Jamie Gibson
/
Moon_Buggy_Data_Centre
Moon Buggy Data Centre Code
main.cpp@0:ae0ffaee1fc0, 2015-12-10 (annotated)
- Committer:
- JamieGibson
- Date:
- Thu Dec 10 15:11:15 2015 +0000
- Revision:
- 0:ae0ffaee1fc0
Moon Buggy Data Centre Code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
JamieGibson | 0:ae0ffaee1fc0 | 1 | #include "mbed.h" //MASTER |
JamieGibson | 0:ae0ffaee1fc0 | 2 | #include "TextLCD.h" |
JamieGibson | 0:ae0ffaee1fc0 | 3 | |
JamieGibson | 0:ae0ffaee1fc0 | 4 | TextLCD lcd(p19, p20, p21, p22, p23, p24, TextLCD::LCD20x4); // rs, e, d4-d7 |
JamieGibson | 0:ae0ffaee1fc0 | 5 | I2C i2c_port(p28, p27); // Configure a serial port, pins 9 and 10 are sda,scl |
JamieGibson | 0:ae0ffaee1fc0 | 6 | Serial async_port(p9, p10); //set up TX and RX on pins 13 and 14 |
JamieGibson | 0:ae0ffaee1fc0 | 7 | SPISlave ser_port(p5, p6, p7, p8); // mosi, miso, sclk |
JamieGibson | 0:ae0ffaee1fc0 | 8 | DigitalOut Front(LED1); |
JamieGibson | 0:ae0ffaee1fc0 | 9 | DigitalOut Right(LED2); |
JamieGibson | 0:ae0ffaee1fc0 | 10 | DigitalOut Back(LED3); |
JamieGibson | 0:ae0ffaee1fc0 | 11 | DigitalOut Left(LED4); |
JamieGibson | 0:ae0ffaee1fc0 | 12 | |
JamieGibson | 0:ae0ffaee1fc0 | 13 | char switch_word; //word we will send |
JamieGibson | 0:ae0ffaee1fc0 | 14 | char recd_val; //value from async |
JamieGibson | 0:ae0ffaee1fc0 | 15 | char recd_val1; //value from from Obstacle sensing |
JamieGibson | 0:ae0ffaee1fc0 | 16 | const int addr = 0x52; // define the I2C slave address, an arbitrary even number |
JamieGibson | 0:ae0ffaee1fc0 | 17 | int Ob_R; |
JamieGibson | 0:ae0ffaee1fc0 | 18 | int Ob_L; |
JamieGibson | 0:ae0ffaee1fc0 | 19 | int Ob_F; |
JamieGibson | 0:ae0ffaee1fc0 | 20 | int Ob_All; |
JamieGibson | 0:ae0ffaee1fc0 | 21 | int Ob_None; |
JamieGibson | 0:ae0ffaee1fc0 | 22 | int Ob_FR; |
JamieGibson | 0:ae0ffaee1fc0 | 23 | int Ob_FL; |
JamieGibson | 0:ae0ffaee1fc0 | 24 | int Light_Full; |
JamieGibson | 0:ae0ffaee1fc0 | 25 | int Light_None; |
JamieGibson | 0:ae0ffaee1fc0 | 26 | int Light_F; |
JamieGibson | 0:ae0ffaee1fc0 | 27 | int Light_FR; |
JamieGibson | 0:ae0ffaee1fc0 | 28 | int Light_R; |
JamieGibson | 0:ae0ffaee1fc0 | 29 | int Light_BR; |
JamieGibson | 0:ae0ffaee1fc0 | 30 | int Light_B; |
JamieGibson | 0:ae0ffaee1fc0 | 31 | int Light_BL; |
JamieGibson | 0:ae0ffaee1fc0 | 32 | int Light_L; |
JamieGibson | 0:ae0ffaee1fc0 | 33 | int Light_FL; |
JamieGibson | 0:ae0ffaee1fc0 | 34 | |
JamieGibson | 0:ae0ffaee1fc0 | 35 | int main() |
JamieGibson | 0:ae0ffaee1fc0 | 36 | { |
JamieGibson | 0:ae0ffaee1fc0 | 37 | lcd.cls(); |
JamieGibson | 0:ae0ffaee1fc0 | 38 | lcd.locate(2,0); |
JamieGibson | 0:ae0ffaee1fc0 | 39 | lcd.printf("Moon Buggy!"); |
JamieGibson | 0:ae0ffaee1fc0 | 40 | |
JamieGibson | 0:ae0ffaee1fc0 | 41 | async_port.baud(9600); //set baud rate to 9600 (ie default) |
JamieGibson | 0:ae0ffaee1fc0 | 42 | |
JamieGibson | 0:ae0ffaee1fc0 | 43 | ser_port.format(8,0); |
JamieGibson | 0:ae0ffaee1fc0 | 44 | ser_port.frequency(4000000); |
JamieGibson | 0:ae0ffaee1fc0 | 45 | |
JamieGibson | 0:ae0ffaee1fc0 | 46 | while(1) |
JamieGibson | 0:ae0ffaee1fc0 | 47 | { |
JamieGibson | 0:ae0ffaee1fc0 | 48 | Front=0; //preset both to 0 |
JamieGibson | 0:ae0ffaee1fc0 | 49 | Right=0; |
JamieGibson | 0:ae0ffaee1fc0 | 50 | Back=0; |
JamieGibson | 0:ae0ffaee1fc0 | 51 | Left=0; |
JamieGibson | 0:ae0ffaee1fc0 | 52 | Ob_FR=0; |
JamieGibson | 0:ae0ffaee1fc0 | 53 | Ob_FL=0; |
JamieGibson | 0:ae0ffaee1fc0 | 54 | Ob_F=0; |
JamieGibson | 0:ae0ffaee1fc0 | 55 | Ob_R=0; |
JamieGibson | 0:ae0ffaee1fc0 | 56 | Ob_L=0; |
JamieGibson | 0:ae0ffaee1fc0 | 57 | Ob_All=0; |
JamieGibson | 0:ae0ffaee1fc0 | 58 | Ob_None=0; |
JamieGibson | 0:ae0ffaee1fc0 | 59 | Light_Full=0; |
JamieGibson | 0:ae0ffaee1fc0 | 60 | Light_None=0; |
JamieGibson | 0:ae0ffaee1fc0 | 61 | Light_F=0; |
JamieGibson | 0:ae0ffaee1fc0 | 62 | Light_FR=0; |
JamieGibson | 0:ae0ffaee1fc0 | 63 | Light_R=0; |
JamieGibson | 0:ae0ffaee1fc0 | 64 | Light_BR=0; |
JamieGibson | 0:ae0ffaee1fc0 | 65 | Light_B=0; |
JamieGibson | 0:ae0ffaee1fc0 | 66 | Light_BL=0; |
JamieGibson | 0:ae0ffaee1fc0 | 67 | Light_L=0; |
JamieGibson | 0:ae0ffaee1fc0 | 68 | Light_FL=0; |
JamieGibson | 0:ae0ffaee1fc0 | 69 | |
JamieGibson | 0:ae0ffaee1fc0 | 70 | //Block 1 Receive Obstacle Data and Set Flags |
JamieGibson | 0:ae0ffaee1fc0 | 71 | |
JamieGibson | 0:ae0ffaee1fc0 | 72 | if(ser_port.receive()) //test if data transfer has occurred |
JamieGibson | 0:ae0ffaee1fc0 | 73 | recd_val1 = ser_port.read(); // Read byte from master |
JamieGibson | 0:ae0ffaee1fc0 | 74 | recd_val1=recd_val1&0x0F; |
JamieGibson | 0:ae0ffaee1fc0 | 75 | |
JamieGibson | 0:ae0ffaee1fc0 | 76 | if (recd_val1==1) |
JamieGibson | 0:ae0ffaee1fc0 | 77 | { |
JamieGibson | 0:ae0ffaee1fc0 | 78 | Ob_F=1; |
JamieGibson | 0:ae0ffaee1fc0 | 79 | lcd.locate(-4,3); |
JamieGibson | 0:ae0ffaee1fc0 | 80 | lcd.printf("Obstacle Ahead"); |
JamieGibson | 0:ae0ffaee1fc0 | 81 | } |
JamieGibson | 0:ae0ffaee1fc0 | 82 | if (recd_val1==2) |
JamieGibson | 0:ae0ffaee1fc0 | 83 | { |
JamieGibson | 0:ae0ffaee1fc0 | 84 | Ob_R=1; |
JamieGibson | 0:ae0ffaee1fc0 | 85 | lcd.locate(-4,3); |
JamieGibson | 0:ae0ffaee1fc0 | 86 | lcd.printf("Obstacle Right"); |
JamieGibson | 0:ae0ffaee1fc0 | 87 | } |
JamieGibson | 0:ae0ffaee1fc0 | 88 | if (recd_val1==3) |
JamieGibson | 0:ae0ffaee1fc0 | 89 | { |
JamieGibson | 0:ae0ffaee1fc0 | 90 | Ob_L=1; |
JamieGibson | 0:ae0ffaee1fc0 | 91 | lcd.locate(-4,3); |
JamieGibson | 0:ae0ffaee1fc0 | 92 | lcd.printf("Obstacle Left "); |
JamieGibson | 0:ae0ffaee1fc0 | 93 | } |
JamieGibson | 0:ae0ffaee1fc0 | 94 | if (recd_val1==4) |
JamieGibson | 0:ae0ffaee1fc0 | 95 | { |
JamieGibson | 0:ae0ffaee1fc0 | 96 | Ob_All=1; |
JamieGibson | 0:ae0ffaee1fc0 | 97 | lcd.locate(-4,3); |
JamieGibson | 0:ae0ffaee1fc0 | 98 | lcd.printf("All Obstacles "); |
JamieGibson | 0:ae0ffaee1fc0 | 99 | } |
JamieGibson | 0:ae0ffaee1fc0 | 100 | if (recd_val1==5) |
JamieGibson | 0:ae0ffaee1fc0 | 101 | { |
JamieGibson | 0:ae0ffaee1fc0 | 102 | Ob_FR=1; |
JamieGibson | 0:ae0ffaee1fc0 | 103 | lcd.locate(-4,3); |
JamieGibson | 0:ae0ffaee1fc0 | 104 | lcd.printf("Obstacles FR "); |
JamieGibson | 0:ae0ffaee1fc0 | 105 | } |
JamieGibson | 0:ae0ffaee1fc0 | 106 | if (recd_val1==6) |
JamieGibson | 0:ae0ffaee1fc0 | 107 | { |
JamieGibson | 0:ae0ffaee1fc0 | 108 | Ob_FL=1; |
JamieGibson | 0:ae0ffaee1fc0 | 109 | lcd.locate(-4,3); |
JamieGibson | 0:ae0ffaee1fc0 | 110 | lcd.printf("Obstacles FL "); |
JamieGibson | 0:ae0ffaee1fc0 | 111 | } |
JamieGibson | 0:ae0ffaee1fc0 | 112 | if (recd_val1==0) |
JamieGibson | 0:ae0ffaee1fc0 | 113 | { |
JamieGibson | 0:ae0ffaee1fc0 | 114 | Ob_None=1; |
JamieGibson | 0:ae0ffaee1fc0 | 115 | lcd.locate(-4,3); |
JamieGibson | 0:ae0ffaee1fc0 | 116 | lcd.printf("No Obstacle "); |
JamieGibson | 0:ae0ffaee1fc0 | 117 | } |
JamieGibson | 0:ae0ffaee1fc0 | 118 | |
JamieGibson | 0:ae0ffaee1fc0 | 119 | //Block 2 Receive Light Data and Set Flags |
JamieGibson | 0:ae0ffaee1fc0 | 120 | if(async_port.readable()==1) //is there a character to be read? |
JamieGibson | 0:ae0ffaee1fc0 | 121 | recd_val=async_port.getc(); //if yes, then read it |
JamieGibson | 0:ae0ffaee1fc0 | 122 | recd_val=recd_val&0x0f; //AND out unwanted bits |
JamieGibson | 0:ae0ffaee1fc0 | 123 | |
JamieGibson | 0:ae0ffaee1fc0 | 124 | if(recd_val==0) |
JamieGibson | 0:ae0ffaee1fc0 | 125 | { |
JamieGibson | 0:ae0ffaee1fc0 | 126 | Front=0; |
JamieGibson | 0:ae0ffaee1fc0 | 127 | Right=0; |
JamieGibson | 0:ae0ffaee1fc0 | 128 | Back=0; |
JamieGibson | 0:ae0ffaee1fc0 | 129 | Left=0; |
JamieGibson | 0:ae0ffaee1fc0 | 130 | Light_None=1; |
JamieGibson | 0:ae0ffaee1fc0 | 131 | //wait(0.5); |
JamieGibson | 0:ae0ffaee1fc0 | 132 | lcd.locate(0,1); |
JamieGibson | 0:ae0ffaee1fc0 | 133 | lcd.printf("No Light "); |
JamieGibson | 0:ae0ffaee1fc0 | 134 | } |
JamieGibson | 0:ae0ffaee1fc0 | 135 | if(recd_val==9) |
JamieGibson | 0:ae0ffaee1fc0 | 136 | { |
JamieGibson | 0:ae0ffaee1fc0 | 137 | Front=1; |
JamieGibson | 0:ae0ffaee1fc0 | 138 | Right=1; |
JamieGibson | 0:ae0ffaee1fc0 | 139 | Back=1; |
JamieGibson | 0:ae0ffaee1fc0 | 140 | Left=1; |
JamieGibson | 0:ae0ffaee1fc0 | 141 | Light_Full=1; |
JamieGibson | 0:ae0ffaee1fc0 | 142 | //wait(0.5); |
JamieGibson | 0:ae0ffaee1fc0 | 143 | lcd.locate(0,1); |
JamieGibson | 0:ae0ffaee1fc0 | 144 | lcd.printf("Full Light "); |
JamieGibson | 0:ae0ffaee1fc0 | 145 | } |
JamieGibson | 0:ae0ffaee1fc0 | 146 | if(recd_val==1) |
JamieGibson | 0:ae0ffaee1fc0 | 147 | { |
JamieGibson | 0:ae0ffaee1fc0 | 148 | Front=1; |
JamieGibson | 0:ae0ffaee1fc0 | 149 | Light_F=1; |
JamieGibson | 0:ae0ffaee1fc0 | 150 | //wait(0.5); |
JamieGibson | 0:ae0ffaee1fc0 | 151 | lcd.locate(0,1); |
JamieGibson | 0:ae0ffaee1fc0 | 152 | lcd.printf("Light Detected"); |
JamieGibson | 0:ae0ffaee1fc0 | 153 | lcd.locate(0,2); |
JamieGibson | 0:ae0ffaee1fc0 | 154 | lcd.printf(" Front "); |
JamieGibson | 0:ae0ffaee1fc0 | 155 | } |
JamieGibson | 0:ae0ffaee1fc0 | 156 | if(recd_val==2) |
JamieGibson | 0:ae0ffaee1fc0 | 157 | { |
JamieGibson | 0:ae0ffaee1fc0 | 158 | Front=1; |
JamieGibson | 0:ae0ffaee1fc0 | 159 | Right=1; |
JamieGibson | 0:ae0ffaee1fc0 | 160 | Light_FR=1; |
JamieGibson | 0:ae0ffaee1fc0 | 161 | //wait(0.5); |
JamieGibson | 0:ae0ffaee1fc0 | 162 | lcd.locate(0,1); |
JamieGibson | 0:ae0ffaee1fc0 | 163 | lcd.printf("Light Detected"); |
JamieGibson | 0:ae0ffaee1fc0 | 164 | lcd.locate(0,2); |
JamieGibson | 0:ae0ffaee1fc0 | 165 | lcd.printf("Front-Right"); |
JamieGibson | 0:ae0ffaee1fc0 | 166 | } |
JamieGibson | 0:ae0ffaee1fc0 | 167 | if(recd_val==3) |
JamieGibson | 0:ae0ffaee1fc0 | 168 | { |
JamieGibson | 0:ae0ffaee1fc0 | 169 | Right=1; |
JamieGibson | 0:ae0ffaee1fc0 | 170 | Light_R=1; |
JamieGibson | 0:ae0ffaee1fc0 | 171 | //wait(0.5); |
JamieGibson | 0:ae0ffaee1fc0 | 172 | lcd.locate(0,1); |
JamieGibson | 0:ae0ffaee1fc0 | 173 | lcd.printf("Light Detected"); |
JamieGibson | 0:ae0ffaee1fc0 | 174 | lcd.locate(0,2); |
JamieGibson | 0:ae0ffaee1fc0 | 175 | lcd.printf(" Right "); |
JamieGibson | 0:ae0ffaee1fc0 | 176 | } |
JamieGibson | 0:ae0ffaee1fc0 | 177 | if(recd_val==4) |
JamieGibson | 0:ae0ffaee1fc0 | 178 | { |
JamieGibson | 0:ae0ffaee1fc0 | 179 | Back=1; |
JamieGibson | 0:ae0ffaee1fc0 | 180 | Right=1; |
JamieGibson | 0:ae0ffaee1fc0 | 181 | Light_BR=1; |
JamieGibson | 0:ae0ffaee1fc0 | 182 | //wait(0.5); |
JamieGibson | 0:ae0ffaee1fc0 | 183 | lcd.locate(0,1); |
JamieGibson | 0:ae0ffaee1fc0 | 184 | lcd.printf("Light Detected"); |
JamieGibson | 0:ae0ffaee1fc0 | 185 | lcd.locate(0,2); |
JamieGibson | 0:ae0ffaee1fc0 | 186 | lcd.printf("Back-Right"); |
JamieGibson | 0:ae0ffaee1fc0 | 187 | } |
JamieGibson | 0:ae0ffaee1fc0 | 188 | if(recd_val==5) |
JamieGibson | 0:ae0ffaee1fc0 | 189 | { |
JamieGibson | 0:ae0ffaee1fc0 | 190 | Back=1; |
JamieGibson | 0:ae0ffaee1fc0 | 191 | Light_B=1; |
JamieGibson | 0:ae0ffaee1fc0 | 192 | //wait(0.5); |
JamieGibson | 0:ae0ffaee1fc0 | 193 | lcd.locate(0,1); |
JamieGibson | 0:ae0ffaee1fc0 | 194 | lcd.printf("Light Detected"); |
JamieGibson | 0:ae0ffaee1fc0 | 195 | lcd.locate(0,2); |
JamieGibson | 0:ae0ffaee1fc0 | 196 | lcd.printf(" Back "); |
JamieGibson | 0:ae0ffaee1fc0 | 197 | } |
JamieGibson | 0:ae0ffaee1fc0 | 198 | if(recd_val==6) |
JamieGibson | 0:ae0ffaee1fc0 | 199 | { |
JamieGibson | 0:ae0ffaee1fc0 | 200 | Back=1; |
JamieGibson | 0:ae0ffaee1fc0 | 201 | Left=1; |
JamieGibson | 0:ae0ffaee1fc0 | 202 | Light_BL=1; |
JamieGibson | 0:ae0ffaee1fc0 | 203 | //wait(0.5); |
JamieGibson | 0:ae0ffaee1fc0 | 204 | lcd.locate(0,1); |
JamieGibson | 0:ae0ffaee1fc0 | 205 | lcd.printf("Light Detected"); |
JamieGibson | 0:ae0ffaee1fc0 | 206 | lcd.locate(0,2); |
JamieGibson | 0:ae0ffaee1fc0 | 207 | lcd.printf("Back-Left"); |
JamieGibson | 0:ae0ffaee1fc0 | 208 | } |
JamieGibson | 0:ae0ffaee1fc0 | 209 | if(recd_val==7) |
JamieGibson | 0:ae0ffaee1fc0 | 210 | { |
JamieGibson | 0:ae0ffaee1fc0 | 211 | Left=1; |
JamieGibson | 0:ae0ffaee1fc0 | 212 | Light_L=1; |
JamieGibson | 0:ae0ffaee1fc0 | 213 | //wait(0.5); |
JamieGibson | 0:ae0ffaee1fc0 | 214 | lcd.locate(0,1); |
JamieGibson | 0:ae0ffaee1fc0 | 215 | lcd.printf("Light Detected"); |
JamieGibson | 0:ae0ffaee1fc0 | 216 | lcd.locate(0,2); |
JamieGibson | 0:ae0ffaee1fc0 | 217 | lcd.printf(" Left "); |
JamieGibson | 0:ae0ffaee1fc0 | 218 | } |
JamieGibson | 0:ae0ffaee1fc0 | 219 | if(recd_val==8) |
JamieGibson | 0:ae0ffaee1fc0 | 220 | { |
JamieGibson | 0:ae0ffaee1fc0 | 221 | Front=1; |
JamieGibson | 0:ae0ffaee1fc0 | 222 | Left=1; |
JamieGibson | 0:ae0ffaee1fc0 | 223 | Light_FL=1; |
JamieGibson | 0:ae0ffaee1fc0 | 224 | //wait(0.5); |
JamieGibson | 0:ae0ffaee1fc0 | 225 | lcd.locate(0,1); |
JamieGibson | 0:ae0ffaee1fc0 | 226 | lcd.printf("Light Detected"); |
JamieGibson | 0:ae0ffaee1fc0 | 227 | lcd.locate(0,2); |
JamieGibson | 0:ae0ffaee1fc0 | 228 | lcd.printf("Front-Left"); |
JamieGibson | 0:ae0ffaee1fc0 | 229 | } |
JamieGibson | 0:ae0ffaee1fc0 | 230 | |
JamieGibson | 0:ae0ffaee1fc0 | 231 | //Block 3 Compare Flags and Set Command |
JamieGibson | 0:ae0ffaee1fc0 | 232 | switch_word=0xf0; |
JamieGibson | 0:ae0ffaee1fc0 | 233 | if(Light_F==1) |
JamieGibson | 0:ae0ffaee1fc0 | 234 | { |
JamieGibson | 0:ae0ffaee1fc0 | 235 | if(Ob_FR==1 || Ob_F==1) |
JamieGibson | 0:ae0ffaee1fc0 | 236 | { |
JamieGibson | 0:ae0ffaee1fc0 | 237 | //Go Left |
JamieGibson | 0:ae0ffaee1fc0 | 238 | switch_word=switch_word|0x07; |
JamieGibson | 0:ae0ffaee1fc0 | 239 | } |
JamieGibson | 0:ae0ffaee1fc0 | 240 | if(Ob_FL==1) |
JamieGibson | 0:ae0ffaee1fc0 | 241 | { |
JamieGibson | 0:ae0ffaee1fc0 | 242 | //Go Right |
JamieGibson | 0:ae0ffaee1fc0 | 243 | switch_word=switch_word|0x03; |
JamieGibson | 0:ae0ffaee1fc0 | 244 | } |
JamieGibson | 0:ae0ffaee1fc0 | 245 | if(Ob_All==1) |
JamieGibson | 0:ae0ffaee1fc0 | 246 | { |
JamieGibson | 0:ae0ffaee1fc0 | 247 | //Go Back |
JamieGibson | 0:ae0ffaee1fc0 | 248 | switch_word=switch_word|0x05; |
JamieGibson | 0:ae0ffaee1fc0 | 249 | } |
JamieGibson | 0:ae0ffaee1fc0 | 250 | if(Ob_None==1 || Ob_R==1 || Ob_L==1) |
JamieGibson | 0:ae0ffaee1fc0 | 251 | { |
JamieGibson | 0:ae0ffaee1fc0 | 252 | //Go Front |
JamieGibson | 0:ae0ffaee1fc0 | 253 | switch_word=switch_word|0x01; |
JamieGibson | 0:ae0ffaee1fc0 | 254 | } |
JamieGibson | 0:ae0ffaee1fc0 | 255 | } |
JamieGibson | 0:ae0ffaee1fc0 | 256 | if(Light_R==1) |
JamieGibson | 0:ae0ffaee1fc0 | 257 | { |
JamieGibson | 0:ae0ffaee1fc0 | 258 | if(Ob_R==1) |
JamieGibson | 0:ae0ffaee1fc0 | 259 | { |
JamieGibson | 0:ae0ffaee1fc0 | 260 | //Go Front |
JamieGibson | 0:ae0ffaee1fc0 | 261 | switch_word=switch_word|0x01; |
JamieGibson | 0:ae0ffaee1fc0 | 262 | } |
JamieGibson | 0:ae0ffaee1fc0 | 263 | if(Ob_FR==1) |
JamieGibson | 0:ae0ffaee1fc0 | 264 | { |
JamieGibson | 0:ae0ffaee1fc0 | 265 | //Go Left |
JamieGibson | 0:ae0ffaee1fc0 | 266 | switch_word=switch_word|0x07; |
JamieGibson | 0:ae0ffaee1fc0 | 267 | } |
JamieGibson | 0:ae0ffaee1fc0 | 268 | if(Ob_All==1) |
JamieGibson | 0:ae0ffaee1fc0 | 269 | { |
JamieGibson | 0:ae0ffaee1fc0 | 270 | //Go Back |
JamieGibson | 0:ae0ffaee1fc0 | 271 | switch_word=switch_word|0x05; |
JamieGibson | 0:ae0ffaee1fc0 | 272 | } |
JamieGibson | 0:ae0ffaee1fc0 | 273 | if(Ob_None==1 || Ob_L==1 || Ob_F==1 ||Ob_FL==1) |
JamieGibson | 0:ae0ffaee1fc0 | 274 | { |
JamieGibson | 0:ae0ffaee1fc0 | 275 | //Go Right |
JamieGibson | 0:ae0ffaee1fc0 | 276 | switch_word=switch_word|0x03; |
JamieGibson | 0:ae0ffaee1fc0 | 277 | } |
JamieGibson | 0:ae0ffaee1fc0 | 278 | } |
JamieGibson | 0:ae0ffaee1fc0 | 279 | if(Light_L==1) |
JamieGibson | 0:ae0ffaee1fc0 | 280 | { |
JamieGibson | 0:ae0ffaee1fc0 | 281 | if(Ob_L==1) |
JamieGibson | 0:ae0ffaee1fc0 | 282 | { |
JamieGibson | 0:ae0ffaee1fc0 | 283 | //Go Front |
JamieGibson | 0:ae0ffaee1fc0 | 284 | switch_word=switch_word|0x01; |
JamieGibson | 0:ae0ffaee1fc0 | 285 | } |
JamieGibson | 0:ae0ffaee1fc0 | 286 | if(Ob_FL==1) |
JamieGibson | 0:ae0ffaee1fc0 | 287 | { |
JamieGibson | 0:ae0ffaee1fc0 | 288 | //Go Right |
JamieGibson | 0:ae0ffaee1fc0 | 289 | switch_word=switch_word|0x03; |
JamieGibson | 0:ae0ffaee1fc0 | 290 | } |
JamieGibson | 0:ae0ffaee1fc0 | 291 | if(Ob_All==1) |
JamieGibson | 0:ae0ffaee1fc0 | 292 | { |
JamieGibson | 0:ae0ffaee1fc0 | 293 | //Go Back |
JamieGibson | 0:ae0ffaee1fc0 | 294 | switch_word=switch_word|0x05; |
JamieGibson | 0:ae0ffaee1fc0 | 295 | } |
JamieGibson | 0:ae0ffaee1fc0 | 296 | if(Ob_None==1 || Ob_R==1 || Ob_F==1 ||Ob_FR==1) |
JamieGibson | 0:ae0ffaee1fc0 | 297 | { |
JamieGibson | 0:ae0ffaee1fc0 | 298 | //Go Left |
JamieGibson | 0:ae0ffaee1fc0 | 299 | switch_word=switch_word|0x07; |
JamieGibson | 0:ae0ffaee1fc0 | 300 | } |
JamieGibson | 0:ae0ffaee1fc0 | 301 | } |
JamieGibson | 0:ae0ffaee1fc0 | 302 | if(Light_B==1) |
JamieGibson | 0:ae0ffaee1fc0 | 303 | { |
JamieGibson | 0:ae0ffaee1fc0 | 304 | //Go Back |
JamieGibson | 0:ae0ffaee1fc0 | 305 | switch_word=switch_word|0x05; |
JamieGibson | 0:ae0ffaee1fc0 | 306 | } |
JamieGibson | 0:ae0ffaee1fc0 | 307 | if(Light_Full==1) |
JamieGibson | 0:ae0ffaee1fc0 | 308 | { |
JamieGibson | 0:ae0ffaee1fc0 | 309 | //Stop |
JamieGibson | 0:ae0ffaee1fc0 | 310 | switch_word=switch_word|0x09; |
JamieGibson | 0:ae0ffaee1fc0 | 311 | } |
JamieGibson | 0:ae0ffaee1fc0 | 312 | if(Light_None==1) |
JamieGibson | 0:ae0ffaee1fc0 | 313 | { |
JamieGibson | 0:ae0ffaee1fc0 | 314 | //Stop |
JamieGibson | 0:ae0ffaee1fc0 | 315 | switch_word=switch_word|0x00; |
JamieGibson | 0:ae0ffaee1fc0 | 316 | } |
JamieGibson | 0:ae0ffaee1fc0 | 317 | |
JamieGibson | 0:ae0ffaee1fc0 | 318 | //Block 4 Send Command to Locomotion |
JamieGibson | 0:ae0ffaee1fc0 | 319 | i2c_port.start(); //force a start condition |
JamieGibson | 0:ae0ffaee1fc0 | 320 | i2c_port.write(addr); //send the address |
JamieGibson | 0:ae0ffaee1fc0 | 321 | i2c_port.write(switch_word); //send one byte of data, ie recd_val |
JamieGibson | 0:ae0ffaee1fc0 | 322 | i2c_port.stop(); //force a stop condition |
JamieGibson | 0:ae0ffaee1fc0 | 323 | wait(0.00000002); |
JamieGibson | 0:ae0ffaee1fc0 | 324 | } |
JamieGibson | 0:ae0ffaee1fc0 | 325 | } |