Random walk for psiSwarm
Dependencies: PsiSwarmV8_CPP mbed
Fork of PsiSwarm_V8_Blank_CPP by
main.cpp@0:9c0ccd879613, 2016-10-15 (annotated)
- Committer:
- jah128
- Date:
- Sat Oct 15 13:52:26 2016 +0000
- Revision:
- 0:9c0ccd879613
- Child:
- 2:5d37e5fd7141
Initial commit of blank program code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jah128 | 0:9c0ccd879613 | 1 | /*********************************************************************** |
jah128 | 0:9c0ccd879613 | 2 | ** ██████╗ ███████╗██╗███████╗██╗ ██╗ █████╗ ██████╗ ███╗ ███╗ ** |
jah128 | 0:9c0ccd879613 | 3 | ** ██╔══██╗██╔════╝██║██╔════╝██║ ██║██╔══██╗██╔══██╗████╗ ████║ ** |
jah128 | 0:9c0ccd879613 | 4 | ** ██████╔╝███████╗██║███████╗██║ █╗ ██║███████║██████╔╝██╔████╔██║ ** |
jah128 | 0:9c0ccd879613 | 5 | ** ██╔═══╝ ╚════██║██║╚════██║██║███╗██║██╔══██║██╔══██╗██║╚██╔╝██║ ** |
jah128 | 0:9c0ccd879613 | 6 | ** ██║ ███████║██║███████║╚███╔███╔╝██║ ██║██║ ██║██║ ╚═╝ ██║ ** |
jah128 | 0:9c0ccd879613 | 7 | ** ╚═╝ ╚══════╝╚═╝╚══════╝ ╚══╝╚══╝ ╚═╝ ╚═╝╚═╝ ╚═╝╚═╝ ╚═╝ ** |
jah128 | 0:9c0ccd879613 | 8 | ************************************************************************ |
jah128 | 0:9c0ccd879613 | 9 | ** Copyright 2016 University of York ** |
jah128 | 0:9c0ccd879613 | 10 | ** ** |
jah128 | 0:9c0ccd879613 | 11 | ** Licensed under the Apache License, Version 2.0 (the "License") ** |
jah128 | 0:9c0ccd879613 | 12 | ** You may not use this file except in compliance with the License. ** |
jah128 | 0:9c0ccd879613 | 13 | ** You may obtain a copy of the License at ** |
jah128 | 0:9c0ccd879613 | 14 | ** http://www.apache.org/licenses/LICENSE-2.0 Unless required by ** |
jah128 | 0:9c0ccd879613 | 15 | ** applicable law or agreed to in writing, software distributed under ** |
jah128 | 0:9c0ccd879613 | 16 | ** under the License is distributed on an "AS IS" BASIS WITHOUT ** |
jah128 | 0:9c0ccd879613 | 17 | ** WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. ** |
jah128 | 0:9c0ccd879613 | 18 | ** See the License for the specific language governing permissions ** |
jah128 | 0:9c0ccd879613 | 19 | ** and limitations under the License. ** |
jah128 | 0:9c0ccd879613 | 20 | ***********************************************************************/ |
jah128 | 0:9c0ccd879613 | 21 | |
jah128 | 0:9c0ccd879613 | 22 | /// PsiSwarm Blank Example Code |
jah128 | 0:9c0ccd879613 | 23 | /// Version 0.7 |
jah128 | 0:9c0ccd879613 | 24 | /// James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis |
jah128 | 0:9c0ccd879613 | 25 | /// University of York |
jah128 | 0:9c0ccd879613 | 26 | |
jah128 | 0:9c0ccd879613 | 27 | /// Include main.h - this includes psiswarm.h all the other necessary core files |
jah128 | 0:9c0ccd879613 | 28 | #include "main.h" |
jah128 | 0:9c0ccd879613 | 29 | |
jah128 | 0:9c0ccd879613 | 30 | char * program_name = "Blank"; |
jah128 | 0:9c0ccd879613 | 31 | char * author_name = "YRL"; |
jah128 | 0:9c0ccd879613 | 32 | char * version_name = "0.41"; |
jah128 | 0:9c0ccd879613 | 33 | |
jah128 | 0:9c0ccd879613 | 34 | void user_code_loop() |
jah128 | 0:9c0ccd879613 | 35 | { |
jah128 | 0:9c0ccd879613 | 36 | wait(1); |
jah128 | 0:9c0ccd879613 | 37 | } |
jah128 | 0:9c0ccd879613 | 38 | |
jah128 | 0:9c0ccd879613 | 39 | ///Place user code here that should be run after initialisation but before the main loop |
jah128 | 0:9c0ccd879613 | 40 | void user_code_setup() |
jah128 | 0:9c0ccd879613 | 41 | { |
jah128 | 0:9c0ccd879613 | 42 | wait(1); |
jah128 | 0:9c0ccd879613 | 43 | display.clear_display(); |
jah128 | 0:9c0ccd879613 | 44 | display.set_position(0,0); |
jah128 | 0:9c0ccd879613 | 45 | display.write_string("No Code"); |
jah128 | 0:9c0ccd879613 | 46 | } |
jah128 | 0:9c0ccd879613 | 47 | |
jah128 | 0:9c0ccd879613 | 48 | /// Code goes here to handle what should happen when the user switch is pressed |
jah128 | 0:9c0ccd879613 | 49 | void handle_switch_event(char switch_state) |
jah128 | 0:9c0ccd879613 | 50 | { |
jah128 | 0:9c0ccd879613 | 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 | 0:9c0ccd879613 | 52 | /// NB For maximum compatability it is recommended to minimise reliance on center button press |
jah128 | 0:9c0ccd879613 | 53 | |
jah128 | 0:9c0ccd879613 | 54 | } |
jah128 | 0:9c0ccd879613 | 55 | |
jah128 | 0:9c0ccd879613 | 56 | void handle_user_serial_message(char * message, char length, char interface) |
jah128 | 0:9c0ccd879613 | 57 | { |
jah128 | 0:9c0ccd879613 | 58 | // This is where user code for handling a (non-system) serial message should go |
jah128 | 0:9c0ccd879613 | 59 | // |
jah128 | 0:9c0ccd879613 | 60 | // message = pointer to message char array |
jah128 | 0:9c0ccd879613 | 61 | // length = length of message |
jah128 | 0:9c0ccd879613 | 62 | // interface = 0 for PC serial connection, 1 for Bluetooth |
jah128 | 0:9c0ccd879613 | 63 | |
jah128 | 0:9c0ccd879613 | 64 | } |
jah128 | 0:9c0ccd879613 | 65 | |
jah128 | 0:9c0ccd879613 | 66 | /// The main routine: it is recommended to leave this function alone and add user code to the above functions |
jah128 | 0:9c0ccd879613 | 67 | int main() |
jah128 | 0:9c0ccd879613 | 68 | { |
jah128 | 0:9c0ccd879613 | 69 | ///init() in psiswarm.cpp sets up the robot |
jah128 | 0:9c0ccd879613 | 70 | init(); |
jah128 | 0:9c0ccd879613 | 71 | user_code_setup(); |
jah128 | 0:9c0ccd879613 | 72 | user_code_running = 1; |
jah128 | 0:9c0ccd879613 | 73 | while(1) { |
jah128 | 0:9c0ccd879613 | 74 | user_code_loop(); |
jah128 | 0:9c0ccd879613 | 75 | } |
jah128 | 0:9c0ccd879613 | 76 | } |