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Dependencies:   PsiSwarm-Headstart mbed

Fork of PsiSwarm_V41 by James Hilder

main.cpp@1:f6356cf1cefc, 2015-10-03 (annotated)

Committer:
jah128
Date:
Sat Oct 03 23:09:10 2015 +0000
Revision:
1:f6356cf1cefc
Parent:
0:8a5497a2e366
Child:
2:a6214fd156ff
Added software version

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 0:8a5497a2e366 25 char green = 3;
jah128 0:8a5497a2e366 26 char red = 48;
jah128 0:8a5497a2e366 27 int re =0 ;
jah128 0:8a5497a2e366 28 int le =0;
jah128 0:8a5497a2e366 29
jah128 1:f6356cf1cefc 30 ///Place user code here that should be run after initialisation but before the main loop
jah128 0:8a5497a2e366 31 void user_code_setup(){
jah128 0:8a5497a2e366 32
jah128 0:8a5497a2e366 33 /*
jah128 0:8a5497a2e366 34 wait(2);
jah128 0:8a5497a2e366 35 calibrate_base_ir_sensors();
jah128 0:8a5497a2e366 36 wait(2);
jah128 0:8a5497a2e366 37 */
jah128 0:8a5497a2e366 38 }
jah128 0:8a5497a2e366 39
jah128 1:f6356cf1cefc 40 ///This function is the loop where user code should be placed
jah128 1:f6356cf1cefc 41 void user_code_loop(){
jah128 1:f6356cf1cefc 42 ///Do not place code within a loop, but consider this function to be a loop that is always run
jah128 1:f6356cf1cefc 43 ///unless the user code is externally paused (such as by debug or recharging system)
jah128 0:8a5497a2e366 44
jah128 0:8a5497a2e366 45
jah128 0:8a5497a2e366 46 }
jah128 0:8a5497a2e366 47
jah128 0:8a5497a2e366 48
jah128 1:f6356cf1cefc 49 /// Code goes here to handle what should happen when the user switch is pressed
jah128 0:8a5497a2e366 50 void handle_switch_event(char switch_state)
jah128 0:8a5497a2e366 51 {
jah128 1:f6356cf1cefc 52 /// 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 53 /// NB For maximum compatability it is recommended to minimise reliance on center button press
jah128 0:8a5497a2e366 54 }
jah128 0:8a5497a2e366 55
jah128 1:f6356cf1cefc 56 /// The main routine: it is recommended to leave this function alone and add user code to the above functions
jah128 0:8a5497a2e366 57 int main() {
jah128 1:f6356cf1cefc 58 ///init() in psiswarm.cpp sets up the robot
jah128 0:8a5497a2e366 59 init();
jah128 0:8a5497a2e366 60 user_code_setup();
jah128 0:8a5497a2e366 61 user_code_running = 1;
jah128 0:8a5497a2e366 62 while(1) {
jah128 0:8a5497a2e366 63 if(user_code_running)user_code_loop();
jah128 0:8a5497a2e366 64 if(demo_on) demo_mode();
jah128 0:8a5497a2e366 65 wait_us(250);
jah128 0:8a5497a2e366 66 }
jah128 0:8a5497a2e366 67 }