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

psiswarm.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: PsiSwarm Core Source File
jah128 1:060690a934a9 2 *
jah128 0:d6269d17c8cf 3 * File: psiswarm.cpp
jah128 0:d6269d17c8cf 4 *
jah128 0:d6269d17c8cf 5 * (C) Dept. Electronics & Computer Science, University of York
jah128 0:d6269d17c8cf 6 * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
jah128 0:d6269d17c8cf 7 *
jah128 2:c6986ee3c7c5 8 * PsiSwarm Library Version: 0.41
jah128 0:d6269d17c8cf 9 *
jah128 2:c6986ee3c7c5 10 * March 2016
jah128 0:d6269d17c8cf 11 *
jah128 0:d6269d17c8cf 12 *
jah128 1:060690a934a9 13 */
jah128 0:d6269d17c8cf 14
jah128 0:d6269d17c8cf 15 #include "psiswarm.h"
jah128 0:d6269d17c8cf 16
jah128 0:d6269d17c8cf 17 //Setup MBED connections to PsiSwarm Robot
jah128 0:d6269d17c8cf 18 Serial pc(USBTX,USBRX);
jah128 0:d6269d17c8cf 19 I2C primary_i2c (p9, p10);
jah128 0:d6269d17c8cf 20 InterruptIn gpio_interrupt (p12);
jah128 0:d6269d17c8cf 21 Serial bt(p13, p14);
jah128 0:d6269d17c8cf 22 AnalogIn vin_current(p15);
jah128 0:d6269d17c8cf 23 AnalogIn vin_battery(p16);
jah128 0:d6269d17c8cf 24 AnalogIn vin_dc(p17);
jah128 0:d6269d17c8cf 25 PwmOut motor_left_f (p21);
jah128 0:d6269d17c8cf 26 PwmOut motor_left_r (p22);
jah128 0:d6269d17c8cf 27 PwmOut motor_right_f(p23);
jah128 0:d6269d17c8cf 28 PwmOut motor_right_r(p24);
jah128 0:d6269d17c8cf 29 PwmOut center_led_red(p25);
jah128 0:d6269d17c8cf 30 PwmOut center_led_green(p26);
jah128 0:d6269d17c8cf 31 Display display; //Connects to i2c(p28,p27), reset(p29), backlight(p30)
jah128 0:d6269d17c8cf 32 DigitalOut mbed_led1(LED1);
jah128 0:d6269d17c8cf 33 DigitalOut mbed_led2(LED2);
jah128 0:d6269d17c8cf 34 DigitalOut mbed_led3(LED3);
jah128 0:d6269d17c8cf 35 DigitalOut mbed_led4(LED4);
jah128 0:d6269d17c8cf 36
jah128 0:d6269d17c8cf 37
jah128 0:d6269d17c8cf 38 float center_led_brightness;
jah128 0:d6269d17c8cf 39 float backlight_brightness;
jah128 0:d6269d17c8cf 40
jah128 0:d6269d17c8cf 41 Ticker event_handler;
jah128 0:d6269d17c8cf 42 Timer uptime;
jah128 0:d6269d17c8cf 43 Timeout pause_usercode_timeout;
jah128 0:d6269d17c8cf 44 Ticker ultrasonic_ticker;
jah128 0:d6269d17c8cf 45 Timeout ultrasonic_timeout;
jah128 0:d6269d17c8cf 46 int timer_minute_count;
jah128 0:d6269d17c8cf 47 Ticker timer_ticker;
jah128 0:d6269d17c8cf 48
jah128 0:d6269d17c8cf 49 float firmware_version;
jah128 1:060690a934a9 50 float pcb_version;
jah128 1:060690a934a9 51 float serial_number;
jah128 1:060690a934a9 52
jah128 1:060690a934a9 53 char has_compass=0;
jah128 1:060690a934a9 54 char has_side_ir=1;
jah128 1:060690a934a9 55 char has_base_ir=1;
jah128 1:060690a934a9 56 char has_base_colour_sensor=0;
jah128 1:060690a934a9 57 char has_top_colour_sensor=0;
jah128 1:060690a934a9 58 char has_wheel_encoders=0;
jah128 1:060690a934a9 59 char has_audio_pic=0;
jah128 1:060690a934a9 60 char has_ultrasonic_sensor=0;
jah128 1:060690a934a9 61 char has_temperature_sensor=0;
jah128 1:060690a934a9 62 char has_recharging_circuit=0;
jah128 1:060690a934a9 63 char has_433_radio=0;
jah128 1:060690a934a9 64
jah128 0:d6269d17c8cf 65 char robot_id;
jah128 0:d6269d17c8cf 66 char previous_robot_id;
jah128 0:d6269d17c8cf 67
jah128 0:d6269d17c8cf 68 char wheel_encoder_byte;
jah128 0:d6269d17c8cf 69 char previous_wheel_encoder_byte;
jah128 0:d6269d17c8cf 70 signed int left_encoder;
jah128 0:d6269d17c8cf 71 signed int right_encoder;
jah128 0:d6269d17c8cf 72
jah128 0:d6269d17c8cf 73 char time_based_motor_action = 0;
jah128 0:d6269d17c8cf 74
jah128 0:d6269d17c8cf 75 char testing_voltage_regulators_flag = 1;
jah128 0:d6269d17c8cf 76 char power_good_motor_left = 2;
jah128 0:d6269d17c8cf 77 char power_good_motor_right = 2;
jah128 0:d6269d17c8cf 78 char power_good_infrared = 2;
jah128 0:d6269d17c8cf 79 char status_dc_in = 2;
jah128 0:d6269d17c8cf 80 char status_charging = 2;
jah128 0:d6269d17c8cf 81
jah128 0:d6269d17c8cf 82 char switch_byte;
jah128 0:d6269d17c8cf 83 char previous_switch_byte;
jah128 0:d6269d17c8cf 84
jah128 4:dc77a25f29de 85
jah128 4:dc77a25f29de 86 char use_motor_calibration = USE_MOTOR_CALIBRATION;
jah128 4:dc77a25f29de 87 char motor_calibration_set;
jah128 4:dc77a25f29de 88 float left_motor_calibration_value = 1.0;
jah128 4:dc77a25f29de 89 float right_motor_calibration_value = 1.0;
jah128 4:dc77a25f29de 90
jah128 0:d6269d17c8cf 91 char debug_mode = DEBUG_MODE;
jah128 0:d6269d17c8cf 92 char debug_output = DEBUG_OUTPUT_STREAM;
jah128 1:060690a934a9 93
jah128 0:d6269d17c8cf 94 char firmware_bytes[21];
jah128 0:d6269d17c8cf 95
jah128 0:d6269d17c8cf 96 int base_colour_sensor_raw_values [4];
jah128 0:d6269d17c8cf 97 int top_colour_sensor_raw_values [4];
jah128 0:d6269d17c8cf 98
jah128 0:d6269d17c8cf 99 char waiting_for_ultrasonic = 0;
jah128 0:d6269d17c8cf 100 int ultrasonic_distance = 0;
jah128 0:d6269d17c8cf 101 char ultrasonic_distance_updated = 0;
jah128 0:d6269d17c8cf 102
jah128 0:d6269d17c8cf 103
jah128 0:d6269d17c8cf 104 float line_position = 0;
jah128 0:d6269d17c8cf 105 char line_found = 0;
jah128 0:d6269d17c8cf 106
jah128 0:d6269d17c8cf 107 unsigned short background_ir_values [8];
jah128 0:d6269d17c8cf 108 unsigned short illuminated_ir_values [8];
jah128 0:d6269d17c8cf 109 float reflected_ir_distances [8];
jah128 0:d6269d17c8cf 110 char ir_values_stored = 0;
jah128 0:d6269d17c8cf 111 unsigned short background_base_ir_values [5];
jah128 0:d6269d17c8cf 112 unsigned short illuminated_base_ir_values [5];
jah128 0:d6269d17c8cf 113 char base_ir_values_stored = 0;
jah128 0:d6269d17c8cf 114
jah128 0:d6269d17c8cf 115 float motor_left_speed;
jah128 0:d6269d17c8cf 116 float motor_right_speed;
jah128 0:d6269d17c8cf 117 char motor_left_brake;
jah128 0:d6269d17c8cf 118 char motor_right_brake;
jah128 0:d6269d17c8cf 119
jah128 0:d6269d17c8cf 120 char demo_on = 0;
jah128 0:d6269d17c8cf 121 char event = 0;
jah128 0:d6269d17c8cf 122 char change_id_event = 0;
jah128 0:d6269d17c8cf 123 char encoder_event = 0;
jah128 0:d6269d17c8cf 124 char switch_event = 0;
jah128 0:d6269d17c8cf 125 char user_code_running = 0;
jah128 0:d6269d17c8cf 126 char user_code_restore_mode = 0;
jah128 0:d6269d17c8cf 127 char system_warnings = 0;
jah128 0:d6269d17c8cf 128
jah128 0:d6269d17c8cf 129
jah128 0:d6269d17c8cf 130 vector<string> basic_filenames; //filenames are stored in a vector string
jah128 0:d6269d17c8cf 131 char psi_basic_file_count = 0;
jah128 0:d6269d17c8cf 132 char use_flash_basic = 0;
jah128 0:d6269d17c8cf 133 char file_transfer_mode = 0;
jah128 0:d6269d17c8cf 134
jah128 0:d6269d17c8cf 135 int ir_pulse_delay = DEFAULT_IR_PULSE_DELAY;
jah128 0:d6269d17c8cf 136 int base_ir_pulse_delay = DEFAULT_BASE_IR_PULSE_DELAY;
jah128 0:d6269d17c8cf 137
jah128 0:d6269d17c8cf 138
jah128 1:060690a934a9 139
jah128 1:060690a934a9 140
jah128 0:d6269d17c8cf 141 /**
jah128 0:d6269d17c8cf 142 * init()
jah128 0:d6269d17c8cf 143 *
jah128 0:d6269d17c8cf 144 * Main initialisation routine for the PsiSwarm robot
jah128 0:d6269d17c8cf 145 *
jah128 0:d6269d17c8cf 146 * Set up the GPIO expansion ICs, launch demo mode if button is held
jah128 0:d6269d17c8cf 147 */
jah128 0:d6269d17c8cf 148 void init()
jah128 0:d6269d17c8cf 149 {
jah128 0:d6269d17c8cf 150 firmware_version=0;
jah128 0:d6269d17c8cf 151 timer_minute_count = 0;
jah128 0:d6269d17c8cf 152 timer_ticker.attach(&IF_update_minutes, 300);
jah128 0:d6269d17c8cf 153 uptime.start();
jah128 0:d6269d17c8cf 154 primary_i2c.frequency(400000);
jah128 0:d6269d17c8cf 155 IF_setup_serial_interfaces();
jah128 0:d6269d17c8cf 156 debug("PsiSwarm Robot Library %1.2f\n\n",SOFTWARE_VERSION_CODE);
jah128 0:d6269d17c8cf 157 debug("- Setting up serial interface\n");
jah128 0:d6269d17c8cf 158 debug("- Reading firmware: ");
jah128 1:060690a934a9 159 if(read_firmware() == 1) {
jah128 1:060690a934a9 160 debug("Version %3.2f\n",firmware_version);
jah128 1:060690a934a9 161 IF_get_hardware_description();
jah128 4:dc77a25f29de 162 if(use_motor_calibration){
jah128 4:dc77a25f29de 163 if(!motor_calibration_set){
jah128 4:dc77a25f29de 164 if(firmware_version < 1.1){
jah128 4:dc77a25f29de 165 debug("- WARNING: This firmware is incompatible with motor calibration");
jah128 4:dc77a25f29de 166 debug("- WARNING: Please update the firmware to use this feature.");
jah128 4:dc77a25f29de 167 use_motor_calibration = 0;
jah128 4:dc77a25f29de 168 }
jah128 4:dc77a25f29de 169 else {
jah128 4:dc77a25f29de 170 debug("- WARNING: Motor calibration values have not been stored in firmware");
jah128 4:dc77a25f29de 171 debug("- WARNING: Run calibration routine to use this feature.");
jah128 4:dc77a25f29de 172 use_motor_calibration = 0;
jah128 4:dc77a25f29de 173 }
jah128 4:dc77a25f29de 174 }
jah128 4:dc77a25f29de 175 else {
jah128 4:dc77a25f29de 176 debug("- Motor calibration in use [LEFT:%0.4f RIGHT:%0.4f]",left_motor_calibration_value,right_motor_calibration_value);
jah128 4:dc77a25f29de 177 }
jah128 4:dc77a25f29de 178 }
jah128 1:060690a934a9 179 } else {
jah128 1:060690a934a9 180 debug("INVALID\n");
jah128 1:060690a934a9 181 debug("- WARNING: Check firmware to enable robot features");
jah128 1:060690a934a9 182 }
jah128 1:060690a934a9 183 if(ENABLE_BASIC == 1) {
jah128 1:060690a934a9 184 read_list_of_file_names();
jah128 1:060690a934a9 185 if(psi_basic_file_count == 0) {
jah128 1:060690a934a9 186 debug("- No PsiBasic files found\n");
jah128 1:060690a934a9 187 } else use_flash_basic = 1;
jah128 0:d6269d17c8cf 188 }
jah128 0:d6269d17c8cf 189 debug("- Setting up PIC microcontroller\n");
jah128 0:d6269d17c8cf 190 // IF_check_pic_firmware();
jah128 0:d6269d17c8cf 191 debug("- Setting up LED drivers\n");
jah128 1:060690a934a9 192 IF_init_leds();
jah128 0:d6269d17c8cf 193 if(IF_setup_led_expansion_ic() != 0) {
jah128 1:060690a934a9 194 debug("- WARNING: No I2C acknowledge for LED driver\n");
jah128 1:060690a934a9 195 system_warnings += 1;
jah128 0:d6269d17c8cf 196 }
jah128 0:d6269d17c8cf 197 debug("- Setting up motor drivers\n");
jah128 1:060690a934a9 198 IF_init_motors();
jah128 0:d6269d17c8cf 199 debug("- Setting up GPIO expansion\n");
jah128 0:d6269d17c8cf 200 reset_encoders();
jah128 0:d6269d17c8cf 201 IF_setup_gpio_expansion_ic();
jah128 1:060690a934a9 202 if(has_temperature_sensor) {
jah128 1:060690a934a9 203 debug("- Setting up temperature sensor\n");
jah128 1:060690a934a9 204 IF_setup_temperature_sensor();
jah128 1:060690a934a9 205 }
jah128 1:060690a934a9 206 if(has_base_colour_sensor) {
jah128 1:060690a934a9 207 debug("- Setting up base colour sensor\n");
jah128 1:060690a934a9 208 IF_check_base_colour_sensor();
jah128 1:060690a934a9 209 }
jah128 1:060690a934a9 210 if(has_ultrasonic_sensor) {
jah128 1:060690a934a9 211 debug("- Setting up ultrasonic sensor\n");
jah128 1:060690a934a9 212 //enable_ultrasonic_ticker();
jah128 1:060690a934a9 213 }
jah128 1:060690a934a9 214
jah128 0:d6269d17c8cf 215 debug("- Robot ID: %d\n",robot_id);
jah128 1:060690a934a9 216 char switchstate = IF_get_switch_state();
jah128 0:d6269d17c8cf 217 debug("- Switch State : %d\n",switchstate);
jah128 0:d6269d17c8cf 218 debug("- Battery Voltage: %1.3fV\n",get_battery_voltage());
jah128 0:d6269d17c8cf 219 debug("- DC Voltage : %1.3fV\n",get_dc_voltage());
jah128 0:d6269d17c8cf 220 debug("- Current Draw : %1.3fA\n",get_current());
jah128 1:060690a934a9 221 if(has_temperature_sensor){
jah128 0:d6269d17c8cf 222 debug("- Temperature : %1.3fC\n",get_temperature());
jah128 1:060690a934a9 223 }
jah128 0:d6269d17c8cf 224 char demo = 0;
jah128 0:d6269d17c8cf 225 if(ENABLE_DEMO == 1 && switchstate > 0) demo=1;
jah128 0:d6269d17c8cf 226 display.init_display(demo);
jah128 0:d6269d17c8cf 227 event_handler.attach_us(&IF_handle_events, 1000);
jah128 1:060690a934a9 228 if(demo > 0) {
jah128 0:d6269d17c8cf 229 debug("- Demo mode button is pressed\n");
jah128 0:d6269d17c8cf 230 wait(1.0);
jah128 0:d6269d17c8cf 231 demo = IF_get_switch_state();
jah128 0:d6269d17c8cf 232 if(demo > 0) demo_mode();
jah128 1:060690a934a9 233 display.init_display(0);
jah128 0:d6269d17c8cf 234 }
jah128 4:dc77a25f29de 235 wait(1.0);
jah128 4:dc77a25f29de 236 display.clear_display();
jah128 4:dc77a25f29de 237 display.set_position(0,0);
jah128 4:dc77a25f29de 238 display.write_string(program_name);
jah128 4:dc77a25f29de 239 display.set_position(1,0);
jah128 4:dc77a25f29de 240 display.write_string(author_name);
jah128 4:dc77a25f29de 241 wait(0.1);
jah128 0:d6269d17c8cf 242 }
jah128 0:d6269d17c8cf 243
jah128 1:060690a934a9 244 void IF_update_minutes()
jah128 1:060690a934a9 245 {
jah128 0:d6269d17c8cf 246 uptime.reset();
jah128 0:d6269d17c8cf 247 timer_minute_count += 5;
jah128 0:d6269d17c8cf 248 }
jah128 0:d6269d17c8cf 249
jah128 0:d6269d17c8cf 250 void IF_handle_events()
jah128 0:d6269d17c8cf 251 {
jah128 0:d6269d17c8cf 252 // This is the main 'operating system' thread that handles events from robot stimuli
jah128 0:d6269d17c8cf 253 // By default it is run every 1ms and checks if there are events to handle
jah128 1:060690a934a9 254 if(event > 0) {
jah128 0:d6269d17c8cf 255 // There are some events to handle. We don't handle all events in every loop to keep the system responsive, instead they are priorised.
jah128 1:060690a934a9 256 if(encoder_event == 1) {
jah128 0:d6269d17c8cf 257 // The encoders have changed; update the encoder values
jah128 0:d6269d17c8cf 258 IF_update_encoders();
jah128 1:060690a934a9 259 encoder_event = 0;
jah128 1:060690a934a9 260 event--;
jah128 0:d6269d17c8cf 261 } else {
jah128 1:060690a934a9 262 if(switch_event == 1) {
jah128 1:060690a934a9 263 IF_update_switch();
jah128 1:060690a934a9 264 switch_event = 0;
jah128 1:060690a934a9 265 event--;
jah128 0:d6269d17c8cf 266 }
jah128 1:060690a934a9 267 if(change_id_event == 1) {
jah128 0:d6269d17c8cf 268 // The user ID for the robot has been changed
jah128 0:d6269d17c8cf 269 IF_update_user_id();
jah128 0:d6269d17c8cf 270 change_id_event = 0;
jah128 0:d6269d17c8cf 271 event--;
jah128 0:d6269d17c8cf 272 }
jah128 0:d6269d17c8cf 273 }
jah128 1:060690a934a9 274 }
jah128 0:d6269d17c8cf 275 }
jah128 0:d6269d17c8cf 276
jah128 0:d6269d17c8cf 277 void IF_update_encoders()
jah128 0:d6269d17c8cf 278 {
jah128 0:d6269d17c8cf 279 char rwep = previous_wheel_encoder_byte >> 2;
jah128 0:d6269d17c8cf 280 char rwe = wheel_encoder_byte >> 2;
jah128 0:d6269d17c8cf 281 char lwep = previous_wheel_encoder_byte % 4;
jah128 0:d6269d17c8cf 282 char lwe = wheel_encoder_byte % 4;
jah128 0:d6269d17c8cf 283 //pc.printf("L:%d P:%d R:%d P:%d \n",lwe,lwep,rwe,rwep);
jah128 0:d6269d17c8cf 284 if(lwe == 0 && lwep==1) left_encoder++;
jah128 0:d6269d17c8cf 285 if(lwe == 0 && lwep==2) left_encoder--;
jah128 0:d6269d17c8cf 286 if(rwe == 0 && rwep==1) right_encoder++;
jah128 0:d6269d17c8cf 287 if(rwe == 0 && rwep==2) right_encoder--;
jah128 0:d6269d17c8cf 288 if(left_encoder % 100 == 0) pc.printf("L:%d\n",left_encoder);
jah128 0:d6269d17c8cf 289 }
jah128 0:d6269d17c8cf 290
jah128 0:d6269d17c8cf 291 void IF_update_user_id()
jah128 0:d6269d17c8cf 292 {
jah128 0:d6269d17c8cf 293 }
jah128 0:d6269d17c8cf 294
jah128 0:d6269d17c8cf 295 void IF_update_switch()
jah128 0:d6269d17c8cf 296 {
jah128 0:d6269d17c8cf 297 // The user switch has changed state
jah128 0:d6269d17c8cf 298 // In this implementation we will only act on positive changes (rising edges)
jah128 0:d6269d17c8cf 299 // Subtracting new_state from (new_state & old_state) gives the positive changes
jah128 0:d6269d17c8cf 300 char positive_change = switch_byte - (switch_byte & previous_switch_byte);
jah128 0:d6269d17c8cf 301 if(demo_on) demo_handle_switch_event(positive_change);
jah128 0:d6269d17c8cf 302 else handle_switch_event(positive_change);
jah128 0:d6269d17c8cf 303 }
jah128 0:d6269d17c8cf 304
jah128 0:d6269d17c8cf 305 void reset_encoders()
jah128 0:d6269d17c8cf 306 {
jah128 0:d6269d17c8cf 307 left_encoder = 0;
jah128 1:060690a934a9 308 right_encoder = 0;
jah128 0:d6269d17c8cf 309 }
jah128 0:d6269d17c8cf 310
jah128 1:060690a934a9 311 void debug(const char* format, ...)
jah128 0:d6269d17c8cf 312 {
jah128 1:060690a934a9 313 char buffer[256];
jah128 1:060690a934a9 314 if (debug_mode) {
jah128 1:060690a934a9 315 va_list vl;
jah128 1:060690a934a9 316 va_start(vl, format);
jah128 1:060690a934a9 317 vsprintf(buffer,format,vl);
jah128 1:060690a934a9 318 if(debug_output & 2) bt.printf("%s", buffer);
jah128 1:060690a934a9 319 if(debug_output & 1) pc.printf("%s", buffer);
jah128 1:060690a934a9 320 if(debug_output & 4) display.debug_page(buffer,strlen(buffer));
jah128 1:060690a934a9 321 va_end(vl);
jah128 1:060690a934a9 322 }
jah128 0:d6269d17c8cf 323 }
jah128 0:d6269d17c8cf 324
jah128 0:d6269d17c8cf 325 float get_uptime(void)
jah128 0:d6269d17c8cf 326 {
jah128 1:060690a934a9 327 return uptime.read() + (timer_minute_count * 60);
jah128 0:d6269d17c8cf 328 }
jah128 0:d6269d17c8cf 329
jah128 1:060690a934a9 330 void pause_user_code(float period)
jah128 1:060690a934a9 331 {
jah128 0:d6269d17c8cf 332 user_code_restore_mode = user_code_running;
jah128 0:d6269d17c8cf 333 user_code_running = 0;
jah128 0:d6269d17c8cf 334 pause_usercode_timeout.attach(&IF_end_pause_user_code, period);
jah128 0:d6269d17c8cf 335 }
jah128 0:d6269d17c8cf 336
jah128 1:060690a934a9 337 void IF_end_pause_user_code()
jah128 1:060690a934a9 338 {
jah128 1:060690a934a9 339 user_code_running = user_code_restore_mode;
jah128 1:060690a934a9 340 }
jah128 1:060690a934a9 341
jah128 1:060690a934a9 342 void IF_get_hardware_description()
jah128 1:060690a934a9 343 {
jah128 1:060690a934a9 344 debug("- Robot serial number %1.2f\n",serial_number);
jah128 1:060690a934a9 345 debug("- PCB version %1.2f\n",pcb_version);
jah128 1:060690a934a9 346 debug("- Hardware: ");
jah128 1:060690a934a9 347 if(has_compass) debug("COMPASS, ");
jah128 1:060690a934a9 348 if(has_side_ir) debug("SIDE IR, ");
jah128 1:060690a934a9 349 if(has_base_ir) debug("BASE IR, ");
jah128 1:060690a934a9 350 if(has_base_colour_sensor) debug("BASE COLOUR, ");
jah128 1:060690a934a9 351 if(has_top_colour_sensor) debug("TOP COLOUR, ");
jah128 1:060690a934a9 352 if(has_wheel_encoders) debug("WHEEL ENC., ");
jah128 1:060690a934a9 353 if(has_audio_pic) debug("AUDIO, ");
jah128 1:060690a934a9 354 if(has_ultrasonic_sensor) debug("ULTRASONIC, ");
jah128 1:060690a934a9 355 if(has_temperature_sensor) debug("TEMPERATURE, ");
jah128 1:060690a934a9 356 if(has_recharging_circuit) debug("RECHARGING, ");
jah128 1:060690a934a9 357 if(has_433_radio) debug("433 RADIO.");
jah128 1:060690a934a9 358 debug("\n");
jah128 0:d6269d17c8cf 359 }