Diff: main.cpp

Revision:

17:da524989b637

Parent:

16:976a1d0ea897

Child:

18:5921c1853e8a

--- a/main.cpp	Fri Oct 30 12:15:54 2015 +0000
+++ b/main.cpp	Thu Jan 07 17:58:07 2016 +0000
@@ -33,8 +33,8 @@
 unsigned short reflected_sensor_data[8]; // The reflected IR values when this robots emitters are on
 unsigned short background_sensor_data[8];// The raw IR values when no robot (or beacon) should have its IR on
 
-char default_normal_program = 7;         // The program to run on turn on (after 'face beacon' program)
-char use_recharging_program = 1;         // Set to 1 to force robot to run recharging program when battery voltage drops below a threshold
+char default_normal_program = 8;         // The program to run on turn on (after 'face beacon' program)
+char use_recharging_program = 0;         // Set to 1 to force robot to run recharging program when battery voltage drops below a threshold
 char user_code_debug = 1;                // Set to 1 to show terminal messages from "out" function [specific to this code]
 char display_debug_inf = 0;              // Set to 1 to show debug info about beacon\robots on display [instead of running program info]
 char main_program_state;                 // Index of the currently running program
@@ -52,11 +52,19 @@
 char choose_program_mode = 0;
 char program_count = 8;
 char program_selection;
+int flocking_heading = 0;
 
 float battery_low_threshold = 3.60;      // Threshold at which to interrupt program and start recharging routine: suggest 3.55
 float battery_high_threshold = 3.95;     // Threshold at which to end battery recharging routine and resume normal program: suggest 4.0
 
 Ticker main_loop_ticker;
+Ticker flocking_ticker;
+
+void flocking_heading_update()
+{
+    flocking_heading += 5;
+    flocking_heading %= 360;       
+}
 
 ///This is the main loop for the Beautiful Meme code.  The code block is run once every 250mS* [with 4Hz beacon] once all the IR samples have been collected.
 void main_loop()
@@ -108,6 +116,9 @@
             case 7:
                 tag_game_program();
                 break;
+            case 8:
+                flocking_program();
+                break;
             case 255:
                 stop_program();
                 break;
@@ -129,6 +140,7 @@
     out("------------------------------------------------------\n");
     out("Beautiful Meme Project Demo Code                      \n");
     out("------------------------------------------------------\n");
+    while(1);
     locate_beacon();
     while(beacon_found == 0) {
         wait(0.5);
@@ -136,6 +148,7 @@
     }
     start_infrared_timers();
     main_loop_ticker.attach_us(&main_loop,BEACON_PERIOD * 10);
+    flocking_ticker.attach(&flocking_heading_update, 1);
     set_program(0);
     set_leds(0x00,0x00);
     set_center_led(3,0.5);
@@ -227,6 +240,9 @@
         case 7:
             strcpy(ret_name,"TAG GAME");
             break;
+        case 8:
+            strcpy(ret_name,"FLOCKING");
+            break;
         case 255:
             strcpy(ret_name,"PROGRAM:");
             break;