UKESF Headstart Summer School / Mbed 2 deprecated ScriptBasedLab

YRL Maze lab made more script-y

Dependencies:   PsiSwarmLab-ScriptingBased mbed

Fork of UKESF_Lab by UKESF Headstart Summer School

main.cpp@3:cd048f6e544e, 2015-10-05 (annotated)

Committer:
jah128
Date:
Mon Oct 05 20:42:37 2015 +0000
Revision:
3:cd048f6e544e
Parent:
2:a6214fd156ff
Child:
4:25039ea5eb09
Added crude line following code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:8a5497a2e366 1 /***********************************************************************
jah128 0:8a5497a2e366 2 ** ██████╗ ███████╗██╗███████╗██╗ ██╗ █████╗ ██████╗ ███╗ ███╗ **
jah128 0:8a5497a2e366 3 ** ██╔══██╗██╔════╝██║██╔════╝██║ ██║██╔══██╗██╔══██╗████╗ ████║ **
jah128 0:8a5497a2e366 4 ** ██████╔╝███████╗██║███████╗██║ █╗ ██║███████║██████╔╝██╔████╔██║ **
jah128 0:8a5497a2e366 5 ** ██╔═══╝ ╚════██║██║╚════██║██║███╗██║██╔══██║██╔══██╗██║╚██╔╝██║ **
jah128 0:8a5497a2e366 6 ** ██║ ███████║██║███████║╚███╔███╔╝██║ ██║██║ ██║██║ ╚═╝ ██║ **
jah128 0:8a5497a2e366 7 ** ╚═╝ ╚══════╝╚═╝╚══════╝ ╚══╝╚══╝ ╚═╝ ╚═╝╚═╝ ╚═╝╚═╝ ╚═╝ **
jah128 0:8a5497a2e366 8 ************************************************************************
jah128 0:8a5497a2e366 9 **(C) Dr James Hilder - York Robotics Laboratory - University of York **
jah128 0:8a5497a2e366 10 ***********************************************************************/
jah128 0:8a5497a2e366 11
jah128 1:f6356cf1cefc 12 /// PsiSwarm Example Main File
jah128 0:8a5497a2e366 13
jah128 1:f6356cf1cefc 14 /// Include psiswarm.h - this includes all the other necessary core files
jah128 0:8a5497a2e366 15 #include "psiswarm.h"
jah128 0:8a5497a2e366 16
jah128 1:f6356cf1cefc 17 /// Use these variables to store the name for the program, the author and the version
jah128 1:f6356cf1cefc 18 /// NB: Keep the strings as short as possible (ie 12 chars or less) to ensure reliable comms and readability on display
jah128 0:8a5497a2e366 19 char * program_name = "Example";
jah128 0:8a5497a2e366 20 char * author_name = "JAH-YRL";
jah128 1:f6356cf1cefc 21 char * version_name = "1.0";
jah128 0:8a5497a2e366 22
jah128 0:8a5497a2e366 23 // Place user variables here
jah128 0:8a5497a2e366 24
jah128 2:a6214fd156ff 25 //char green = 3;
jah128 0:8a5497a2e366 26
jah128 1:f6356cf1cefc 27 ///Place user code here that should be run after initialisation but before the main loop
jah128 0:8a5497a2e366 28 void user_code_setup(){
jah128 0:8a5497a2e366 29
jah128 0:8a5497a2e366 30 /*
jah128 0:8a5497a2e366 31 wait(2);
jah128 0:8a5497a2e366 32 calibrate_base_ir_sensors();
jah128 0:8a5497a2e366 33 wait(2);
jah128 0:8a5497a2e366 34 */
jah128 0:8a5497a2e366 35 }
jah128 0:8a5497a2e366 36
jah128 1:f6356cf1cefc 37 ///This function is the loop where user code should be placed
jah128 1:f6356cf1cefc 38 void user_code_loop(){
jah128 3:cd048f6e544e 39 store_line_position();
jah128 1:f6356cf1cefc 40 ///Do not place code within a loop, but consider this function to be a loop that is always run
jah128 1:f6356cf1cefc 41 ///unless the user code is externally paused (such as by debug or recharging system)
jah128 0:8a5497a2e366 42
jah128 3:cd048f6e544e 43 if(line_found == 1)pc.printf("%f\n",line_position);
jah128 3:cd048f6e544e 44 wait(0.25);
jah128 0:8a5497a2e366 45 }
jah128 0:8a5497a2e366 46
jah128 0:8a5497a2e366 47
jah128 1:f6356cf1cefc 48 /// Code goes here to handle what should happen when the user switch is pressed
jah128 0:8a5497a2e366 49 void handle_switch_event(char switch_state)
jah128 0:8a5497a2e366 50 {
jah128 1:f6356cf1cefc 51 /// Switch_state = 1 if up is pressed, 2 if down is pressed, 4 if left is pressed, 8 if right is pressed and 16 if the center button is pressed
jah128 1:f6356cf1cefc 52 /// NB For maximum compatability it is recommended to minimise reliance on center button press
jah128 0:8a5497a2e366 53 }
jah128 0:8a5497a2e366 54
jah128 1:f6356cf1cefc 55 /// The main routine: it is recommended to leave this function alone and add user code to the above functions
jah128 0:8a5497a2e366 56 int main() {
jah128 1:f6356cf1cefc 57 ///init() in psiswarm.cpp sets up the robot
jah128 0:8a5497a2e366 58 init();
jah128 0:8a5497a2e366 59 user_code_setup();
jah128 0:8a5497a2e366 60 user_code_running = 1;
jah128 0:8a5497a2e366 61 while(1) {
jah128 0:8a5497a2e366 62 if(user_code_running)user_code_loop();
jah128 0:8a5497a2e366 63 if(demo_on) demo_mode();
jah128 0:8a5497a2e366 64 wait_us(250);
jah128 0:8a5497a2e366 65 }
jah128 0:8a5497a2e366 66 }