Diff: Buggy.cpp

Revision:

4:2d939ef2b09c

Parent:

2:47b7a55b0805

Child:

5:a33f016d5962

--- a/Buggy.cpp	Mon Jul 31 22:24:03 2017 +0000
+++ b/Buggy.cpp	Sun Aug 06 20:13:33 2017 +0000
@@ -24,6 +24,8 @@
 void RotateClockwise(unsigned int Voltage, unsigned int Time_ms);
 void RotateAnticlockwise(unsigned int Voltage, unsigned int Time_ms);
 void SendSonarTrigger();
+void onButtonA(MicroBitEvent);
+void onButtonB(MicroBitEvent);
 
 /*******************************
 Global variables for the microbit runtime
@@ -35,6 +37,8 @@
 MicroBitPin MotorDirection_R(MICROBIT_ID_IO_P12, MICROBIT_PIN_P12, PIN_CAPABILITY_DIGITAL );
 //Note: The buggy has both the trigger and echo signals on the same microbit pin
 MicroBitPin Sonar(MICROBIT_ID_IO_P13, MICROBIT_PIN_P13, PIN_CAPABILITY_DIGITAL);
+MicroBitButton buttonA(MICROBIT_PIN_BUTTON_A, MICROBIT_ID_BUTTON_A);
+MicroBitButton buttonB(MICROBIT_PIN_BUTTON_B, MICROBIT_ID_BUTTON_B);
  
 
 /**********************************
@@ -50,6 +54,8 @@
 unsigned int LastMotorDirection_R = 0;
 int BuggyState = BUGGY_HALTED;
 Ticker SonarTriggerTimer;
+int MotorTestIndex = 0;
+bool MotorTestGo = false;
 
 /*****************************************************************************
 Start of function definitions
@@ -61,7 +67,15 @@
     
     //setup the message bus to listen for events from the ultrasonic sensor input
     uBit.messageBus.listen(MICROBIT_ID_IO_P13, MICROBIT_PIN_EVT_PULSE_HI, onSonarEchoPulse, MESSAGE_BUS_LISTENER_IMMEDIATE);
-    
+    /*The sw MicroBitButtons instantiated above also have events assigned to them. This line will 
+    suppress MICROBIT_BUTTON_EVT_CLICK and MICROBIT_BUTTON_EVT_LONG_CLICK events on the button, otherwise
+    2 events will be flagged*/
+    buttonA.setEventConfiguration(MICROBIT_BUTTON_SIMPLE_EVENTS);
+    buttonB.setEventConfiguration(MICROBIT_BUTTON_SIMPLE_EVENTS);
+    //Listen out for the button A press event
+    uBit.messageBus.listen(MICROBIT_ID_BUTTON_A, MICROBIT_BUTTON_EVT_CLICK, onButtonA, MESSAGE_BUS_LISTENER_IMMEDIATE);
+    uBit.messageBus.listen(MICROBIT_ID_BUTTON_B, MICROBIT_BUTTON_EVT_CLICK, onButtonB, MESSAGE_BUS_LISTENER_IMMEDIATE);
+        
     //Attach the SendSonarTrigger function to the timer and configure for it to trigger every 0.2 secs.
     SonarTriggerTimer.attach(&SendSonarTrigger, 0.2); 
 }
@@ -382,3 +396,100 @@
     uBit.display.printAsync(SonarTime);
     uBit.serial.printf("Time = %d us\n\r", SonarTime);
 }
+
+void MotorSpeedCharacterisation(void)
+{
+    int Voltage;
+    char OutBuf[7];
+    int Counter;
+    unsigned int LastSystemTime;
+    
+    //do this forever
+    while(1)
+    {
+        if(MotorTestIndex < 10) //Move forward tests
+        {
+            Voltage = (MotorTestIndex * 100) + 100;
+            sprintf(OutBuf, "F%d", Voltage);
+        }
+        else if(MotorTestIndex < 20)    //Rotate clockwise test
+        {
+            Voltage = ((MotorTestIndex-10) * 100) + 100;
+            sprintf(OutBuf, "C%d", Voltage);
+        }
+        else    //Rotate anticlockwise tests
+        {
+            Voltage = ((MotorTestIndex-20) * 100) + 100;
+            sprintf(OutBuf, "A%d", Voltage);
+        }
+        //Display the current target test
+        uBit.display.print(OutBuf);
+        
+        //If button B has been pressed
+        if(MotorTestGo == true)
+        {
+            //do the algorithm for counting down from 3
+            Counter = 3;
+            LastSystemTime = 0;
+            uBit.display.printAsync(Counter);
+            LastSystemTime = uBit.systemTime();
+            while (Counter > 0)
+            {
+                if( (uBit.systemTime()-LastSystemTime) > 1000)
+                {    
+                    LastSystemTime = uBit.systemTime();
+                    Counter = Counter - 1;
+                    uBit.display.printAsync(Counter);
+                }
+            }
+            
+            //run the selected motor characterisation test
+            if(MotorTestIndex < 10) //Move forward tests
+            {
+                MoveBuggy(MOVE_FORWARD, Voltage, 1000);
+                do
+                {
+                    //Nothing
+                }while( hasLastCommandCompleted() == false );
+            }
+            else if(MotorTestIndex < 20)    //Rotate clockwise test
+            {
+                MoveBuggy(ROTATE_CLOCKWISE, Voltage, 500);
+                do
+                {
+                    //Nothing
+                }while( hasLastCommandCompleted() == false );
+            }
+            else    //Rotate anticlockwise tests
+            {
+                MoveBuggy(ROTATE_ANTICLOCKWISE, Voltage, 500);
+                do
+                {
+                    //Nothing
+                }while( hasLastCommandCompleted() == false );
+            }
+    
+            MotorTestGo = false;    
+        }
+    }
+}
+
+void onButtonA(MicroBitEvent evt) 
+{ 
+    if(evt.value == MICROBIT_BUTTON_EVT_CLICK)
+    {
+        MotorTestIndex++;
+        if(MotorTestIndex > 30)
+        {
+            MotorTestIndex = 0; 
+        }    
+    }
+} 
+
+void onButtonB(MicroBitEvent evt) 
+{ 
+    if(evt.value == MICROBIT_BUTTON_EVT_CLICK)
+    {
+        MotorTestGo = true;
+    }
+} 
\ No newline at end of file