah128 0:d6269d17c8cf 579 break;
jah128 0:d6269d17c8cf 580 case 5:
jah128 0:d6269d17c8cf 581 backward(1.0);
jah128 0:d6269d17c8cf 582 break;
jah128 0:d6269d17c8cf 583 }
jah128 0:d6269d17c8cf 584 }
jah128 0:d6269d17c8cf 585 if(sub_menu == 3) {
jah128 0:d6269d17c8cf 586 level = 0;
jah128 0:d6269d17c8cf 587 }
jah128 0:d6269d17c8cf 588 break;
jah128 0:d6269d17c8cf 589 case 3: // Radio Menu
jah128 0:d6269d17c8cf 590 if(sub_menu == 0) level = 0;
jah128 0:d6269d17c8cf 591 break;
jah128 0:d6269d17c8cf 592 case 4: // Info Menu
jah128 0:d6269d17c8cf 593 if(sub_menu == 6) level = 0;
jah128 0:d6269d17c8cf 594 break;
jah128 0:d6269d17c8cf 595 case 5: // Demo Menu
jah128 0:d6269d17c8cf 596 if(sub_menu == 4) level = 0;
jah128 0:d6269d17c8cf 597 break;
jah128 4:dc77a25f29de 598 case 6: // Calibrate Menu
jah128 4:dc77a25f29de 599 if(sub_menu == 2) level = 0;
jah128 4:dc77a25f29de 600 break;
jah128 0:d6269d17c8cf 601 case 7: // PsiBasic Menu
jah128 0:d6269d17c8cf 602 if(sub_menu == psi_basic_file_count) level = 0;
jah128 0:d6269d17c8cf 603 break;
jah128 0:d6269d17c8cf 604 }
jah128 0:d6269d17c8cf 605 break;
jah128 0:d6269d17c8cf 606 }
jah128 0:d6269d17c8cf 607 break;
jah128 0:d6269d17c8cf 608 }
jah128 0:d6269d17c8cf 609 } else started = 1;
jah128 0:d6269d17c8cf 610 display.clear_display();
jah128 0:d6269d17c8cf 611 switch(level) {
jah128 0:d6269d17c8cf 612 case 0:
jah128 0:d6269d17c8cf 613 //Top level menu
jah128 0:d6269d17c8cf 614 switch(top_menu) {
jah128 0:d6269d17c8cf 615 case 0:
jah128 0:d6269d17c8cf 616 strcpy(topline,"---TEST LEDS----");
jah128 0:d6269d17c8cf 617 break;
jah128 0:d6269d17c8cf 618 case 1:
jah128 0:d6269d17c8cf 619 strcpy(topline,"--TEST SENSORS--");
jah128 0:d6269d17c8cf 620 break;
jah128 0:d6269d17c8cf 621 case 2:
jah128 0:d6269d17c8cf 622 strcpy(topline,"--TEST MOTORS---");
jah128 0:d6269d17c8cf 623 break;
jah128 0:d6269d17c8cf 624 case 3:
jah128 0:d6269d17c8cf 625 strcpy(topline,"---TEST RADIO---");
jah128 0:d6269d17c8cf 626 break;
jah128 0:d6269d17c8cf 627 case 4:
jah128 0:d6269d17c8cf 628 strcpy(topline,"------INFO------");
jah128 0:d6269d17c8cf 629 break;
jah128 0:d6269d17c8cf 630 case 5:
jah128 0:d6269d17c8cf 631 strcpy(topline,"---CODE DEMOS---");
jah128 0:d6269d17c8cf 632 break;
jah128 0:d6269d17c8cf 633 case 6:
jah128 4:dc77a25f29de 634 strcpy(topline,"-MOTOR CALIBRATE");
jah128 0:d6269d17c8cf 635 break;
jah128 0:d6269d17c8cf 636 case 7:
jah128 0:d6269d17c8cf 637 strcpy(topline,"---PSI BASIC----");
jah128 0:d6269d17c8cf 638 break;
jah128 4:dc77a25f29de 639 case 8:
jah128 4:dc77a25f29de 640 strcpy(topline,"------EXIT------");
jah128 4:dc77a25f29de 641 break;
jah128 0:d6269d17c8cf 642 }
jah128 0:d6269d17c8cf 643 strcpy(bottomline,"");
jah128 0:d6269d17c8cf 644 break;
jah128 0:d6269d17c8cf 645 case 1:
jah128 0:d6269d17c8cf 646 //Sub level menu
jah128 0:d6269d17c8cf 647 switch(top_menu) {
jah128 0:d6269d17c8cf 648 case 7:
jah128 0:d6269d17c8cf 649 strcpy(topline,"-PSI BASIC MENU-");
jah128 0:d6269d17c8cf 650 if(sub_menu == psi_basic_file_count) strcpy(bottomline,"EXIT");
jah128 0:d6269d17c8cf 651 else strcpy(bottomline,basic_filenames.at(sub_menu).c_str());
jah128 0:d6269d17c8cf 652 break;
jah128 0:d6269d17c8cf 653 case 0:
jah128 0:d6269d17c8cf 654 strcpy(topline,"----LED MENU----");
jah128 0:d6269d17c8cf 655 char led_status[7];
jah128 0:d6269d17c8cf 656 if(sub_menu<9) {
jah128 0:d6269d17c8cf 657 switch(led_state[sub_menu]) {
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 }
jah128 0:d6269d17c8cf 672 if(sub_menu < 8) sprintf(bottomline,"OUTER %d: %s",(sub_menu + 1),led_status);
jah128 0:d6269d17c8cf 673 if(sub_menu == 8) sprintf(bottomline,"CENTER: %s",led_status);
jah128 0:d6269d17c8cf 674 if(sub_menu == 9) {
jah128 0:d6269d17c8cf 675 switch(all_led_state) {
jah128 0:d6269d17c8cf 676 case 0:
jah128 0:d6269d17c8cf 677 strcpy(led_status,"OFF");
jah128 0:d6269d17c8cf 678 break;
jah128 0:d6269d17c8cf 679 case 1:
jah128 0:d6269d17c8cf 680 strcpy(led_status,"RED");
jah128 0:d6269d17c8cf 681 break;
jah128 0:d6269d17c8cf 682 case 2:
jah128 0:d6269d17c8cf 683 strcpy(led_status,"GREEN");
jah128 0:d6269d17c8cf 684 break;
jah128 0:d6269d17c8cf 685 case 3:
jah128 0:d6269d17c8cf 686 strcpy(led_status,"YELLOW");
jah128 0:d6269d17c8cf 687 break;
jah128 0:d6269d17c8cf 688 }
jah128 0:d6269d17c8cf 689 sprintf(bottomline,"SET ALL %s", led_status);
jah128 0:d6269d17c8cf 690 }
jah128 0:d6269d17c8cf 691 if(sub_menu == 10) {
jah128 0:d6269d17c8cf 692 if(base_led_state == 0) strcpy(led_status,"OFF");
jah128 0:d6269d17c8cf 693 else strcpy(led_status,"ON");
jah128 0:d6269d17c8cf 694 sprintf(bottomline,"BASE: %s",led_status);
jah128 0:d6269d17c8cf 695 }
jah128 0:d6269d17c8cf 696 if(sub_menu == 11) sprintf(bottomline,"CLED BNESS %d%%", brightness);
jah128 0:d6269d17c8cf 697 if(sub_menu == 12) sprintf(bottomline,"DISP BNESS %d%%", bl_brightness);
jah128 0:d6269d17c8cf 698 if(sub_menu == 13) strcpy(bottomline,"EXIT");
jah128 0:d6269d17c8cf 699 break;
jah128 0:d6269d17c8cf 700
jah128 0:d6269d17c8cf 701 case 1:
jah128 0:d6269d17c8cf 702 strcpy(topline,"--SENSORS MENU--");
jah128 0:d6269d17c8cf 703 switch(sub_menu) {
jah128 0:d6269d17c8cf 704 case 0: {
jah128 0:d6269d17c8cf 705 float battery = get_battery_voltage ();
jah128 0:d6269d17c8cf 706 sprintf(bottomline,"BATTERY: %1.3fV",battery);
jah128 0:d6269d17c8cf 707 break;
jah128 0:d6269d17c8cf 708 }
jah128 0:d6269d17c8cf 709 case 1: {
jah128 0:d6269d17c8cf 710 float dc = get_dc_voltage ();
jah128 0:d6269d17c8cf 711 sprintf(bottomline,"DC: %1.3fV",dc);
jah128 0:d6269d17c8cf 712 break;
jah128 0:d6269d17c8cf 713 }
jah128 0:d6269d17c8cf 714 case 2: {
jah128 0:d6269d17c8cf 715 float current = get_current ();
jah128 0:d6269d17c8cf 716 sprintf(bottomline,"CURRENT: %1.3fA",current);
jah128 0:d6269d17c8cf 717 break;
jah128 0:d6269d17c8cf 718 }
jah128 0:d6269d17c8cf 719 case 3: {
jah128 0:d6269d17c8cf 720 float temperature = get_temperature();
jah128 0:d6269d17c8cf 721 sprintf(bottomline,"TEMP: %3.2fC", temperature);
jah128 0:d6269d17c8cf 722 break;
jah128 0:d6269d17c8cf 723 }
jah128 0:d6269d17c8cf 724 case 4:
jah128 0:d6269d17c8cf 725 store_background_base_ir_values();
jah128 0:d6269d17c8cf 726 sprintf(bottomline,"BIR%dB:%d",base_ir_index+1,get_background_base_ir_value(base_ir_index));
jah128 0:d6269d17c8cf 727 break;
jah128 0:d6269d17c8cf 728 case 5:
jah128 0:d6269d17c8cf 729 store_illuminated_base_ir_values();
jah128 0:d6269d17c8cf 730 sprintf(bottomline,"BIR%dR:%d",base_ir_index+1,get_illuminated_base_ir_value(base_ir_index));
jah128 0:d6269d17c8cf 731 break;
jah128 0:d6269d17c8cf 732 case 6:
jah128 0:d6269d17c8cf 733 store_background_raw_ir_values();
jah128 0:d6269d17c8cf 734 sprintf(bottomline,"SIR%dB:%d",side_ir_index+1,get_background_raw_ir_value(side_ir_index));
jah128 0:d6269d17c8cf 735 break;
jah128 0:d6269d17c8cf 736 case 7:
jah128 0:d6269d17c8cf 737 store_illuminated_raw_ir_values();
jah128 0:d6269d17c8cf 738 sprintf(bottomline,"SIR%dR:%d",side_ir_index+1,get_illuminated_raw_ir_value(side_ir_index));
jah128 0:d6269d17c8cf 739 break;
jah128 0:d6269d17c8cf 740 case 8:
jah128 0:d6269d17c8cf 741 sprintf(bottomline,"SIR%dD:%3.1f",side_ir_index+1,0.0);
jah128 0:d6269d17c8cf 742 break;
jah128 0:d6269d17c8cf 743 case 9:
jah128 0:d6269d17c8cf 744 if(ultrasonic_distance_updated == 1) {
jah128 0:d6269d17c8cf 745 sprintf(bottomline,"USONIC:%3dcm",ultrasonic_distance);
jah128 0:d6269d17c8cf 746 } else sprintf(bottomline,"USONIC:---------");
jah128 0:d6269d17c8cf 747 update_ultrasonic_measure();
jah128 0:d6269d17c8cf 748 break;
jah128 0:d6269d17c8cf 749 case 10:
jah128 0:d6269d17c8cf 750 store_line_position();
jah128 0:d6269d17c8cf 751 if(line_found == 1)sprintf(bottomline,"LINE:%1.3f",line_position);
jah128 0:d6269d17c8cf 752 else sprintf(bottomline,"LINE:---------");
jah128 0:d6269d17c8cf 753 break;
jah128 0:d6269d17c8cf 754 case 11:
jah128 0:d6269d17c8cf 755 sprintf(bottomline,"EXIT");
jah128 0:d6269d17c8cf 756 break;
jah128 0:d6269d17c8cf 757 }
jah128 0:d6269d17c8cf 758 break;
jah128 0:d6269d17c8cf 759 case 2:
jah128 0:d6269d17c8cf 760 strcpy(topline,"--MOTORS MENU---");
jah128 0:d6269d17c8cf 761 switch(sub_menu) {
jah128 0:d6269d17c8cf 762 case 0:
jah128 0:d6269d17c8cf 763 sprintf(bottomline,"LEFT: %d%%", left_speed);
jah128 0:d6269d17c8cf 764 break;
jah128 0:d6269d17c8cf 765 case 1:
jah128 0:d6269d17c8cf 766 sprintf(bottomline,"RIGHT: %d%%", right_speed);
jah128 0:d6269d17c8cf 767 break;
jah128 0:d6269d17c8cf 768 case 2:
jah128 0:d6269d17c8cf 769 char both_mode_string[16];
jah128 0:d6269d17c8cf 770 switch(both_motor_mode) {
jah128 0:d6269d17c8cf 771 case 0:
jah128 0:d6269d17c8cf 772 strcpy(both_mode_string,"OFF");
jah128 0:d6269d17c8cf 773 break;
jah128 0:d6269d17c8cf 774 case 1:
jah128 0:d6269d17c8cf 775 strcpy(both_mode_string,"BRAKE");
jah128 0:d6269d17c8cf 776 break;
jah128 0:d6269d17c8cf 777 case 2:
jah128 0:d6269d17c8cf 778 strcpy(both_mode_string,"+50%");
jah128 0:d6269d17c8cf 779 break;
jah128 0:d6269d17c8cf 780 case 3:
jah128 0:d6269d17c8cf 781 strcpy(both_mode_string,"+100%");
jah128 0:d6269d17c8cf 782 break;
jah128 0:d6269d17c8cf 783 case 4:
jah128 0:d6269d17c8cf 784 strcpy(both_mode_string,"-50%");
jah128 0:d6269d17c8cf 785 break;
jah128 0:d6269d17c8cf 786 case 5:
jah128 0:d6269d17c8cf 787 strcpy(both_mode_string,"-100%");
jah128 0:d6269d17c8cf 788 break;
jah128 0:d6269d17c8cf 789 }
jah128 0:d6269d17c8cf 790 sprintf(bottomline,"BOTH TO %s",both_mode_string);
jah128 0:d6269d17c8cf 791 break;
jah128 0:d6269d17c8cf 792 case 3:
jah128 0:d6269d17c8cf 793 sprintf(bottomline,"EXIT");
jah128 0:d6269d17c8cf 794 break;
jah128 0:d6269d17c8cf 795 }
jah128 0:d6269d17c8cf 796 break;
jah128 0:d6269d17c8cf 797 case 3:
jah128 0:d6269d17c8cf 798 strcpy(topline,"---RADIO MENU---");
jah128 0:d6269d17c8cf 799 switch(sub_menu) {
jah128 0:d6269d17c8cf 800
jah128 0:d6269d17c8cf 801 case 0:
jah128 0:d6269d17c8cf 802 sprintf(bottomline,"EXIT");
jah128 0:d6269d17c8cf 803 break;
jah128 0:d6269d17c8cf 804 }
jah128 0:d6269d17c8cf 805 break;
jah128 0:d6269d17c8cf 806 case 4:
jah128 0:d6269d17c8cf 807 strcpy(topline,"---INFO MENU----");
jah128 0:d6269d17c8cf 808 switch(sub_menu) {
jah128 0:d6269d17c8cf 809 case 0:
jah128 0:d6269d17c8cf 810 sprintf(bottomline,"ROBOT ID: %d",robot_id);
jah128 0:d6269d17c8cf 811 break;
jah128 0:d6269d17c8cf 812 case 1:
jah128 0:d6269d17c8cf 813 sprintf(bottomline,"SOFTWARE: %1.2f",SOFTWARE_VERSION_CODE);
jah128 0:d6269d17c8cf 814 break;
jah128 0:d6269d17c8cf 815 case 2:
jah128 0:d6269d17c8cf 816 if(firmware_version > 0) sprintf(bottomline,"FIRMWARE: %1.2f",firmware_version);
jah128 0:d6269d17c8cf 817 else sprintf(bottomline,"FIRMWARE: ?????");
jah128 0:d6269d17c8cf 818 break;
jah128 0:d6269d17c8cf 819 case 3:
jah128 0:d6269d17c8cf 820 sprintf(bottomline,"PROG:%s",program_name);
jah128 0:d6269d17c8cf 821 break;
jah128 0:d6269d17c8cf 822 case 4:
jah128 0:d6269d17c8cf 823 sprintf(bottomline,"AUTH:%s",author_name);
jah128 0:d6269d17c8cf 824 break;
jah128 0:d6269d17c8cf 825 case 5:
jah128 0:d6269d17c8cf 826 sprintf(bottomline,"VER:%s",version_name);
jah128 0:d6269d17c8cf 827 break;
jah128 0:d6269d17c8cf 828 case 6:
jah128 0:d6269d17c8cf 829 sprintf(bottomline,"EXIT");
jah128 0:d6269d17c8cf 830 break;
jah128 0:d6269d17c8cf 831 }
jah128 0:d6269d17c8cf 832 break;
jah128 0:d6269d17c8cf 833 case 5:
jah128 0:d6269d17c8cf 834 strcpy(topline,"---CODE DEMOS---");
jah128 0:d6269d17c8cf 835 switch(sub_menu) {
jah128 0:d6269d17c8cf 836 case 0:
jah128 0:d6269d17c8cf 837 sprintf(bottomline,"LINE FOLLOW");
jah128 0:d6269d17c8cf 838 break;
jah128 0:d6269d17c8cf 839 case 1:
jah128 0:d6269d17c8cf 840 sprintf(bottomline,"OBST. AVOID");
jah128 0:d6269d17c8cf 841 break;
jah128 0:d6269d17c8cf 842 case 2:
jah128 0:d6269d17c8cf 843 sprintf(bottomline,"COLOUR SPIN");
jah128 0:d6269d17c8cf 844 break;
jah128 0:d6269d17c8cf 845 case 3:
jah128 0:d6269d17c8cf 846 sprintf(bottomline,"STRESS TEST");
jah128 0:d6269d17c8cf 847 break;
jah128 0:d6269d17c8cf 848 case 4:
jah128 0:d6269d17c8cf 849 sprintf(bottomline,"EXIT");
jah128 0:d6269d17c8cf 850 break;
jah128 0:d6269d17c8cf 851 }
jah128 0:d6269d17c8cf 852 break;
jah128 0:d6269d17c8cf 853 case 6:
jah128 4:dc77a25f29de 854 strcpy(topline,"-MOTOR CALIBRATE");
jah128 4:dc77a25f29de 855 switch(sub_menu) {
jah128 4:dc77a25f29de 856 case 0:
jah128 4:dc77a25f29de 857 sprintf(bottomline,"RUN A3 TEST");
jah128 4:dc77a25f29de 858 break;
jah128 4:dc77a25f29de 859 case 1:
jah128 4:dc77a25f29de 860 sprintf(bottomline,"ENTER VALUE");
jah128 4:dc77a25f29de 861 break;
jah128 4:dc77a25f29de 862 case 2:
jah128 4:dc77a25f29de 863 sprintf(bottomline,"EXIT");
jah128 4:dc77a25f29de 864 break;
jah128 4:dc77a25f29de 865 }
jah128 0:d6269d17c8cf 866 break;
jah128 0:d6269d17c8cf 867 }
jah128 0:d6269d17c8cf 868 break;
jah128 0:d6269d17c8cf 869 }
jah128 0:d6269d17c8cf 870 display.write_string(topline);
jah128 0:d6269d17c8cf 871 display.set_position(1,0);
jah128 0:d6269d17c8cf 872 display.write_string(bottomline);
jah128 0:d6269d17c8cf 873 if(top_menu == 1 && level == 1) {
jah128 0:d6269d17c8cf 874 demo_event.attach(&demo_event_thread, 0.25);
jah128 0:d6269d17c8cf 875 }
jah128 0:d6269d17c8cf 876 }
jah128 0:d6269d17c8cf 877
jah128 0:d6269d17c8cf 878 void start_line_demo()
jah128 0:d6269d17c8cf 879 {
jah128 0:d6269d17c8cf 880 display.set_backlight_brightness(0);
jah128 0:d6269d17c8cf 881 time_out = 0.25f;
jah128 0:d6269d17c8cf 882 demo_timer.start();
jah128 0:d6269d17c8cf 883 state = 0;
jah128 0:d6269d17c8cf 884 speed = 0;
jah128 0:d6269d17c8cf 885 led_step = 0;
jah128 0:d6269d17c8cf 886 demo_running = 1;
jah128 0:d6269d17c8cf 887 demo_timeout.attach_us(&line_demo_cycle,1000);
jah128 0:d6269d17c8cf 888 }
jah128 0:d6269d17c8cf 889
jah128 0:d6269d17c8cf 890 void start_obstacle_demo()
jah128 0:d6269d17c8cf 891 {
jah128 0:d6269d17c8cf 892 display.set_backlight_brightness(0);
jah128 0:d6269d17c8cf 893 time_out = 0.25f;
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 demo_running = 1;
jah128 0:d6269d17c8cf 899 demo_timeout.attach_us(&obstacle_demo_cycle,1000);
jah128 0:d6269d17c8cf 900 }
jah128 0:d6269d17c8cf 901
jah128 0:d6269d17c8cf 902 void start_stress_demo()
jah128 0:d6269d17c8cf 903 {
jah128 0:d6269d17c8cf 904 display.set_backlight_brightness(0.25);
jah128 0:d6269d17c8cf 905 display.write_string("STRESS TEST");
jah128 0:d6269d17c8cf 906 display.set_position(1,0);
jah128 0:d6269d17c8cf 907 display.write_string("----25%----");
jah128 0:d6269d17c8cf 908 time_out = 0.04f;
jah128 0:d6269d17c8cf 909 demo_timer.start();
jah128 0:d6269d17c8cf 910 state = 0;
jah128 0:d6269d17c8cf 911 speed = 0;
jah128 0:d6269d17c8cf 912 stress_step = 0;
jah128 0:d6269d17c8cf 913 spin_step = 0;
jah128 0:d6269d17c8cf 914 demo_running = 1;
jah128 0:d6269d17c8cf 915 demo_timeout.attach_us(&stress_demo_cycle,1000);
jah128 0:d6269d17c8cf 916 }
jah128 0:d6269d17c8cf 917
jah128 0:d6269d17c8cf 918 void start_spinning_demo()
jah128 0:d6269d17c8cf 919 {
jah128 0:d6269d17c8cf 920 display.set_backlight_brightness(0);
jah128 0:d6269d17c8cf 921 time_out = 0.0f;
jah128 0:d6269d17c8cf 922 demo_timer.start();
jah128 0:d6269d17c8cf 923 state = 0;
jah128 0:d6269d17c8cf 924 speed = 0;
jah128 0:d6269d17c8cf 925 led_step = 0;
jah128 0:d6269d17c8cf 926 spin_step = 0;
jah128 0:d6269d17c8cf 927 demo_running = 1;
jah128 0:d6269d17c8cf 928 demo_timeout.attach_us(&spinning_demo_cycle,1000);
jah128 0:d6269d17c8cf 929 }
jah128 0:d6269d17c8cf 930
jah128 0:d6269d17c8cf 931 void line_demo_cycle()
jah128 0:d6269d17c8cf 932 {
jah128 0:d6269d17c8cf 933 if(demo_timer.read() > time_out) {
jah128 0:d6269d17c8cf 934 store_line_position();
jah128 0:d6269d17c8cf 935 if(line_found) {
jah128 0:d6269d17c8cf 936 time_out = 0.01f;
jah128 0:d6269d17c8cf 937 state = 0;
jah128 0:d6269d17c8cf 938 // Get the position of the line.
jah128 0:d6269d17c8cf 939 lf_current_pos_of_line = line_position;
jah128 0:d6269d17c8cf 940 lf_proportional = lf_current_pos_of_line;
jah128 0:d6269d17c8cf 941
jah128 0:d6269d17c8cf 942 // Compute the derivative
jah128 0:d6269d17c8cf 943 lf_derivative = lf_current_pos_of_line - lf_previous_pos_of_line;
jah128 0:d6269d17c8cf 944
jah128 0:d6269d17c8cf 945 // Compute the integral
jah128 0:d6269d17c8cf 946 lf_integral += lf_proportional;
jah128 0:d6269d17c8cf 947
jah128 0:d6269d17c8cf 948 // Remember the last position.
jah128 0:d6269d17c8cf 949 lf_previous_pos_of_line = lf_current_pos_of_line;
jah128 0:d6269d17c8cf 950
jah128 0:d6269d17c8cf 951 // Compute the power
jah128 0:d6269d17c8cf 952 lf_power = (lf_proportional * (LF_P_TERM) ) + (lf_integral*(LF_I_TERM)) + (lf_derivative*(LF_D_TERM)) ;
jah128 0:d6269d17c8cf 953
jah128 0:d6269d17c8cf 954 // Compute new speeds
jah128 0:d6269d17c8cf 955 lf_right = lf_speed-lf_power;
jah128 0:d6269d17c8cf 956 lf_left = lf_speed+lf_power;
jah128 0:d6269d17c8cf 957
jah128 0:d6269d17c8cf 958 // limit checks
jah128 0:d6269d17c8cf 959 if (lf_right < 0)
jah128 0:d6269d17c8cf 960 lf_right = 0;
jah128 0:d6269d17c8cf 961 else if (lf_right > 1.0f)
jah128 0:d6269d17c8cf 962 lf_right = 1.0f;
jah128 0:d6269d17c8cf 963
jah128 0:d6269d17c8cf 964 if (lf_left < 0)
jah128 0:d6269d17c8cf 965 lf_left = 0;
jah128 0:d6269d17c8cf 966 else if (lf_left > 1.0f)
jah128 0:d6269d17c8cf 967 lf_left = 1.0f;
jah128 0:d6269d17c8cf 968 }else{
jah128 0:d6269d17c8cf 969 //Cannot see line: hunt for it
jah128 0:d6269d17c8cf 970 if(lf_left > lf_right){
jah128 0:d6269d17c8cf 971 //Currently turning left, keep turning left
jah128 0:d6269d17c8cf 972 state ++;
jah128 0:d6269d17c8cf 973 float d_step = state * 0.04;
jah128 0:d6269d17c8cf 974 lf_left = 0.2 + d_step;
jah128 0:d6269d17c8cf 975 lf_right = -0.2 - d_step;
jah128 0:d6269d17c8cf 976 if(state > 20){
jah128 0:d6269d17c8cf 977 state = 0;
jah128 0:d6269d17c8cf 978 lf_right = 0.2;
jah128 0:d6269d17c8cf 979 lf_left = -0.2;
jah128 0:d6269d17c8cf 980 time_out += 0.01f;
jah128 0:d6269d17c8cf 981 if(time_out > 0.1f) demo_running = 0;
jah128 0:d6269d17c8cf 982 }
jah128 0:d6269d17c8cf 983 }else{
jah128 0:d6269d17c8cf 984 //Currently turning right, keep turning right
jah128 0:d6269d17c8cf 985 state ++;
jah128 0:d6269d17c8cf 986 float d_step = state * 0.04;
jah128 0:d6269d17c8cf 987 lf_left = -0.2 - d_step;
jah128 0:d6269d17c8cf 988 lf_right = 0.2 + d_step;
jah128 0:d6269d17c8cf 989 if(state > 20){
jah128 0:d6269d17c8cf 990 state = 0;
jah128 0:d6269d17c8cf 991 lf_right = -0.2;
jah128 0:d6269d17c8cf 992 lf_left = 0.2;
jah128 0:d6269d17c8cf 993 time_out += 0.01f;
jah128 0:d6269d17c8cf 994 if(time_out > 0.1f) demo_running = 0;
jah128 0:d6269d17c8cf 995 }
jah128 0:d6269d17c8cf 996 }
jah128 0:d6269d17c8cf 997 }
jah128 0:d6269d17c8cf 998 // set speed
jah128 0:d6269d17c8cf 999 set_left_motor_speed(lf_left);
jah128 0:d6269d17c8cf 1000 set_right_motor_speed(lf_right);
jah128 0:d6269d17c8cf 1001
jah128 0:d6269d17c8cf 1002
jah128 0:d6269d17c8cf 1003 demo_timer.reset();
jah128 0:d6269d17c8cf 1004 }
jah128 0:d6269d17c8cf 1005 if(demo_running == 1)demo_timeout.attach_us(&line_demo_cycle,500);
jah128 0:d6269d17c8cf 1006 else {
jah128 0:d6269d17c8cf 1007 stop();
jah128 0:d6269d17c8cf 1008 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 1009 }
jah128 0:d6269d17c8cf 1010 }
jah128 0:d6269d17c8cf 1011
jah128 0:d6269d17c8cf 1012 void stress_demo_cycle()
jah128 0:d6269d17c8cf 1013 {
jah128 0:d6269d17c8cf 1014 if(demo_timer.read() > time_out) {
jah128 0:d6269d17c8cf 1015 float pct = 0.25 + (0.25 * stress_step);
jah128 0:d6269d17c8cf 1016 switch(state) {
jah128 0:d6269d17c8cf 1017 case 0:
jah128 0:d6269d17c8cf 1018 if(spin_step % 2 == 0) {
jah128 0:d6269d17c8cf 1019 forward(pct);
jah128 0:d6269d17c8cf 1020 set_leds(0xFF,0xFF);
jah128 0:d6269d17c8cf 1021 } else {
jah128 0:d6269d17c8cf 1022 backward(pct);
jah128 0:d6269d17c8cf 1023 set_leds(0,0xFF);
jah128 0:d6269d17c8cf 1024 }
jah128 0:d6269d17c8cf 1025 spin_step ++;
jah128 0:d6269d17c8cf 1026 if(spin_step > 199) {
jah128 0:d6269d17c8cf 1027 state ++;
jah128 0:d6269d17c8cf 1028 spin_step = 0;
jah128 0:d6269d17c8cf 1029 }
jah128 0:d6269d17c8cf 1030 break;
jah128 0:d6269d17c8cf 1031 case 1:
jah128 0:d6269d17c8cf 1032 if(stress_step < 3) stress_step ++;
jah128 0:d6269d17c8cf 1033 float pct = 0.25 + (0.25 * stress_step);
jah128 0:d6269d17c8cf 1034 display.set_backlight_brightness(pct);
jah128 0:d6269d17c8cf 1035 display.set_position(1,0);
jah128 0:d6269d17c8cf 1036 switch(stress_step) {
jah128 0:d6269d17c8cf 1037 case 1:
jah128 0:d6269d17c8cf 1038 display.write_string("----50%----");
jah128 0:d6269d17c8cf 1039 break;
jah128 0:d6269d17c8cf 1040 case 2:
jah128 0:d6269d17c8cf 1041 display.write_string("----75%----");
jah128 0:d6269d17c8cf 1042 break;
jah128 0:d6269d17c8cf 1043 case 3:
jah128 0:d6269d17c8cf 1044 display.write_string("---100%----");
jah128 0:d6269d17c8cf 1045 break;
jah128 0:d6269d17c8cf 1046 }
jah128 0:d6269d17c8cf 1047 state = 0;
jah128 0:d6269d17c8cf 1048 break;
jah128 0:d6269d17c8cf 1049 }
jah128 0:d6269d17c8cf 1050 demo_timer.reset();
jah128 0:d6269d17c8cf 1051 }
jah128 0:d6269d17c8cf 1052 if(demo_running == 1)demo_timeout.attach_us(&stress_demo_cycle,500);
jah128 0:d6269d17c8cf 1053 else {
jah128 0:d6269d17c8cf 1054 stop();
jah128 0:d6269d17c8cf 1055 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 1056 }
jah128 0:d6269d17c8cf 1057 }
jah128 0:d6269d17c8cf 1058
jah128 0:d6269d17c8cf 1059 void spinning_demo_cycle()
jah128 0:d6269d17c8cf 1060 {
jah128 0:d6269d17c8cf 1061 if(demo_timer.read() > time_out) {
jah128 0:d6269d17c8cf 1062 switch(state) {
jah128 0:d6269d17c8cf 1063 case 0: //Robot is stopped
jah128 0:d6269d17c8cf 1064 set_leds(0,0xFF);
jah128 0:d6269d17c8cf 1065 set_center_led(1,1);
jah128 0:d6269d17c8cf 1066 speed = 0.1f;
jah128 0:d6269d17c8cf 1067 brake();
jah128 0:d6269d17c8cf 1068 time_out = 0.5;
jah128 0:d6269d17c8cf 1069 state = 1;
jah128 0:d6269d17c8cf 1070 led_step = 0;
jah128 0:d6269d17c8cf 1071 break;
jah128 0:d6269d17c8cf 1072 case 1: //Motor is turning right, accelerating
jah128 0:d6269d17c8cf 1073 time_out = 0.1;
jah128 0:d6269d17c8cf 1074 set_center_led(2,1);
jah128 0:d6269d17c8cf 1075 switch(led_step) {
jah128 0:d6269d17c8cf 1076 case 0:
jah128 0:d6269d17c8cf 1077 set_leds(0x01,0);
jah128 0:d6269d17c8cf 1078 break;
jah128 0:d6269d17c8cf 1079 case 1:
jah128 0:d6269d17c8cf 1080 set_leds(0x02,0);
jah128 0:d6269d17c8cf 1081 break;
jah128 0:d6269d17c8cf 1082 case 2:
jah128 0:d6269d17c8cf 1083 set_leds(0x04,0);
jah128 0:d6269d17c8cf 1084 break;
jah128 0:d6269d17c8cf 1085 case 3:
jah128 0:d6269d17c8cf 1086 set_leds(0x08,0);
jah128 0:d6269d17c8cf 1087 break;
jah128 0:d6269d17c8cf 1088 case 4:
jah128 0:d6269d17c8cf 1089 set_leds(0x10,0);
jah128 0:d6269d17c8cf 1090 break;
jah128 0:d6269d17c8cf 1091 case 5:
jah128 0:d6269d17c8cf 1092 set_leds(0x20,0);
jah128 0:d6269d17c8cf 1093 break;
jah128 0:d6269d17c8cf 1094 case 6:
jah128 0:d6269d17c8cf 1095 set_leds(0x40,0);
jah128 0:d6269d17c8cf 1096 break;
jah128 0:d6269d17c8cf 1097 case 7:
jah128 0:d6269d17c8cf 1098 set_leds(0x80,0);
jah128 0:d6269d17c8cf 1099 break;
jah128 0:d6269d17c8cf 1100 }
jah128 0:d6269d17c8cf 1101 led_step ++;
jah128 0:d6269d17c8cf 1102 if(led_step == 8) led_step =0;
jah128 0:d6269d17c8cf 1103 if(speed < 1) {
jah128 0:d6269d17c8cf 1104 speed += 0.0125;
jah128 0:d6269d17c8cf 1105 turn(speed);
jah128 0:d6269d17c8cf 1106 } else {
jah128 0:d6269d17c8cf 1107 state = 2;
jah128 0:d6269d17c8cf 1108 spin_step = 0;
jah128 0:d6269d17c8cf 1109 led_step =0;
jah128 0:d6269d17c8cf 1110 }
jah128 0:d6269d17c8cf 1111 break;
jah128 0:d6269d17c8cf 1112 case 2: //Motor is turning right, full speed
jah128 0:d6269d17c8cf 1113 set_center_led(3,1);
jah128 0:d6269d17c8cf 1114 switch(led_step) {
jah128 0:d6269d17c8cf 1115 case 0:
jah128 0:d6269d17c8cf 1116 set_leds(0x33,0x33);
jah128 0:d6269d17c8cf 1117 break;
jah128 0:d6269d17c8cf 1118 case 1:
jah128 0:d6269d17c8cf 1119 set_leds(0x66,0x66);
jah128 0:d6269d17c8cf 1120 break;
jah128 0:d6269d17c8cf 1121 case 2:
jah128 0:d6269d17c8cf 1122 set_leds(0xCC,0xCC);
jah128 0:d6269d17c8cf 1123 break;
jah128 0:d6269d17c8cf 1124 case 3:
jah128 0:d6269d17c8cf 1125 set_leds(0x99,0x99);
jah128 0:d6269d17c8cf 1126 break;
jah128 0:d6269d17c8cf 1127 }
jah128 0:d6269d17c8cf 1128 led_step ++;
jah128 0:d6269d17c8cf 1129 if(led_step == 4) led_step = 0;
jah128 0:d6269d17c8cf 1130 spin_step ++;
jah128 0:d6269d17c8cf 1131 if(spin_step == 40) {
jah128 0:d6269d17c8cf 1132 state = 3;
jah128 0:d6269d17c8cf 1133 led_step = 0;
jah128 0:d6269d17c8cf 1134 }
jah128 0:d6269d17c8cf 1135 break;
jah128 0:d6269d17c8cf 1136 case 3: //Motor is turning right, decelerating
jah128 0:d6269d17c8cf 1137 set_center_led(2,1);
jah128 0:d6269d17c8cf 1138 switch(led_step) {
jah128 0:d6269d17c8cf 1139 case 0:
jah128 0:d6269d17c8cf 1140 set_leds(0x01,0);
jah128 0:d6269d17c8cf 1141 break;
jah128 0:d6269d17c8cf 1142 case 1:
jah128 0:d6269d17c8cf 1143 set_leds(0x02,0);
jah128 0:d6269d17c8cf 1144 break;
jah128 0:d6269d17c8cf 1145 case 2:
jah128 0:d6269d17c8cf 1146 set_leds(0x04,0);
jah128 0:d6269d17c8cf 1147 break;
jah128 0:d6269d17c8cf 1148 case 3:
jah128 0:d6269d17c8cf 1149 set_leds(0x08,0);
jah128 0:d6269d17c8cf 1150 break;
jah128 0:d6269d17c8cf 1151 case 4:
jah128 0:d6269d17c8cf 1152 set_leds(0x10,0);
jah128 0:d6269d17c8cf 1153 break;
jah128 0:d6269d17c8cf 1154 case 5:
jah128 0:d6269d17c8cf 1155 set_leds(0x20,0);
jah128 0:d6269d17c8cf 1156 break;
jah128 0:d6269d17c8cf 1157 case 6:
jah128 0:d6269d17c8cf 1158 set_leds(0x40,0);
jah128 0:d6269d17c8cf 1159 break;
jah128 0:d6269d17c8cf 1160 case 7:
jah128 0:d6269d17c8cf 1161 set_leds(0x80,0);
jah128 0:d6269d17c8cf 1162 break;
jah128 0:d6269d17c8cf 1163 }
jah128 0:d6269d17c8cf 1164 if(led_step == 0) led_step =8;
jah128 0:d6269d17c8cf 1165 led_step --;
jah128 0:d6269d17c8cf 1166 if(speed > 0.1) {
jah128 0:d6269d17c8cf 1167 speed -= 0.025;
jah128 0:d6269d17c8cf 1168 turn(speed);
jah128 0:d6269d17c8cf 1169 } else {
jah128 0:d6269d17c8cf 1170 state = 4;
jah128 0:d6269d17c8cf 1171 spin_step = 0;
jah128 0:d6269d17c8cf 1172 led_step =0;
jah128 0:d6269d17c8cf 1173 }
jah128 0:d6269d17c8cf 1174 break;
jah128 0:d6269d17c8cf 1175 case 4: //Robot is stopped
jah128 0:d6269d17c8cf 1176 set_leds(0,0xFF);
jah128 0:d6269d17c8cf 1177 set_center_led(1,1);
jah128 0:d6269d17c8cf 1178 speed = 0.1f;
jah128 0:d6269d17c8cf 1179 brake();
jah128 0:d6269d17c8cf 1180 time_out = 0.5;
jah128 0:d6269d17c8cf 1181 led_step =0;
jah128 0:d6269d17c8cf 1182 state = 5;
jah128 0:d6269d17c8cf 1183 break;
jah128 0:d6269d17c8cf 1184 case 5: //Motor is turning left, accelerating
jah128 0:d6269d17c8cf 1185 time_out = 0.1;
jah128 0:d6269d17c8cf 1186 set_center_led(2,1);
jah128 0:d6269d17c8cf 1187 switch(led_step) {
jah128 0:d6269d17c8cf 1188 case 0:
jah128 0:d6269d17c8cf 1189 set_leds(0x01,0);
jah128 0:d6269d17c8cf 1190 break;
jah128 0:d6269d17c8cf 1191 case 1:
jah128 0:d6269d17c8cf 1192 set_leds(0x02,0);
jah128 0:d6269d17c8cf 1193 break;
jah128 0:d6269d17c8cf 1194 case 2:
jah128 0:d6269d17c8cf 1195 set_leds(0x04,0);
jah128 0:d6269d17c8cf 1196 break;
jah128 0:d6269d17c8cf 1197 case 3:
jah128 0:d6269d17c8cf 1198 set_leds(0x08,0);
jah128 0:d6269d17c8cf 1199 break;
jah128 0:d6269d17c8cf 1200 case 4:
jah128 0:d6269d17c8cf 1201 set_leds(0x10,0);
jah128 0:d6269d17c8cf 1202 break;
jah128 0:d6269d17c8cf 1203 case 5:
jah128 0:d6269d17c8cf 1204 set_leds(0x20,0);
jah128 0:d6269d17c8cf 1205 break;
jah128 0:d6269d17c8cf 1206 case 6:
jah128 0:d6269d17c8cf 1207 set_leds(0x40,0);
jah128 0:d6269d17c8cf 1208 break;
jah128 0:d6269d17c8cf 1209 case 7:
jah128 0:d6269d17c8cf 1210 set_leds(0x80,0);
jah128 0:d6269d17c8cf 1211 break;
jah128 0:d6269d17c8cf 1212 }
jah128 0:d6269d17c8cf 1213 if(led_step == 0) led_step =8;
jah128 0:d6269d17c8cf 1214 led_step --;
jah128 0:d6269d17c8cf 1215 if(speed < 1) {
jah128 0:d6269d17c8cf 1216 speed += 0.0125;
jah128 0:d6269d17c8cf 1217 turn(-speed);
jah128 0:d6269d17c8cf 1218 } else {
jah128 0:d6269d17c8cf 1219 state = 6;
jah128 0:d6269d17c8cf 1220 spin_step = 0;
jah128 0:d6269d17c8cf 1221 led_step = 0;
jah128 0:d6269d17c8cf 1222 }
jah128 0:d6269d17c8cf 1223 break;
jah128 0:d6269d17c8cf 1224 case 6: //Motor is turning left, full speed
jah128 0:d6269d17c8cf 1225 set_center_led(3,1);
jah128 0:d6269d17c8cf 1226 switch(led_step) {
jah128 0:d6269d17c8cf 1227 case 0:
jah128 0:d6269d17c8cf 1228 set_leds(0x33,0x33);
jah128 0:d6269d17c8cf 1229 break;
jah128 0:d6269d17c8cf 1230 case 1:
jah128 0:d6269d17c8cf 1231 set_leds(0x66,0x66);
jah128 0:d6269d17c8cf 1232 break;
jah128 0:d6269d17c8cf 1233 case 2:
jah128 0:d6269d17c8cf 1234 set_leds(0xCC,0xCC);
jah128 0:d6269d17c8cf 1235 break;
jah128 0:d6269d17c8cf 1236 case 3:
jah128 0:d6269d17c8cf 1237 set_leds(0x99,0x99);
jah128 0:d6269d17c8cf 1238 break;
jah128 0:d6269d17c8cf 1239 }
jah128 0:d6269d17c8cf 1240 if(led_step == 0) led_step = 4;
jah128 0:d6269d17c8cf 1241 led_step --;
jah128 0:d6269d17c8cf 1242 spin_step ++;
jah128 0:d6269d17c8cf 1243 if(spin_step == 40) {
jah128 0:d6269d17c8cf 1244 state = 7;
jah128 0:d6269d17c8cf 1245 led_step = 0;
jah128 0:d6269d17c8cf 1246 }
jah128 0:d6269d17c8cf 1247 break;
jah128 0:d6269d17c8cf 1248 case 7: //Motor is turning left, decelerating
jah128 0:d6269d17c8cf 1249 set_center_led(2,1);
jah128 0:d6269d17c8cf 1250 switch(led_step) {
jah128 0:d6269d17c8cf 1251 case 0:
jah128 0:d6269d17c8cf 1252 set_leds(0x01,0);
jah128 0:d6269d17c8cf 1253 break;
jah128 0:d6269d17c8cf 1254 case 1:
jah128 0:d6269d17c8cf 1255 set_leds(0x02,0);
jah128 0:d6269d17c8cf 1256 break;
jah128 0:d6269d17c8cf 1257 case 2:
jah128 0:d6269d17c8cf 1258 set_leds(0x04,0);
jah128 0:d6269d17c8cf 1259 break;
jah128 0:d6269d17c8cf 1260 case 3:
jah128 0:d6269d17c8cf 1261 set_leds(0x08,0);
jah128 0:d6269d17c8cf 1262 break;
jah128 0:d6269d17c8cf 1263 case 4:
jah128 0:d6269d17c8cf 1264 set_leds(0x10,0);
jah128 0:d6269d17c8cf 1265 break;
jah128 0:d6269d17c8cf 1266 case 5:
jah128 0:d6269d17c8cf 1267 set_leds(0x20,0);
jah128 0:d6269d17c8cf 1268 break;
jah128 0:d6269d17c8cf 1269 case 6:
jah128 0:d6269d17c8cf 1270 set_leds(0x40,0);
jah128 0:d6269d17c8cf 1271 break;
jah128 0:d6269d17c8cf 1272 case 7:
jah128 0:d6269d17c8cf 1273 set_leds(0x80,0);
jah128 0:d6269d17c8cf 1274 break;
jah128 0:d6269d17c8cf 1275 }
jah128 0:d6269d17c8cf 1276 led_step ++;
jah128 0:d6269d17c8cf 1277 if(led_step == 8) led_step =0;
jah128 0:d6269d17c8cf 1278 if(speed > 0.1) {
jah128 0:d6269d17c8cf 1279 speed -= 0.025;
jah128 0:d6269d17c8cf 1280 turn(-speed);
jah128 0:d6269d17c8cf 1281 } else {
jah128 0:d6269d17c8cf 1282 state = 0;
jah128 0:d6269d17c8cf 1283 spin_step = 0;
jah128 0:d6269d17c8cf 1284 led_step = 0;
jah128 0:d6269d17c8cf 1285 }
jah128 0:d6269d17c8cf 1286 break;
jah128 0:d6269d17c8cf 1287 }
jah128 0:d6269d17c8cf 1288 demo_timer.reset();
jah128 0:d6269d17c8cf 1289 }
jah128 0:d6269d17c8cf 1290 if(demo_running == 1)demo_timeout.attach_us(&spinning_demo_cycle,500);
jah128 0:d6269d17c8cf 1291 else {
jah128 0:d6269d17c8cf 1292 stop();
jah128 0:d6269d17c8cf 1293 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 1294 }
jah128 0:d6269d17c8cf 1295 }
jah128 0:d6269d17c8cf 1296
jah128 0:d6269d17c8cf 1297 void obstacle_demo_cycle()
jah128 0:d6269d17c8cf 1298 {
jah128 0:d6269d17c8cf 1299 if(demo_timer.read() > time_out) {
jah128 0:d6269d17c8cf 1300 switch(state) {
jah128 0:d6269d17c8cf 1301 case 0: //Robot is stopped
jah128 0:d6269d17c8cf 1302 set_leds(0,0xFF);
jah128 0:d6269d17c8cf 1303 set_center_led(1,0.4);
jah128 0:d6269d17c8cf 1304 speed = 0.3f;
jah128 0:d6269d17c8cf 1305 forward(speed);
jah128 0:d6269d17c8cf 1306 time_out = 0.05;
jah128 0:d6269d17c8cf 1307 state = 1;
jah128 0:d6269d17c8cf 1308 break;
jah128 0:d6269d17c8cf 1309 case 1: { //Motor is moving forward
jah128 0:d6269d17c8cf 1310 store_ir_values();
jah128 0:d6269d17c8cf 1311 int front_right = read_illuminated_raw_ir_value(0);
jah128 0:d6269d17c8cf 1312 int front_left = read_illuminated_raw_ir_value(7);
jah128 0:d6269d17c8cf 1313 if(front_left > 400 || front_right > 400) {
jah128 0:d6269d17c8cf 1314 brake();
jah128 0:d6269d17c8cf 1315 time_out = 0.04;
jah128 0:d6269d17c8cf 1316 if(front_left > front_right)state=2;
jah128 0:d6269d17c8cf 1317 else state=3;
jah128 0:d6269d17c8cf 1318 } else {
jah128 0:d6269d17c8cf 1319 if(speed < 0.5) {
jah128 0:d6269d17c8cf 1320 speed += 0.03;
jah128 0:d6269d17c8cf 1321 forward(speed);
jah128 0:d6269d17c8cf 1322 }
jah128 0:d6269d17c8cf 1323 switch(led_step) {
jah128 0:d6269d17c8cf 1324 case 0:
jah128 0:d6269d17c8cf 1325 set_leds(0x01,0);
jah128 0:d6269d17c8cf 1326 break;
jah128 0:d6269d17c8cf 1327 case 1:
jah128 0:d6269d17c8cf 1328 set_leds(0x38,0);
jah128 0:d6269d17c8cf 1329 break;
jah128 0:d6269d17c8cf 1330 case 2:
jah128 0:d6269d17c8cf 1331 set_leds(0x6C,0);
jah128 0:d6269d17c8cf 1332 break;
jah128 0:d6269d17c8cf 1333 case 3:
jah128 0:d6269d17c8cf 1334 set_leds(0xC6,0);
jah128 0:d6269d17c8cf 1335 break;
jah128 0:d6269d17c8cf 1336 case 4:
jah128 0:d6269d17c8cf 1337 set_leds(0x83,0);
jah128 0:d6269d17c8cf 1338 break;
jah128 0:d6269d17c8cf 1339 }
jah128 0:d6269d17c8cf 1340 set_center_led(2, 0.6);
jah128 0:d6269d17c8cf 1341 led_step ++;
jah128 0:d6269d17c8cf 1342 if(led_step == 5) led_step = 0;
jah128 0:d6269d17c8cf 1343 }
jah128 0:d6269d17c8cf 1344 break;
jah128 0:d6269d17c8cf 1345 }
jah128 0:d6269d17c8cf 1346 case 2: //Turn right
jah128 0:d6269d17c8cf 1347 set_left_motor_speed(0.85);
jah128 0:d6269d17c8cf 1348 set_right_motor_speed(-0.85);
jah128 0:d6269d17c8cf 1349 time_out = 0.4;
jah128 0:d6269d17c8cf 1350 state = 0;
jah128 0:d6269d17c8cf 1351 set_leds(0x0E,0x0E);
jah128 0:d6269d17c8cf 1352 set_center_led(3,0.5);
jah128 0:d6269d17c8cf 1353 break;
jah128 0:d6269d17c8cf 1354 case 3: //Turn left
jah128 0:d6269d17c8cf 1355 set_left_motor_speed(-0.85);
jah128 0:d6269d17c8cf 1356 set_right_motor_speed(0.85);
jah128 0:d6269d17c8cf 1357 time_out = 0.4;
jah128 0:d6269d17c8cf 1358 state = 0;
jah128 0:d6269d17c8cf 1359 set_leds(0xE0,0xE0);
jah128 0:d6269d17c8cf 1360 set_center_led(3,0.5);
jah128 0:d6269d17c8cf 1361 break;
jah128 0:d6269d17c8cf 1362 }
jah128 0:d6269d17c8cf 1363 demo_timer.reset();
jah128 0:d6269d17c8cf 1364 }
jah128 0:d6269d17c8cf 1365 if(demo_running == 1)demo_timeout.attach_us(&obstacle_demo_cycle,200);
jah128 0:d6269d17c8cf 1366 else {
jah128 0:d6269d17c8cf 1367 stop();
jah128 0:d6269d17c8cf 1368 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 1369 }
jah128 0:d6269d17c8cf 1370 }
jah128 0:d6269d17c8cf 1371
jah128 0:d6269d17c8cf 1372 void demo_update_leds()
jah128 0:d6269d17c8cf 1373 {
jah128 0:d6269d17c8cf 1374 char red = 0;
jah128 0:d6269d17c8cf 1375 char green = 0;
jah128 0:d6269d17c8cf 1376 for(int i=0; i<8; i++) {
jah128 0:d6269d17c8cf 1377 if(led_state[i]==1 || led_state[i]==3) red+=(1<<i);
jah128 0:d6269d17c8cf 1378 if(led_state[i]==2 || led_state[i]==3) green+=(1<<i);
jah128 0:d6269d17c8cf 1379 }
jah128 0:d6269d17c8cf 1380 set_leds(green,red);
jah128 0:d6269d17c8cf 1381 float brightness_f = brightness / 100.0f;
jah128 0:d6269d17c8cf 1382 set_center_led(led_state[8], brightness_f);
jah128 0:d6269d17c8cf 1383 set_base_led(base_led_state);
jah128 0:d6269d17c8cf 1384 }