Andriy Makukha
/
football_project_wo_output
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Fork of
football_project
by 
MZJ
proto_code.cpp@17:d8b901d791fd, 2015-11-03 (annotated)
- Committer:
- elmbed
- Date:
- Tue Nov 03 07:05:15 2015 +0000
- Revision:
- 17:d8b901d791fd
- Child:
- 18:affef3a7db2a
Removed the inter device radio link, sending data to phone causes crash
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| elmbed | 17:d8b901d791fd | 1 | #include <TA.h> |
| elmbed | 17:d8b901d791fd | 2 | #include <types.h> |
| elmbed | 17:d8b901d791fd | 3 | |
| elmbed | 17:d8b901d791fd | 4 | #define RED p3 |
| elmbed | 17:d8b901d791fd | 5 | #define GREEN p5 |
| elmbed | 17:d8b901d791fd | 6 | #define BLUE p6 |
| elmbed | 17:d8b901d791fd | 7 | |
| elmbed | 17:d8b901d791fd | 8 | #define ENABLE_1 p4 |
| elmbed | 17:d8b901d791fd | 9 | #define ENABLE_2 p7 |
| elmbed | 17:d8b901d791fd | 10 | #define ENABLE_3 p8 |
| elmbed | 17:d8b901d791fd | 11 | |
| elmbed | 17:d8b901d791fd | 12 | #define DEBUG_BAUD 57600 //57600 |
| elmbed | 17:d8b901d791fd | 13 | #define ADDRESS 1 |
| elmbed | 17:d8b901d791fd | 14 | #define MAX_LEN 24 // buffer input commands up to this length |
| elmbed | 17:d8b901d791fd | 15 | #define NUM_CONES 6 |
| elmbed | 17:d8b901d791fd | 16 | #define STATIONS 20 // max length of a pattern |
| elmbed | 17:d8b901d791fd | 17 | #define SEQUENCES 9 // number of patterns to store |
| elmbed | 17:d8b901d791fd | 18 | |
| elmbed | 17:d8b901d791fd | 19 | #define TRILAT_CONE 99 |
| elmbed | 17:d8b901d791fd | 20 | |
| elmbed | 17:d8b901d791fd | 21 | #define DEBOUNCE_MS 100 |
| elmbed | 17:d8b901d791fd | 22 | #define LIGHTS 0x07 |
| elmbed | 17:d8b901d791fd | 23 | #define FAKEOUT 0x08 |
| elmbed | 17:d8b901d791fd | 24 | #define FAIL_QUICK 0x10 |
| elmbed | 17:d8b901d791fd | 25 | #define SILENT 0x20 |
| elmbed | 17:d8b901d791fd | 26 | #define GRACE_PERIOD 3000 |
| elmbed | 17:d8b901d791fd | 27 | |
| elmbed | 17:d8b901d791fd | 28 | #define NEED_CONSOLE_OUTPUT 1 /* Set this if you need //////////////////////DEBUG messages on the console; |
| elmbed | 17:d8b901d791fd | 29 | * it will have an impact on code-size and power consumption. */ |
| elmbed | 17:d8b901d791fd | 30 | |
| elmbed | 17:d8b901d791fd | 31 | #define LOOPBACK_MODE 0 // Loopback mode |
| elmbed | 17:d8b901d791fd | 32 | |
| elmbed | 17:d8b901d791fd | 33 | #if NEED_CONSOLE_OUTPUT |
| elmbed | 17:d8b901d791fd | 34 | #define DEBUG(...) { printf(__VA_ARGS__); } |
| elmbed | 17:d8b901d791fd | 35 | #else |
| elmbed | 17:d8b901d791fd | 36 | #define DEBUG(...) /* nothing */ |
| elmbed | 17:d8b901d791fd | 37 | #endif /* #if NEED_CONSOLE_OUTPUT */ |
| elmbed | 17:d8b901d791fd | 38 | |
| elmbed | 17:d8b901d791fd | 39 | extern int random(int numberone, int numbertwo); |
| elmbed | 17:d8b901d791fd | 40 | |
| elmbed | 17:d8b901d791fd | 41 | void writeToPhone(char *data); |
| elmbed | 17:d8b901d791fd | 42 | unsigned long millis(); |
| elmbed | 17:d8b901d791fd | 43 | unsigned long micros(); |
| elmbed | 17:d8b901d791fd | 44 | |
| elmbed | 17:d8b901d791fd | 45 | TA ta; |
| elmbed | 17:d8b901d791fd | 46 | |
| elmbed | 17:d8b901d791fd | 47 | bool active_cones[NUM_CONES + 1]; // + 1 so we can be 1 based like the cone numbers are |
| elmbed | 17:d8b901d791fd | 48 | |
| elmbed | 17:d8b901d791fd | 49 | Mode_t mode = PATTERN; |
| elmbed | 17:d8b901d791fd | 50 | patternState_t state_p = IDLE_P; |
| elmbed | 17:d8b901d791fd | 51 | inputState_t state_i = IDLE_I; |
| elmbed | 17:d8b901d791fd | 52 | |
| elmbed | 17:d8b901d791fd | 53 | Message m1 = { 'm',0,2 }; |
| elmbed | 17:d8b901d791fd | 54 | |
| elmbed | 17:d8b901d791fd | 55 | Message *m = &m1; |
| elmbed | 17:d8b901d791fd | 56 | Message m2 = { 'm',0,2 }; |
| elmbed | 17:d8b901d791fd | 57 | Message *m_in = &m2; |
| elmbed | 17:d8b901d791fd | 58 | |
| elmbed | 17:d8b901d791fd | 59 | uint8_t active_cone = 0; |
| elmbed | 17:d8b901d791fd | 60 | unsigned long timeout = 0; |
| elmbed | 17:d8b901d791fd | 61 | uint8_t mask = 0x07; |
| elmbed | 17:d8b901d791fd | 62 | uint8_t fakeout = 0; |
| elmbed | 17:d8b901d791fd | 63 | uint8_t fail_quick = 0; |
| elmbed | 17:d8b901d791fd | 64 | uint8_t index = 0; |
| elmbed | 17:d8b901d791fd | 65 | bool new_state = false; |
| elmbed | 17:d8b901d791fd | 66 | bool tag_start = false; // flag to indicate we should wait for the user to activate the first station before going through the sequence |
| elmbed | 17:d8b901d791fd | 67 | static bool in_menu = false; |
| elmbed | 17:d8b901d791fd | 68 | static bool warning = false; |
| elmbed | 17:d8b901d791fd | 69 | static bool penalty = false; |
| elmbed | 17:d8b901d791fd | 70 | static bool logging = false; |
| elmbed | 17:d8b901d791fd | 71 | |
| elmbed | 17:d8b901d791fd | 72 | // course setup (probably should make some of these persistant settings) |
| elmbed | 17:d8b901d791fd | 73 | uint8_t active_sequence = 0; |
| elmbed | 17:d8b901d791fd | 74 | //uint8_t pattern = 1; |
| elmbed | 17:d8b901d791fd | 75 | uint8_t station = 1; |
| elmbed | 17:d8b901d791fd | 76 | uint8_t cone = 0; |
| elmbed | 17:d8b901d791fd | 77 | uint16_t ltime = 0; |
| elmbed | 17:d8b901d791fd | 78 | |
| elmbed | 17:d8b901d791fd | 79 | volatile bool triggered; |
| elmbed | 17:d8b901d791fd | 80 | volatile bool pin; |
| elmbed | 17:d8b901d791fd | 81 | volatile bool ping = false; |
| elmbed | 17:d8b901d791fd | 82 | static volatile bool captured = false; |
| elmbed | 17:d8b901d791fd | 83 | static volatile unsigned long ping_timer = 0; |
| elmbed | 17:d8b901d791fd | 84 | static volatile unsigned long dist_timeout = 0; |
| elmbed | 17:d8b901d791fd | 85 | |
| elmbed | 17:d8b901d791fd | 86 | // all sequence data |
| elmbed | 17:d8b901d791fd | 87 | uint8_t cone_table[STATIONS * SEQUENCES]; |
| elmbed | 17:d8b901d791fd | 88 | uint8_t mask_table[STATIONS * SEQUENCES]; |
| elmbed | 17:d8b901d791fd | 89 | uint16_t time_table[STATIONS * SEQUENCES]; |
| elmbed | 17:d8b901d791fd | 90 | |
| elmbed | 17:d8b901d791fd | 91 | // pointer to active table |
| elmbed | 17:d8b901d791fd | 92 | uint8_t *cones = (uint8_t*)cone_table; |
| elmbed | 17:d8b901d791fd | 93 | uint8_t *masks = (uint8_t*)mask_table; |
| elmbed | 17:d8b901d791fd | 94 | uint16_t *times = (uint16_t*)time_table; |
| elmbed | 17:d8b901d791fd | 95 | |
| elmbed | 17:d8b901d791fd | 96 | static bool lonely = false; |
| elmbed | 17:d8b901d791fd | 97 | |
| elmbed | 17:d8b901d791fd | 98 | // Function prototypes |
| elmbed | 17:d8b901d791fd | 99 | void spin(); |
| elmbed | 17:d8b901d791fd | 100 | patternState_t stateFromCone(uint8_t cone); |
| elmbed | 17:d8b901d791fd | 101 | void printSplit(unsigned long timer); |
| elmbed | 17:d8b901d791fd | 102 | uint8_t getRandomCone(void); |
| elmbed | 17:d8b901d791fd | 103 | void clearCones(void); |
| elmbed | 17:d8b901d791fd | 104 | void powerupCones(uint8_t sound); |
| elmbed | 17:d8b901d791fd | 105 | void failCones(void); |
| elmbed | 17:d8b901d791fd | 106 | void resetSensors(void); |
| elmbed | 17:d8b901d791fd | 107 | void successCones(void); |
| elmbed | 17:d8b901d791fd | 108 | void find_cones(void); |
| elmbed | 17:d8b901d791fd | 109 | void printMsAsSeconds(unsigned long number); |
| elmbed | 17:d8b901d791fd | 110 | void spinButtons(void); |
| elmbed | 17:d8b901d791fd | 111 | uint8_t checkButtons(void); |
| elmbed | 17:d8b901d791fd | 112 | Event getInputEvent(void); |
| elmbed | 17:d8b901d791fd | 113 | void getRadioInput(char *ibuffer, int size); |
| elmbed | 17:d8b901d791fd | 114 | void interpret(char parameter, int value); |
| elmbed | 17:d8b901d791fd | 115 | |
| elmbed | 17:d8b901d791fd | 116 | char local_input[50] = {0}; |
| elmbed | 17:d8b901d791fd | 117 | |
| elmbed | 17:d8b901d791fd | 118 | //DigitalOut red(RED); |
| elmbed | 17:d8b901d791fd | 119 | //DigitalOut enable1(ENABLE_1); |
| elmbed | 17:d8b901d791fd | 120 | //DigitalOut green(GREEN); |
| elmbed | 17:d8b901d791fd | 121 | //DigitalOut blue(BLUE); |
| elmbed | 17:d8b901d791fd | 122 | //DigitalOut enable2(ENABLE_2); |
| elmbed | 17:d8b901d791fd | 123 | //DigitalOut enable3(ENABLE_3); |
| elmbed | 17:d8b901d791fd | 124 | |
| elmbed | 17:d8b901d791fd | 125 | void setup() |
| elmbed | 17:d8b901d791fd | 126 | { |
| elmbed | 17:d8b901d791fd | 127 | ta.initialize(ADDRESS); |
| elmbed | 17:d8b901d791fd | 128 | |
| elmbed | 17:d8b901d791fd | 129 | uint16_t sent = 0; |
| elmbed | 17:d8b901d791fd | 130 | uint16_t lost = 0; |
| elmbed | 17:d8b901d791fd | 131 | unsigned long start = micros(); |
| elmbed | 17:d8b901d791fd | 132 | //while (millis() - now <= ACK_TIME){ |
| elmbed | 17:d8b901d791fd | 133 | m->command = 'p'; |
| elmbed | 17:d8b901d791fd | 134 | m->value = 0; |
| elmbed | 17:d8b901d791fd | 135 | m->cone = 0; |
| elmbed | 17:d8b901d791fd | 136 | |
| elmbed | 17:d8b901d791fd | 137 | find_cones(); // this causes the beep to be interrupted |
| elmbed | 17:d8b901d791fd | 138 | ta.beep(100); |
| elmbed | 17:d8b901d791fd | 139 | int i; |
| elmbed | 17:d8b901d791fd | 140 | for(i=1;i<NUM_CONES+1;i++)active_cones[i] = true; |
| elmbed | 17:d8b901d791fd | 141 | |
| elmbed | 17:d8b901d791fd | 142 | unsigned long time = 0; |
| elmbed | 17:d8b901d791fd | 143 | |
| elmbed | 17:d8b901d791fd | 144 | // pull course sequences from non-volatile memory |
| elmbed | 17:d8b901d791fd | 145 | for(uint8_t i=0;i<STATIONS * SEQUENCES;i++){ |
| elmbed | 17:d8b901d791fd | 146 | cone_table[i] = i+1; |
| elmbed | 17:d8b901d791fd | 147 | mask_table[i] = 1; |
| elmbed | 17:d8b901d791fd | 148 | time_table[i] = 1000; |
| elmbed | 17:d8b901d791fd | 149 | } |
| elmbed | 17:d8b901d791fd | 150 | } |
| elmbed | 17:d8b901d791fd | 151 | |
| elmbed | 17:d8b901d791fd | 152 | void loop() |
| elmbed | 17:d8b901d791fd | 153 | { |
| elmbed | 17:d8b901d791fd | 154 | // wdt_reset(); |
| elmbed | 17:d8b901d791fd | 155 | |
| elmbed | 17:d8b901d791fd | 156 | static Mode_t last_mode = mode; |
| elmbed | 17:d8b901d791fd | 157 | |
| elmbed | 17:d8b901d791fd | 158 | if (last_mode != mode) |
| elmbed | 17:d8b901d791fd | 159 | { |
| elmbed | 17:d8b901d791fd | 160 | ////DEBUG("\n"); |
| elmbed | 17:d8b901d791fd | 161 | |
| elmbed | 17:d8b901d791fd | 162 | // if (mode == FREEFORM) |
| elmbed | 17:d8b901d791fd | 163 | //////DEBUG("Now running random routes.\n"); |
| elmbed | 17:d8b901d791fd | 164 | |
| elmbed | 17:d8b901d791fd | 165 | //if (mode == PATTERN) |
| elmbed | 17:d8b901d791fd | 166 | //////DEBUG("Now running set patterns.\n"); |
| elmbed | 17:d8b901d791fd | 167 | } |
| elmbed | 17:d8b901d791fd | 168 | |
| elmbed | 17:d8b901d791fd | 169 | last_mode = mode; |
| elmbed | 17:d8b901d791fd | 170 | |
| elmbed | 17:d8b901d791fd | 171 | //getRadioInput(); |
| elmbed | 17:d8b901d791fd | 172 | ta.spin(); |
| elmbed | 17:d8b901d791fd | 173 | //spinButtons(); |
| elmbed | 17:d8b901d791fd | 174 | //if((logging || micros() < dist_timeout) && ta.recieve(m_in)) |
| elmbed | 17:d8b901d791fd | 175 | // //////DEBUG("%c",m_in->command); |
| elmbed | 17:d8b901d791fd | 176 | //else |
| elmbed | 17:d8b901d791fd | 177 | spin(); |
| elmbed | 17:d8b901d791fd | 178 | } |
| elmbed | 17:d8b901d791fd | 179 | |
| elmbed | 17:d8b901d791fd | 180 | void getNext() |
| elmbed | 17:d8b901d791fd | 181 | { |
| elmbed | 17:d8b901d791fd | 182 | if(mode == FREEFORM) |
| elmbed | 17:d8b901d791fd | 183 | { |
| elmbed | 17:d8b901d791fd | 184 | DEBUG("get next freeform\r\n"); |
| elmbed | 17:d8b901d791fd | 185 | ++active_cone;//getRandomCone(); |
| elmbed | 17:d8b901d791fd | 186 | if (active_cone > 6) |
| elmbed | 17:d8b901d791fd | 187 | { |
| elmbed | 17:d8b901d791fd | 188 | active_cone = 1; |
| elmbed | 17:d8b901d791fd | 189 | } |
| elmbed | 17:d8b901d791fd | 190 | mask = 0x07; |
| elmbed | 17:d8b901d791fd | 191 | ta.setMask(mask & LIGHTS); |
| elmbed | 17:d8b901d791fd | 192 | timeout = ~0; |
| elmbed | 17:d8b901d791fd | 193 | return; |
| elmbed | 17:d8b901d791fd | 194 | } |
| elmbed | 17:d8b901d791fd | 195 | |
| elmbed | 17:d8b901d791fd | 196 | active_cone = cones[index]; |
| elmbed | 17:d8b901d791fd | 197 | mask = masks[index]; |
| elmbed | 17:d8b901d791fd | 198 | fakeout = mask & FAKEOUT; |
| elmbed | 17:d8b901d791fd | 199 | fail_quick = mask & FAIL_QUICK; |
| elmbed | 17:d8b901d791fd | 200 | timeout = times[index]; |
| elmbed | 17:d8b901d791fd | 201 | index++; |
| elmbed | 17:d8b901d791fd | 202 | DEBUG("Next cone is \n"); |
| elmbed | 17:d8b901d791fd | 203 | DEBUG("%d\n",active_cone); |
| elmbed | 17:d8b901d791fd | 204 | } |
| elmbed | 17:d8b901d791fd | 205 | |
| elmbed | 17:d8b901d791fd | 206 | void spin() |
| elmbed | 17:d8b901d791fd | 207 | { |
| elmbed | 17:d8b901d791fd | 208 | |
| elmbed | 17:d8b901d791fd | 209 | static patternState_t last_state = START_P; |
| elmbed | 17:d8b901d791fd | 210 | static uint8_t last_cone = 255; |
| elmbed | 17:d8b901d791fd | 211 | static unsigned long start; |
| elmbed | 17:d8b901d791fd | 212 | static unsigned long timer; |
| elmbed | 17:d8b901d791fd | 213 | static bool first; // first should be true when we first enter a state (even if we just exited the same state) |
| elmbed | 17:d8b901d791fd | 214 | char command = 'n'; |
| elmbed | 17:d8b901d791fd | 215 | unsigned long value = 0; |
| elmbed | 17:d8b901d791fd | 216 | |
| elmbed | 17:d8b901d791fd | 217 | m_in->command = 0; |
| elmbed | 17:d8b901d791fd | 218 | m_in->value = 0; |
| elmbed | 17:d8b901d791fd | 219 | m_in->cone = 0; |
| elmbed | 17:d8b901d791fd | 220 | |
| elmbed | 17:d8b901d791fd | 221 | if(ta.recieve(m_in)) |
| elmbed | 17:d8b901d791fd | 222 | { |
| elmbed | 17:d8b901d791fd | 223 | DEBUG("spin received: %d '%c'\r\n", m_in->cone, m_in->command); |
| elmbed | 17:d8b901d791fd | 224 | command = m_in->command; |
| elmbed | 17:d8b901d791fd | 225 | value = m_in->value; |
| elmbed | 17:d8b901d791fd | 226 | } |
| elmbed | 17:d8b901d791fd | 227 | |
| elmbed | 17:d8b901d791fd | 228 | first = false; |
| elmbed | 17:d8b901d791fd | 229 | |
| elmbed | 17:d8b901d791fd | 230 | if(last_state != state_p || new_state) |
| elmbed | 17:d8b901d791fd | 231 | { |
| elmbed | 17:d8b901d791fd | 232 | if(state_p == START_P) |
| elmbed | 17:d8b901d791fd | 233 | DEBUG("State is START\n"); |
| elmbed | 17:d8b901d791fd | 234 | if(state_p == WAITING_P) |
| elmbed | 17:d8b901d791fd | 235 | DEBUG("State is WAITING\n"); |
| elmbed | 17:d8b901d791fd | 236 | if(state_p == ACTIVE_TARGET_P) |
| elmbed | 17:d8b901d791fd | 237 | DEBUG("State is ACTIVE_TARGET\n"); |
| elmbed | 17:d8b901d791fd | 238 | if(state_p == IDLE_P) |
| elmbed | 17:d8b901d791fd | 239 | DEBUG("State is IDLE\n"); |
| elmbed | 17:d8b901d791fd | 240 | if(state_p == FAIL_P) |
| elmbed | 17:d8b901d791fd | 241 | DEBUG("State is FAIL\n"); |
| elmbed | 17:d8b901d791fd | 242 | if(state_p == SUCCESS_P) |
| elmbed | 17:d8b901d791fd | 243 | DEBUG("State is SUCCESS)\n"); |
| elmbed | 17:d8b901d791fd | 244 | |
| elmbed | 17:d8b901d791fd | 245 | first = true; |
| elmbed | 17:d8b901d791fd | 246 | new_state = false; |
| elmbed | 17:d8b901d791fd | 247 | } |
| elmbed | 17:d8b901d791fd | 248 | |
| elmbed | 17:d8b901d791fd | 249 | last_state = state_p; |
| elmbed | 17:d8b901d791fd | 250 | last_cone = active_cone; |
| elmbed | 17:d8b901d791fd | 251 | |
| elmbed | 17:d8b901d791fd | 252 | timer = millis() - start; |
| elmbed | 17:d8b901d791fd | 253 | |
| elmbed | 17:d8b901d791fd | 254 | switch(state_p) |
| elmbed | 17:d8b901d791fd | 255 | { |
| elmbed | 17:d8b901d791fd | 256 | case IDLE_P: |
| elmbed | 17:d8b901d791fd | 257 | if(!in_menu) |
| elmbed | 17:d8b901d791fd | 258 | ta.post_color((ta.activated())?0xFF:0xFF0000); |
| elmbed | 17:d8b901d791fd | 259 | break; |
| elmbed | 17:d8b901d791fd | 260 | |
| elmbed | 17:d8b901d791fd | 261 | case START_P: |
| elmbed | 17:d8b901d791fd | 262 | //clearCones(); |
| elmbed | 17:d8b901d791fd | 263 | tag_start = false; |
| elmbed | 17:d8b901d791fd | 264 | ta.post_color(0xFF0000); |
| elmbed | 17:d8b901d791fd | 265 | index = 0; |
| elmbed | 17:d8b901d791fd | 266 | getNext(); |
| elmbed | 17:d8b901d791fd | 267 | |
| elmbed | 17:d8b901d791fd | 268 | if(timeout == 0) |
| elmbed | 17:d8b901d791fd | 269 | { // timeout of 0 means wait indefinitely for the first cone to be activated, then start the rest of the sequence |
| elmbed | 17:d8b901d791fd | 270 | timeout = ~0; |
| elmbed | 17:d8b901d791fd | 271 | tag_start = true; |
| elmbed | 17:d8b901d791fd | 272 | DEBUG("Activate cone "); |
| elmbed | 17:d8b901d791fd | 273 | DEBUG("%d",active_cone); |
| elmbed | 17:d8b901d791fd | 274 | DEBUG(" to start.\n"); |
| elmbed | 17:d8b901d791fd | 275 | } |
| elmbed | 17:d8b901d791fd | 276 | |
| elmbed | 17:d8b901d791fd | 277 | start = millis(); |
| elmbed | 17:d8b901d791fd | 278 | state_p = stateFromCone(active_cone); |
| elmbed | 17:d8b901d791fd | 279 | if(active_cone == 0) |
| elmbed | 17:d8b901d791fd | 280 | { // in this case stateFromCone returns SUCCESS_P, but really there was no course sequence |
| elmbed | 17:d8b901d791fd | 281 | DEBUG("\n"); |
| elmbed | 17:d8b901d791fd | 282 | DEBUG("Empty course sequence!\n"); |
| elmbed | 17:d8b901d791fd | 283 | ta.post_color(0x0000FF); |
| elmbed | 17:d8b901d791fd | 284 | state_p = IDLE_P; |
| elmbed | 17:d8b901d791fd | 285 | break; |
| elmbed | 17:d8b901d791fd | 286 | } |
| elmbed | 17:d8b901d791fd | 287 | break; |
| elmbed | 17:d8b901d791fd | 288 | |
| elmbed | 17:d8b901d791fd | 289 | case WAITING_P: |
| elmbed | 17:d8b901d791fd | 290 | if(first) |
| elmbed | 17:d8b901d791fd | 291 | { |
| elmbed | 17:d8b901d791fd | 292 | m->command = 'm'; |
| elmbed | 17:d8b901d791fd | 293 | m->value = mask; |
| elmbed | 17:d8b901d791fd | 294 | m->cone = active_cone; |
| elmbed | 17:d8b901d791fd | 295 | ta.send(m); |
| elmbed | 17:d8b901d791fd | 296 | m->command = 't'; |
| elmbed | 17:d8b901d791fd | 297 | m->value = (uint32_t)timeout; |
| elmbed | 17:d8b901d791fd | 298 | ta.send(m); |
| elmbed | 17:d8b901d791fd | 299 | m->command = 'g'; |
| elmbed | 17:d8b901d791fd | 300 | ta.send(m); |
| elmbed | 17:d8b901d791fd | 301 | |
| elmbed | 17:d8b901d791fd | 302 | DEBUG("m_in cone=%d\n", active_cone); |
| elmbed | 17:d8b901d791fd | 303 | m_in->cone = active_cone; |
| elmbed | 17:d8b901d791fd | 304 | command = 'd'; |
| elmbed | 17:d8b901d791fd | 305 | |
| elmbed | 17:d8b901d791fd | 306 | } |
| elmbed | 17:d8b901d791fd | 307 | |
| elmbed | 17:d8b901d791fd | 308 | ta.post_color(( ta.activated())?0xFF:0xFF0000); |
| elmbed | 17:d8b901d791fd | 309 | |
| elmbed | 17:d8b901d791fd | 310 | DEBUG("Waiting: %d %d %c\n", m_in->cone, active_cone, command); |
| elmbed | 17:d8b901d791fd | 311 | |
| elmbed | 17:d8b901d791fd | 312 | if((m_in->cone == active_cone && command == 'd' ) || ((timer >= timeout) && fakeout)) |
| elmbed | 17:d8b901d791fd | 313 | { |
| elmbed | 17:d8b901d791fd | 314 | if((timer >= timeout) && !fakeout) |
| elmbed | 17:d8b901d791fd | 315 | { |
| elmbed | 17:d8b901d791fd | 316 | DEBUG("Timesplit penalty! "); |
| elmbed | 17:d8b901d791fd | 317 | } |
| elmbed | 17:d8b901d791fd | 318 | printSplit(timer); |
| elmbed | 17:d8b901d791fd | 319 | getNext(); |
| elmbed | 17:d8b901d791fd | 320 | start = millis(); |
| elmbed | 17:d8b901d791fd | 321 | |
| elmbed | 17:d8b901d791fd | 322 | state_p = stateFromCone(active_cone); |
| elmbed | 17:d8b901d791fd | 323 | |
| elmbed | 17:d8b901d791fd | 324 | if(state_p == WAITING_P) |
| elmbed | 17:d8b901d791fd | 325 | { |
| elmbed | 17:d8b901d791fd | 326 | DEBUG("New state from waiting\n"); |
| elmbed | 17:d8b901d791fd | 327 | new_state = true; |
| elmbed | 17:d8b901d791fd | 328 | } |
| elmbed | 17:d8b901d791fd | 329 | } |
| elmbed | 17:d8b901d791fd | 330 | else if(~timeout != 0 && mode == PATTERN && timer >= (timeout + ((fail_quick)?0:GRACE_PERIOD))) |
| elmbed | 17:d8b901d791fd | 331 | { |
| elmbed | 17:d8b901d791fd | 332 | DEBUG("Failing from wait\n"); |
| elmbed | 17:d8b901d791fd | 333 | state_p = FAIL_P; |
| elmbed | 17:d8b901d791fd | 334 | } |
| elmbed | 17:d8b901d791fd | 335 | break; |
| elmbed | 17:d8b901d791fd | 336 | |
| elmbed | 17:d8b901d791fd | 337 | case ACTIVE_TARGET_P: |
| elmbed | 17:d8b901d791fd | 338 | if(first) |
| elmbed | 17:d8b901d791fd | 339 | { |
| elmbed | 17:d8b901d791fd | 340 | ta.setMask(mask); |
| elmbed | 17:d8b901d791fd | 341 | |
| elmbed | 17:d8b901d791fd | 342 | warning = false; |
| elmbed | 17:d8b901d791fd | 343 | penalty = false; |
| elmbed | 17:d8b901d791fd | 344 | ta.pulse(50,750,~0L,0x00FF00); |
| elmbed | 17:d8b901d791fd | 345 | //if(!(mask & SILENT))ta.pulse(50,750,~0L,0c00FF00); |
| elmbed | 17:d8b901d791fd | 346 | } |
| elmbed | 17:d8b901d791fd | 347 | if(timer >= timeout) |
| elmbed | 17:d8b901d791fd | 348 | { |
| elmbed | 17:d8b901d791fd | 349 | if(!penalty) |
| elmbed | 17:d8b901d791fd | 350 | { |
| elmbed | 17:d8b901d791fd | 351 | ta.pulse(50,325,~0L,0xFF00FF); |
| elmbed | 17:d8b901d791fd | 352 | |
| elmbed | 17:d8b901d791fd | 353 | penalty = true; |
| elmbed | 17:d8b901d791fd | 354 | } |
| elmbed | 17:d8b901d791fd | 355 | ta.mask_color(0xFF00FF); |
| elmbed | 17:d8b901d791fd | 356 | } |
| elmbed | 17:d8b901d791fd | 357 | else if(timer > ((timeout*3)/4) && !warning) |
| elmbed | 17:d8b901d791fd | 358 | { |
| elmbed | 17:d8b901d791fd | 359 | warning = true; |
| elmbed | 17:d8b901d791fd | 360 | ta.pulse(50,750,~0L,0xFFFF00); |
| elmbed | 17:d8b901d791fd | 361 | } |
| elmbed | 17:d8b901d791fd | 362 | |
| elmbed | 17:d8b901d791fd | 363 | if(ta.activated() || ((timer >= timeout) && fakeout)) |
| elmbed | 17:d8b901d791fd | 364 | { |
| elmbed | 17:d8b901d791fd | 365 | if((timer >= timeout) && !fakeout) |
| elmbed | 17:d8b901d791fd | 366 | DEBUG("Timesplit penalty! "); |
| elmbed | 17:d8b901d791fd | 367 | |
| elmbed | 17:d8b901d791fd | 368 | printSplit(timer); |
| elmbed | 17:d8b901d791fd | 369 | ta.post_color(0xFF0000); |
| elmbed | 17:d8b901d791fd | 370 | getNext(); |
| elmbed | 17:d8b901d791fd | 371 | start = millis(); |
| elmbed | 17:d8b901d791fd | 372 | state_p = stateFromCone(active_cone); |
| elmbed | 17:d8b901d791fd | 373 | |
| elmbed | 17:d8b901d791fd | 374 | if(state_p == ACTIVE_TARGET_P) |
| elmbed | 17:d8b901d791fd | 375 | new_state = true; |
| elmbed | 17:d8b901d791fd | 376 | ta.pulse_off(); |
| elmbed | 17:d8b901d791fd | 377 | |
| elmbed | 17:d8b901d791fd | 378 | } |
| elmbed | 17:d8b901d791fd | 379 | else if(~timeout != 0 && mode == PATTERN && timer >= (timeout + ((fail_quick)?0:GRACE_PERIOD))) |
| elmbed | 17:d8b901d791fd | 380 | { |
| elmbed | 17:d8b901d791fd | 381 | state_p = FAIL_P; |
| elmbed | 17:d8b901d791fd | 382 | ta.pulse_off(); |
| elmbed | 17:d8b901d791fd | 383 | } |
| elmbed | 17:d8b901d791fd | 384 | //DEBUG.println(timeout + ((fail_quick)?0:GRACE_PERIOD)); |
| elmbed | 17:d8b901d791fd | 385 | //DEBUG.println(timeout); |
| elmbed | 17:d8b901d791fd | 386 | |
| elmbed | 17:d8b901d791fd | 387 | break; |
| elmbed | 17:d8b901d791fd | 388 | |
| elmbed | 17:d8b901d791fd | 389 | case FAIL_P: |
| elmbed | 17:d8b901d791fd | 390 | if(first) |
| elmbed | 17:d8b901d791fd | 391 | { |
| elmbed | 17:d8b901d791fd | 392 | start = millis(); |
| elmbed | 17:d8b901d791fd | 393 | DEBUG("\n"); |
| elmbed | 17:d8b901d791fd | 394 | DEBUG("Timeout\n"); |
| elmbed | 17:d8b901d791fd | 395 | //ta.post_color(); |
| elmbed | 17:d8b901d791fd | 396 | ta.pulse(25,200,3000,0xFF0000); |
| elmbed | 17:d8b901d791fd | 397 | |
| elmbed | 17:d8b901d791fd | 398 | failCones(); |
| elmbed | 17:d8b901d791fd | 399 | //ta.fail(); |
| elmbed | 17:d8b901d791fd | 400 | } |
| elmbed | 17:d8b901d791fd | 401 | else if(timer > 3000) |
| elmbed | 17:d8b901d791fd | 402 | { |
| elmbed | 17:d8b901d791fd | 403 | DEBUG("Clear!\n"); |
| elmbed | 17:d8b901d791fd | 404 | state_p = IDLE_P; |
| elmbed | 17:d8b901d791fd | 405 | clearCones(); |
| elmbed | 17:d8b901d791fd | 406 | } |
| elmbed | 17:d8b901d791fd | 407 | break; |
| elmbed | 17:d8b901d791fd | 408 | case SUCCESS_P: |
| elmbed | 17:d8b901d791fd | 409 | if(first) |
| elmbed | 17:d8b901d791fd | 410 | { |
| elmbed | 17:d8b901d791fd | 411 | start = millis(); |
| elmbed | 17:d8b901d791fd | 412 | DEBUG("\n"); |
| elmbed | 17:d8b901d791fd | 413 | DEBUG("Done!\n"); |
| elmbed | 17:d8b901d791fd | 414 | ta.post_color(0x00FF00); |
| elmbed | 17:d8b901d791fd | 415 | ta.beep(1500); |
| elmbed | 17:d8b901d791fd | 416 | successCones(); |
| elmbed | 17:d8b901d791fd | 417 | //ta.success(); |
| elmbed | 17:d8b901d791fd | 418 | } |
| elmbed | 17:d8b901d791fd | 419 | else if(timer > 1500) |
| elmbed | 17:d8b901d791fd | 420 | { |
| elmbed | 17:d8b901d791fd | 421 | DEBUG("Clear!\n"); |
| elmbed | 17:d8b901d791fd | 422 | state_p = IDLE_P; |
| elmbed | 17:d8b901d791fd | 423 | clearCones(); |
| elmbed | 17:d8b901d791fd | 424 | } |
| elmbed | 17:d8b901d791fd | 425 | break; |
| elmbed | 17:d8b901d791fd | 426 | |
| elmbed | 17:d8b901d791fd | 427 | default: |
| elmbed | 17:d8b901d791fd | 428 | break; |
| elmbed | 17:d8b901d791fd | 429 | } |
| elmbed | 17:d8b901d791fd | 430 | |
| elmbed | 17:d8b901d791fd | 431 | } |
| elmbed | 17:d8b901d791fd | 432 | |
| elmbed | 17:d8b901d791fd | 433 | void getRadioInput(char *ibuffer, int size) |
| elmbed | 17:d8b901d791fd | 434 | { |
| elmbed | 17:d8b901d791fd | 435 | static int i = 0; |
| elmbed | 17:d8b901d791fd | 436 | int buffer_counter = 0; |
| elmbed | 17:d8b901d791fd | 437 | static char parameter = '_'; |
| elmbed | 17:d8b901d791fd | 438 | static char buffer[MAX_LEN + 1]; |
| elmbed | 17:d8b901d791fd | 439 | int value = 0; |
| elmbed | 17:d8b901d791fd | 440 | char *endp = NULL; |
| elmbed | 17:d8b901d791fd | 441 | |
| elmbed | 17:d8b901d791fd | 442 | // listen for commands coming over bluetooth |
| elmbed | 17:d8b901d791fd | 443 | while (buffer_counter < size) |
| elmbed | 17:d8b901d791fd | 444 | { |
| elmbed | 17:d8b901d791fd | 445 | char ch = ibuffer[buffer_counter++]; |
| elmbed | 17:d8b901d791fd | 446 | |
| elmbed | 17:d8b901d791fd | 447 | if((ch == '\r' || ch == ';' || ch == '\n') && parameter != '_') |
| elmbed | 17:d8b901d791fd | 448 | { |
| elmbed | 17:d8b901d791fd | 449 | if(i > 1) |
| elmbed | 17:d8b901d791fd | 450 | { |
| elmbed | 17:d8b901d791fd | 451 | buffer[i-1] = 0; |
| elmbed | 17:d8b901d791fd | 452 | value = atoi(buffer); |
| elmbed | 17:d8b901d791fd | 453 | |
| elmbed | 17:d8b901d791fd | 454 | if(parameter == 'l') |
| elmbed | 17:d8b901d791fd | 455 | value = strtoul(buffer, &endp, 2); |
| elmbed | 17:d8b901d791fd | 456 | } |
| elmbed | 17:d8b901d791fd | 457 | //////DEBUG.print(parameter); |
| elmbed | 17:d8b901d791fd | 458 | //////DEBUG.println(value); |
| elmbed | 17:d8b901d791fd | 459 | //////DEBUG.println("not _"); |
| elmbed | 17:d8b901d791fd | 460 | interpret(parameter, value); |
| elmbed | 17:d8b901d791fd | 461 | DEBUG("After interp: '%c'\r\n", parameter); |
| elmbed | 17:d8b901d791fd | 462 | parameter = '_'; |
| elmbed | 17:d8b901d791fd | 463 | buffer[0] = 0; |
| elmbed | 17:d8b901d791fd | 464 | i=0; |
| elmbed | 17:d8b901d791fd | 465 | } |
| elmbed | 17:d8b901d791fd | 466 | else |
| elmbed | 17:d8b901d791fd | 467 | { |
| elmbed | 17:d8b901d791fd | 468 | if(i==0) |
| elmbed | 17:d8b901d791fd | 469 | parameter = ch; |
| elmbed | 17:d8b901d791fd | 470 | else |
| elmbed | 17:d8b901d791fd | 471 | buffer[i-1] = ch; |
| elmbed | 17:d8b901d791fd | 472 | i++; |
| elmbed | 17:d8b901d791fd | 473 | } |
| elmbed | 17:d8b901d791fd | 474 | |
| elmbed | 17:d8b901d791fd | 475 | if(ch == '_' || ch == '\r' || ch == ';' || ch == '\n') |
| elmbed | 17:d8b901d791fd | 476 | { |
| elmbed | 17:d8b901d791fd | 477 | parameter = '_'; |
| elmbed | 17:d8b901d791fd | 478 | buffer[0] = 0; |
| elmbed | 17:d8b901d791fd | 479 | i=0; |
| elmbed | 17:d8b901d791fd | 480 | } |
| elmbed | 17:d8b901d791fd | 481 | } |
| elmbed | 17:d8b901d791fd | 482 | |
| elmbed | 17:d8b901d791fd | 483 | DEBUG("End of radio input\r\n"); |
| elmbed | 17:d8b901d791fd | 484 | } |
| elmbed | 17:d8b901d791fd | 485 | |
| elmbed | 17:d8b901d791fd | 486 | void interpret(char parameter, int value) |
| elmbed | 17:d8b901d791fd | 487 | { |
| elmbed | 17:d8b901d791fd | 488 | int remainder = 0; |
| elmbed | 17:d8b901d791fd | 489 | uint16_t split = 0; |
| elmbed | 17:d8b901d791fd | 490 | uint16_t t = 0; |
| elmbed | 17:d8b901d791fd | 491 | uint8_t c = 0; |
| elmbed | 17:d8b901d791fd | 492 | uint8_t l = 0; |
| elmbed | 17:d8b901d791fd | 493 | int last = 0; |
| elmbed | 17:d8b901d791fd | 494 | int middle = 0; |
| elmbed | 17:d8b901d791fd | 495 | uint8_t length = 0; |
| elmbed | 17:d8b901d791fd | 496 | uint8_t offset = 0; |
| elmbed | 17:d8b901d791fd | 497 | int i = 0; |
| elmbed | 17:d8b901d791fd | 498 | uint8_t v = 0; |
| elmbed | 17:d8b901d791fd | 499 | uint16_t val = 0; |
| elmbed | 17:d8b901d791fd | 500 | char phone_buffer[150] = {0}; |
| elmbed | 17:d8b901d791fd | 501 | |
| elmbed | 17:d8b901d791fd | 502 | switch(parameter) |
| elmbed | 17:d8b901d791fd | 503 | { |
| elmbed | 17:d8b901d791fd | 504 | case 'S': |
| elmbed | 17:d8b901d791fd | 505 | ta.spin(); |
| elmbed | 17:d8b901d791fd | 506 | break; |
| elmbed | 17:d8b901d791fd | 507 | case 'f': |
| elmbed | 17:d8b901d791fd | 508 | if(lonely) |
| elmbed | 17:d8b901d791fd | 509 | { |
| elmbed | 17:d8b901d791fd | 510 | DEBUG("Sorry, no other cones detected, please try detecting cones first."); |
| elmbed | 17:d8b901d791fd | 511 | break; |
| elmbed | 17:d8b901d791fd | 512 | } |
| elmbed | 17:d8b901d791fd | 513 | DEBUG("Entered freeform"); |
| elmbed | 17:d8b901d791fd | 514 | mode = FREEFORM; |
| elmbed | 17:d8b901d791fd | 515 | state_p = START_P; |
| elmbed | 17:d8b901d791fd | 516 | clearCones(); |
| elmbed | 17:d8b901d791fd | 517 | find_cones(); |
| elmbed | 17:d8b901d791fd | 518 | break; |
| elmbed | 17:d8b901d791fd | 519 | case 'p': |
| elmbed | 17:d8b901d791fd | 520 | if(value == 0) |
| elmbed | 17:d8b901d791fd | 521 | { |
| elmbed | 17:d8b901d791fd | 522 | DEBUG("\n"); |
| elmbed | 17:d8b901d791fd | 523 | DEBUG("Running pattern "); |
| elmbed | 17:d8b901d791fd | 524 | //DEBUG(pattern); |
| elmbed | 17:d8b901d791fd | 525 | DEBUG("%d\n",active_sequence + 1); |
| elmbed | 17:d8b901d791fd | 526 | mode = PATTERN; |
| elmbed | 17:d8b901d791fd | 527 | state_p = START_P; |
| elmbed | 17:d8b901d791fd | 528 | active_cone = 0; |
| elmbed | 17:d8b901d791fd | 529 | clearCones(); |
| elmbed | 17:d8b901d791fd | 530 | } |
| elmbed | 17:d8b901d791fd | 531 | else |
| elmbed | 17:d8b901d791fd | 532 | { |
| elmbed | 17:d8b901d791fd | 533 | DEBUG("Selected pattern "); |
| elmbed | 17:d8b901d791fd | 534 | DEBUG("%d\n",value); |
| elmbed | 17:d8b901d791fd | 535 | if(value <= SEQUENCES && value > 0) |
| elmbed | 17:d8b901d791fd | 536 | { |
| elmbed | 17:d8b901d791fd | 537 | active_sequence = value - 1; |
| elmbed | 17:d8b901d791fd | 538 | cones = (uint8_t*)cone_table + (value-1)*STATIONS; |
| elmbed | 17:d8b901d791fd | 539 | times = (uint16_t*)time_table + (value-1)*STATIONS; |
| elmbed | 17:d8b901d791fd | 540 | masks = (uint8_t*)mask_table + (value-1)*STATIONS; |
| elmbed | 17:d8b901d791fd | 541 | } |
| elmbed | 17:d8b901d791fd | 542 | else |
| elmbed | 17:d8b901d791fd | 543 | { |
| elmbed | 17:d8b901d791fd | 544 | DEBUG("This pattern is not available. Please select a value between 1 and "); |
| elmbed | 17:d8b901d791fd | 545 | DEBUG("%d\n",SEQUENCES); |
| elmbed | 17:d8b901d791fd | 546 | } |
| elmbed | 17:d8b901d791fd | 547 | } |
| elmbed | 17:d8b901d791fd | 548 | break; |
| elmbed | 17:d8b901d791fd | 549 | case 's': |
| elmbed | 17:d8b901d791fd | 550 | station = value; |
| elmbed | 17:d8b901d791fd | 551 | DEBUG("Selected station "); |
| elmbed | 17:d8b901d791fd | 552 | DEBUG("%d\n",value); |
| elmbed | 17:d8b901d791fd | 553 | break; |
| elmbed | 17:d8b901d791fd | 554 | case 'd': |
| elmbed | 17:d8b901d791fd | 555 | if(value == 0) |
| elmbed | 17:d8b901d791fd | 556 | { |
| elmbed | 17:d8b901d791fd | 557 | logging = false; |
| elmbed | 17:d8b901d791fd | 558 | m->value = 0; |
| elmbed | 17:d8b901d791fd | 559 | dist_timeout = micros() + 2000000; |
| elmbed | 17:d8b901d791fd | 560 | } |
| elmbed | 17:d8b901d791fd | 561 | if(value == 1) |
| elmbed | 17:d8b901d791fd | 562 | { |
| elmbed | 17:d8b901d791fd | 563 | logging = true; |
| elmbed | 17:d8b901d791fd | 564 | m->value = 1; |
| elmbed | 17:d8b901d791fd | 565 | } |
| elmbed | 17:d8b901d791fd | 566 | |
| elmbed | 17:d8b901d791fd | 567 | m->command = 'd'; |
| elmbed | 17:d8b901d791fd | 568 | m->cone = TRILAT_CONE; |
| elmbed | 17:d8b901d791fd | 569 | ta.send(m); |
| elmbed | 17:d8b901d791fd | 570 | DEBUG("Sent d"); |
| elmbed | 17:d8b901d791fd | 571 | //DEBUG(value); |
| elmbed | 17:d8b901d791fd | 572 | break; |
| elmbed | 17:d8b901d791fd | 573 | case 'c': |
| elmbed | 17:d8b901d791fd | 574 | c = value; |
| elmbed | 17:d8b901d791fd | 575 | DEBUG("Station "); |
| elmbed | 17:d8b901d791fd | 576 | DEBUG("%d",station); |
| elmbed | 17:d8b901d791fd | 577 | DEBUG(" will be cone "); |
| elmbed | 17:d8b901d791fd | 578 | DEBUG("%d\n",value); |
| elmbed | 17:d8b901d791fd | 579 | |
| elmbed | 17:d8b901d791fd | 580 | if(station <= STATIONS && station > 0) |
| elmbed | 17:d8b901d791fd | 581 | cones[station-1] = c; |
| elmbed | 17:d8b901d791fd | 582 | break; |
| elmbed | 17:d8b901d791fd | 583 | case 't': |
| elmbed | 17:d8b901d791fd | 584 | t = (uint16_t)value; |
| elmbed | 17:d8b901d791fd | 585 | //snprintf(buffer, sizeof(buffer), "station"); |
| elmbed | 17:d8b901d791fd | 586 | snprintf(phone_buffer, sizeof(phone_buffer), "Station %d split time is: %d.\n", station, t/1000); |
| elmbed | 17:d8b901d791fd | 587 | DEBUG(phone_buffer); |
| elmbed | 17:d8b901d791fd | 588 | //writeToPhone(phone_buffer); |
| elmbed | 17:d8b901d791fd | 589 | //writeToPhone("%d",station); |
| elmbed | 17:d8b901d791fd | 590 | //writeToPhone(" split time is: "); |
| elmbed | 17:d8b901d791fd | 591 | //writeToPhone("%d",t/1000); |
| elmbed | 17:d8b901d791fd | 592 | //writeToPhone("."); |
| elmbed | 17:d8b901d791fd | 593 | remainder = t%1000; |
| elmbed | 17:d8b901d791fd | 594 | |
| elmbed | 17:d8b901d791fd | 595 | //if(remainder < 100) |
| elmbed | 17:d8b901d791fd | 596 | //writeToPhone("0"); |
| elmbed | 17:d8b901d791fd | 597 | //if(remainder < 10) |
| elmbed | 17:d8b901d791fd | 598 | // writeToPhone("0"); |
| elmbed | 17:d8b901d791fd | 599 | //snprintf(buffer, sizeof(buffer), "%d\n seconds\n\n", remainder); |
| elmbed | 17:d8b901d791fd | 600 | //writeToPhone(buffer); |
| elmbed | 17:d8b901d791fd | 601 | //writeToPhone("%d\n",remainder); |
| elmbed | 17:d8b901d791fd | 602 | //writeToPhone(" seconds.\n"); |
| elmbed | 17:d8b901d791fd | 603 | //writeToPhone("\n"); |
| elmbed | 17:d8b901d791fd | 604 | |
| elmbed | 17:d8b901d791fd | 605 | if(station <= STATIONS && station > 0) |
| elmbed | 17:d8b901d791fd | 606 | times[station-1] = t; |
| elmbed | 17:d8b901d791fd | 607 | break; |
| elmbed | 17:d8b901d791fd | 608 | case 'l': |
| elmbed | 17:d8b901d791fd | 609 | l = 0; |
| elmbed | 17:d8b901d791fd | 610 | l = (uint8_t)value; |
| elmbed | 17:d8b901d791fd | 611 | masks[station-1] = l; |
| elmbed | 17:d8b901d791fd | 612 | DEBUG("Station "); |
| elmbed | 17:d8b901d791fd | 613 | DEBUG("%d",station); |
| elmbed | 17:d8b901d791fd | 614 | //DEBUG(" config bits: "); |
| elmbed | 17:d8b901d791fd | 615 | //DEBUG("%s",byte_to_binary(l)); |
| elmbed | 17:d8b901d791fd | 616 | //DEBUG("\n"); |
| elmbed | 17:d8b901d791fd | 617 | //} |
| elmbed | 17:d8b901d791fd | 618 | break; |
| elmbed | 17:d8b901d791fd | 619 | case 'q': |
| elmbed | 17:d8b901d791fd | 620 | state_p = IDLE_P; |
| elmbed | 17:d8b901d791fd | 621 | new_state = true; // force state reporting, even if we're already in IDLE |
| elmbed | 17:d8b901d791fd | 622 | ta.pulse_off(); |
| elmbed | 17:d8b901d791fd | 623 | clearCones(); |
| elmbed | 17:d8b901d791fd | 624 | break; |
| elmbed | 17:d8b901d791fd | 625 | case 'r': |
| elmbed | 17:d8b901d791fd | 626 | //////DEBUG.println(F("")); |
| elmbed | 17:d8b901d791fd | 627 | DEBUG("Current pattern is "); |
| elmbed | 17:d8b901d791fd | 628 | DEBUG("%d\n",active_sequence + 1); |
| elmbed | 17:d8b901d791fd | 629 | DEBUG(":\n"); |
| elmbed | 17:d8b901d791fd | 630 | |
| elmbed | 17:d8b901d791fd | 631 | for(int i=0; i<STATIONS; i++) |
| elmbed | 17:d8b901d791fd | 632 | { |
| elmbed | 17:d8b901d791fd | 633 | DEBUG("Station "); |
| elmbed | 17:d8b901d791fd | 634 | DEBUG("%d",i+1); |
| elmbed | 17:d8b901d791fd | 635 | DEBUG(": cone "); |
| elmbed | 17:d8b901d791fd | 636 | DEBUG("%d\n",cones[i]); |
| elmbed | 17:d8b901d791fd | 637 | DEBUG(", "); |
| elmbed | 17:d8b901d791fd | 638 | |
| elmbed | 17:d8b901d791fd | 639 | split = times[i]; |
| elmbed | 17:d8b901d791fd | 640 | printMsAsSeconds(split); |
| elmbed | 17:d8b901d791fd | 641 | //DEBUG.print(F("s timeout, lights: ")); |
| elmbed | 17:d8b901d791fd | 642 | DEBUG("s timeout, config bits: "); |
| elmbed | 17:d8b901d791fd | 643 | l = masks[i]; |
| elmbed | 17:d8b901d791fd | 644 | /* |
| elmbed | 17:d8b901d791fd | 645 | if(l<0x80) |
| elmbed | 17:d8b901d791fd | 646 | ////DEBUG("0"); |
| elmbed | 17:d8b901d791fd | 647 | if(l<0x40) |
| elmbed | 17:d8b901d791fd | 648 | ////DEBUG("0"); |
| elmbed | 17:d8b901d791fd | 649 | if(l<0x20) |
| elmbed | 17:d8b901d791fd | 650 | ////DEBUG("0"); |
| elmbed | 17:d8b901d791fd | 651 | if(l<0x10) |
| elmbed | 17:d8b901d791fd | 652 | ////DEBUG("0"); |
| elmbed | 17:d8b901d791fd | 653 | if(l<0x08) |
| elmbed | 17:d8b901d791fd | 654 | ////DEBUG("0"); |
| elmbed | 17:d8b901d791fd | 655 | if(l<0x04) |
| elmbed | 17:d8b901d791fd | 656 | ////DEBUG("0"); |
| elmbed | 17:d8b901d791fd | 657 | if(l<0x02) |
| elmbed | 17:d8b901d791fd | 658 | ////DEBUG("0"); |
| elmbed | 17:d8b901d791fd | 659 | //////DEBUG("%s\n",byte_to_binary(l)); |
| elmbed | 17:d8b901d791fd | 660 | */ |
| elmbed | 17:d8b901d791fd | 661 | } |
| elmbed | 17:d8b901d791fd | 662 | break; |
| elmbed | 17:d8b901d791fd | 663 | case 'u': |
| elmbed | 17:d8b901d791fd | 664 | // let any pending messages clear |
| elmbed | 17:d8b901d791fd | 665 | while(ta.get_buffer_size()) |
| elmbed | 17:d8b901d791fd | 666 | { |
| elmbed | 17:d8b901d791fd | 667 | ta.spin(); |
| elmbed | 17:d8b901d791fd | 668 | } |
| elmbed | 17:d8b901d791fd | 669 | |
| elmbed | 17:d8b901d791fd | 670 | if(value == 1) |
| elmbed | 17:d8b901d791fd | 671 | { |
| elmbed | 17:d8b901d791fd | 672 | DEBUG("Course leader!"); |
| elmbed | 17:d8b901d791fd | 673 | powerupCones(value); |
| elmbed | 17:d8b901d791fd | 674 | ta.powerup(value); |
| elmbed | 17:d8b901d791fd | 675 | } |
| elmbed | 17:d8b901d791fd | 676 | |
| elmbed | 17:d8b901d791fd | 677 | if(value == 2) |
| elmbed | 17:d8b901d791fd | 678 | { |
| elmbed | 17:d8b901d791fd | 679 | DEBUG("Split leader!"); |
| elmbed | 17:d8b901d791fd | 680 | powerupCones(value); |
| elmbed | 17:d8b901d791fd | 681 | ta.powerup(value); |
| elmbed | 17:d8b901d791fd | 682 | } |
| elmbed | 17:d8b901d791fd | 683 | |
| elmbed | 17:d8b901d791fd | 684 | if(value > 10 && value < 5000) |
| elmbed | 17:d8b901d791fd | 685 | { |
| elmbed | 17:d8b901d791fd | 686 | ta.beep(value); |
| elmbed | 17:d8b901d791fd | 687 | } |
| elmbed | 17:d8b901d791fd | 688 | break; |
| elmbed | 17:d8b901d791fd | 689 | case 'w': |
| elmbed | 17:d8b901d791fd | 690 | if(value > 0 && value <= SEQUENCES) |
| elmbed | 17:d8b901d791fd | 691 | { |
| elmbed | 17:d8b901d791fd | 692 | length = STATIONS; |
| elmbed | 17:d8b901d791fd | 693 | offset = (value - 1) * STATIONS; |
| elmbed | 17:d8b901d791fd | 694 | DEBUG("Saved sequence "); |
| elmbed | 17:d8b901d791fd | 695 | DEBUG("%d\n",value); |
| elmbed | 17:d8b901d791fd | 696 | } |
| elmbed | 17:d8b901d791fd | 697 | else |
| elmbed | 17:d8b901d791fd | 698 | { |
| elmbed | 17:d8b901d791fd | 699 | length = STATIONS * SEQUENCES; |
| elmbed | 17:d8b901d791fd | 700 | offset = 0; |
| elmbed | 17:d8b901d791fd | 701 | DEBUG("Saved all sequences.\n"); |
| elmbed | 17:d8b901d791fd | 702 | } |
| elmbed | 17:d8b901d791fd | 703 | |
| elmbed | 17:d8b901d791fd | 704 | for(i=offset;i<length+offset;i++) |
| elmbed | 17:d8b901d791fd | 705 | { |
| elmbed | 17:d8b901d791fd | 706 | //eeprom_update_byte(addressConeTable + i, cone_table[i]); !SR |
| elmbed | 17:d8b901d791fd | 707 | //eeprom_update_byte(addressMaskTable + i, mask_table[i]); !SR |
| elmbed | 17:d8b901d791fd | 708 | //eeprom_update_word(addressTimeTable + i, time_table[i]); !SR |
| elmbed | 17:d8b901d791fd | 709 | } |
| elmbed | 17:d8b901d791fd | 710 | break; |
| elmbed | 17:d8b901d791fd | 711 | case 'x': |
| elmbed | 17:d8b901d791fd | 712 | resetSensors(); |
| elmbed | 17:d8b901d791fd | 713 | //a3 = 0; |
| elmbed | 17:d8b901d791fd | 714 | wait_ms(100); |
| elmbed | 17:d8b901d791fd | 715 | //a3 = 1; |
| elmbed | 17:d8b901d791fd | 716 | break; |
| elmbed | 17:d8b901d791fd | 717 | |
| elmbed | 17:d8b901d791fd | 718 | case 'z': |
| elmbed | 17:d8b901d791fd | 719 | find_cones(); |
| elmbed | 17:d8b901d791fd | 720 | DEBUG("end of 'z'\r\n"); |
| elmbed | 17:d8b901d791fd | 721 | /*!SR |
| elmbed | 17:d8b901d791fd | 722 | m->value = value; |
| elmbed | 17:d8b901d791fd | 723 | m->command = 'z'; |
| elmbed | 17:d8b901d791fd | 724 | m->cone = 2; |
| elmbed | 17:d8b901d791fd | 725 | DEBUG("sending..."); |
| elmbed | 17:d8b901d791fd | 726 | ta.send(m); |
| elmbed | 17:d8b901d791fd | 727 | DEBUG("sent"); |
| elmbed | 17:d8b901d791fd | 728 | */ |
| elmbed | 17:d8b901d791fd | 729 | break; |
| elmbed | 17:d8b901d791fd | 730 | |
| elmbed | 17:d8b901d791fd | 731 | default: |
| elmbed | 17:d8b901d791fd | 732 | // seems like this is overflowing some memory somewhere, so commented out for now |
| elmbed | 17:d8b901d791fd | 733 | /*////DEBUG.println(F("")); |
| elmbed | 17:d8b901d791fd | 734 | ////DEBUG.println(F("Enter:")); |
| elmbed | 17:d8b901d791fd | 735 | ////DEBUG.println(F("'f;' to run freeform patterns")); |
| elmbed | 17:d8b901d791fd | 736 | ////DEBUG.println(F("'p;' to run the previously selected programmed pattern")); |
| elmbed | 17:d8b901d791fd | 737 | ////DEBUG.println(F("'r;' to review the custom pattern")); |
| elmbed | 17:d8b901d791fd | 738 | ////DEBUG.println(F("'p#;' to select a pattern")); |
| elmbed | 17:d8b901d791fd | 739 | ////DEBUG.println(F("'s#;' to select a station")); |
| elmbed | 17:d8b901d791fd | 740 | ////DEBUG.println(F("'c#;' to assign a cone to the selected station")); |
| elmbed | 17:d8b901d791fd | 741 | ////DEBUG.println(F("'t#;' to assign a time to a station (in milliseconds)")); |
| elmbed | 17:d8b901d791fd | 742 | ////DEBUG.println(F("'l###;' to set the active lights (111 = on,on,on 000=off,off,off")); |
| elmbed | 17:d8b901d791fd | 743 | ////DEBUG.println(F("All commands must be terminated by ';'")); |
| elmbed | 17:d8b901d791fd | 744 | ////DEBUG.println(F("")); |
| elmbed | 17:d8b901d791fd | 745 | ////DEBUG.println(F("Examples:")); |
| elmbed | 17:d8b901d791fd | 746 | ////DEBUG.println(F("'s1;'")); |
| elmbed | 17:d8b901d791fd | 747 | ////DEBUG.println(F("Select the first station")); |
| elmbed | 17:d8b901d791fd | 748 | ////DEBUG.println(F("")); |
| elmbed | 17:d8b901d791fd | 749 | ////DEBUG.println(F("'c4;t5000;'")); |
| elmbed | 17:d8b901d791fd | 750 | ////DEBUG.println(F("Assign cone 4 and a time split of 5 seconds ")); |
| elmbed | 17:d8b901d791fd | 751 | ////DEBUG.println(F("to the current station 1")); |
| elmbed | 17:d8b901d791fd | 752 | ////DEBUG.println(F("")); |
| elmbed | 17:d8b901d791fd | 753 | ////DEBUG.println(F("'s2;c4;t1500;'")); |
| elmbed | 17:d8b901d791fd | 754 | ////DEBUG.println(F("Assign cone 2 as the next station 2, ")); |
| elmbed | 17:d8b901d791fd | 755 | ////DEBUG.println(F("and require a time split of 1.5 seconds."));*/ |
| elmbed | 17:d8b901d791fd | 756 | break; |
| elmbed | 17:d8b901d791fd | 757 | } |
| elmbed | 17:d8b901d791fd | 758 | } |
| elmbed | 17:d8b901d791fd | 759 | |
| elmbed | 17:d8b901d791fd | 760 | patternState_t stateFromCone(uint8_t cone) |
| elmbed | 17:d8b901d791fd | 761 | { |
| elmbed | 17:d8b901d791fd | 762 | if(cone == 0 || index == STATIONS) |
| elmbed | 17:d8b901d791fd | 763 | return SUCCESS_P; |
| elmbed | 17:d8b901d791fd | 764 | if(cone == 1) |
| elmbed | 17:d8b901d791fd | 765 | return ACTIVE_TARGET_P; |
| elmbed | 17:d8b901d791fd | 766 | |
| elmbed | 17:d8b901d791fd | 767 | return WAITING_P; |
| elmbed | 17:d8b901d791fd | 768 | } |
| elmbed | 17:d8b901d791fd | 769 | |
| elmbed | 17:d8b901d791fd | 770 | void printSplit(unsigned long timer) |
| elmbed | 17:d8b901d791fd | 771 | { |
| elmbed | 17:d8b901d791fd | 772 | if(tag_start) |
| elmbed | 17:d8b901d791fd | 773 | { |
| elmbed | 17:d8b901d791fd | 774 | //DEBUG("Sequence started at cone "); |
| elmbed | 17:d8b901d791fd | 775 | //DEBUG("%d",active_cone); |
| elmbed | 17:d8b901d791fd | 776 | //DEBUG(" ("); |
| elmbed | 17:d8b901d791fd | 777 | printMsAsSeconds(timer); |
| elmbed | 17:d8b901d791fd | 778 | //DEBUG(" seconds).\n"); |
| elmbed | 17:d8b901d791fd | 779 | tag_start = false; |
| elmbed | 17:d8b901d791fd | 780 | } |
| elmbed | 17:d8b901d791fd | 781 | else |
| elmbed | 17:d8b901d791fd | 782 | { |
| elmbed | 17:d8b901d791fd | 783 | //DEBUG("Target cone is: "); |
| elmbed | 17:d8b901d791fd | 784 | //DEBUG("%d",active_cone); |
| elmbed | 17:d8b901d791fd | 785 | //DEBUG(", "); |
| elmbed | 17:d8b901d791fd | 786 | printMsAsSeconds(timer); |
| elmbed | 17:d8b901d791fd | 787 | //DEBUG(" split"); |
| elmbed | 17:d8b901d791fd | 788 | } |
| elmbed | 17:d8b901d791fd | 789 | } |
| elmbed | 17:d8b901d791fd | 790 | |
| elmbed | 17:d8b901d791fd | 791 | uint8_t getRandomCone(void) |
| elmbed | 17:d8b901d791fd | 792 | { |
| elmbed | 17:d8b901d791fd | 793 | static uint8_t lastCone = 0; |
| elmbed | 17:d8b901d791fd | 794 | uint8_t cone; |
| elmbed | 17:d8b901d791fd | 795 | |
| elmbed | 17:d8b901d791fd | 796 | do |
| elmbed | 17:d8b901d791fd | 797 | { |
| elmbed | 17:d8b901d791fd | 798 | cone = random(1, NUM_CONES + 1); |
| elmbed | 17:d8b901d791fd | 799 | } |
| elmbed | 17:d8b901d791fd | 800 | while(cone == lastCone || active_cones[cone] == false); |
| elmbed | 17:d8b901d791fd | 801 | |
| elmbed | 17:d8b901d791fd | 802 | //DEBUG("Target cone is "); |
| elmbed | 17:d8b901d791fd | 803 | //DEBUG("%d\n",cone); |
| elmbed | 17:d8b901d791fd | 804 | lastCone = cone; |
| elmbed | 17:d8b901d791fd | 805 | return cone; |
| elmbed | 17:d8b901d791fd | 806 | } |
| elmbed | 17:d8b901d791fd | 807 | |
| elmbed | 17:d8b901d791fd | 808 | void clearCones(void) |
| elmbed | 17:d8b901d791fd | 809 | { |
| elmbed | 17:d8b901d791fd | 810 | uint8_t i; |
| elmbed | 17:d8b901d791fd | 811 | m->command = 'q'; |
| elmbed | 17:d8b901d791fd | 812 | |
| elmbed | 17:d8b901d791fd | 813 | for(i=2;i<NUM_CONES+1;i++) |
| elmbed | 17:d8b901d791fd | 814 | { |
| elmbed | 17:d8b901d791fd | 815 | m->cone = i; |
| elmbed | 17:d8b901d791fd | 816 | if(active_cones[i]) |
| elmbed | 17:d8b901d791fd | 817 | ta.send(m); |
| elmbed | 17:d8b901d791fd | 818 | active_cones[i] = false; |
| elmbed | 17:d8b901d791fd | 819 | //ta.send("q", i); |
| elmbed | 17:d8b901d791fd | 820 | } |
| elmbed | 17:d8b901d791fd | 821 | |
| elmbed | 17:d8b901d791fd | 822 | DEBUG("sent clear\r\n"); |
| elmbed | 17:d8b901d791fd | 823 | } |
| elmbed | 17:d8b901d791fd | 824 | |
| elmbed | 17:d8b901d791fd | 825 | void powerupCones(uint8_t sound) |
| elmbed | 17:d8b901d791fd | 826 | { |
| elmbed | 17:d8b901d791fd | 827 | uint8_t i; |
| elmbed | 17:d8b901d791fd | 828 | m->command = 'u'; |
| elmbed | 17:d8b901d791fd | 829 | m->value = sound; |
| elmbed | 17:d8b901d791fd | 830 | |
| elmbed | 17:d8b901d791fd | 831 | if(sound == 2) |
| elmbed | 17:d8b901d791fd | 832 | { |
| elmbed | 17:d8b901d791fd | 833 | if(active_cone == ADDRESS) |
| elmbed | 17:d8b901d791fd | 834 | { |
| elmbed | 17:d8b901d791fd | 835 | ta.powerup(sound); |
| elmbed | 17:d8b901d791fd | 836 | } |
| elmbed | 17:d8b901d791fd | 837 | else |
| elmbed | 17:d8b901d791fd | 838 | { |
| elmbed | 17:d8b901d791fd | 839 | m->cone = active_cone; |
| elmbed | 17:d8b901d791fd | 840 | ta.send(m); |
| elmbed | 17:d8b901d791fd | 841 | } |
| elmbed | 17:d8b901d791fd | 842 | } |
| elmbed | 17:d8b901d791fd | 843 | else |
| elmbed | 17:d8b901d791fd | 844 | { |
| elmbed | 17:d8b901d791fd | 845 | for(i=2;i<NUM_CONES+1;i++) |
| elmbed | 17:d8b901d791fd | 846 | { |
| elmbed | 17:d8b901d791fd | 847 | m->cone = i; |
| elmbed | 17:d8b901d791fd | 848 | if(active_cones[i]) |
| elmbed | 17:d8b901d791fd | 849 | ta.send(m); |
| elmbed | 17:d8b901d791fd | 850 | //ta.send("f", i); |
| elmbed | 17:d8b901d791fd | 851 | } |
| elmbed | 17:d8b901d791fd | 852 | } |
| elmbed | 17:d8b901d791fd | 853 | |
| elmbed | 17:d8b901d791fd | 854 | //DEBUG("sent powerup"); |
| elmbed | 17:d8b901d791fd | 855 | } |
| elmbed | 17:d8b901d791fd | 856 | |
| elmbed | 17:d8b901d791fd | 857 | void failCones(void) |
| elmbed | 17:d8b901d791fd | 858 | { |
| elmbed | 17:d8b901d791fd | 859 | uint8_t i; |
| elmbed | 17:d8b901d791fd | 860 | m->command = 'f'; |
| elmbed | 17:d8b901d791fd | 861 | |
| elmbed | 17:d8b901d791fd | 862 | for(i=2;i<NUM_CONES+1;i++) |
| elmbed | 17:d8b901d791fd | 863 | { |
| elmbed | 17:d8b901d791fd | 864 | m->cone = i; |
| elmbed | 17:d8b901d791fd | 865 | |
| elmbed | 17:d8b901d791fd | 866 | if(active_cones[i]) |
| elmbed | 17:d8b901d791fd | 867 | ta.send(m); |
| elmbed | 17:d8b901d791fd | 868 | //ta.send("f", i); |
| elmbed | 17:d8b901d791fd | 869 | } |
| elmbed | 17:d8b901d791fd | 870 | |
| elmbed | 17:d8b901d791fd | 871 | while(ta.get_buffer_size()) |
| elmbed | 17:d8b901d791fd | 872 | { |
| elmbed | 17:d8b901d791fd | 873 | ta.spin(); |
| elmbed | 17:d8b901d791fd | 874 | } |
| elmbed | 17:d8b901d791fd | 875 | |
| elmbed | 17:d8b901d791fd | 876 | //DEBUG("sent fail\n"); |
| elmbed | 17:d8b901d791fd | 877 | } |
| elmbed | 17:d8b901d791fd | 878 | |
| elmbed | 17:d8b901d791fd | 879 | void resetSensors(void) |
| elmbed | 17:d8b901d791fd | 880 | { |
| elmbed | 17:d8b901d791fd | 881 | uint8_t i; |
| elmbed | 17:d8b901d791fd | 882 | m->command = 'x'; |
| elmbed | 17:d8b901d791fd | 883 | |
| elmbed | 17:d8b901d791fd | 884 | for(i=2;i<NUM_CONES+1;i++) |
| elmbed | 17:d8b901d791fd | 885 | { |
| elmbed | 17:d8b901d791fd | 886 | m->cone = i; |
| elmbed | 17:d8b901d791fd | 887 | if(active_cones[i]) |
| elmbed | 17:d8b901d791fd | 888 | ta.send(m); |
| elmbed | 17:d8b901d791fd | 889 | //ta.send("f", i); |
| elmbed | 17:d8b901d791fd | 890 | } |
| elmbed | 17:d8b901d791fd | 891 | |
| elmbed | 17:d8b901d791fd | 892 | DEBUG("sent sensor reset\n"); |
| elmbed | 17:d8b901d791fd | 893 | } |
| elmbed | 17:d8b901d791fd | 894 | |
| elmbed | 17:d8b901d791fd | 895 | void successCones(void) |
| elmbed | 17:d8b901d791fd | 896 | { |
| elmbed | 17:d8b901d791fd | 897 | uint8_t i; |
| elmbed | 17:d8b901d791fd | 898 | m->command = 's'; |
| elmbed | 17:d8b901d791fd | 899 | |
| elmbed | 17:d8b901d791fd | 900 | for(i=2;i<NUM_CONES+1;i++) |
| elmbed | 17:d8b901d791fd | 901 | { |
| elmbed | 17:d8b901d791fd | 902 | m->cone = i; |
| elmbed | 17:d8b901d791fd | 903 | if(active_cones[i]) |
| elmbed | 17:d8b901d791fd | 904 | ta.send(m); |
| elmbed | 17:d8b901d791fd | 905 | //ta.send("s", i); |
| elmbed | 17:d8b901d791fd | 906 | } |
| elmbed | 17:d8b901d791fd | 907 | |
| elmbed | 17:d8b901d791fd | 908 | while(ta.get_buffer_size()) |
| elmbed | 17:d8b901d791fd | 909 | { |
| elmbed | 17:d8b901d791fd | 910 | ta.spin(); |
| elmbed | 17:d8b901d791fd | 911 | } |
| elmbed | 17:d8b901d791fd | 912 | |
| elmbed | 17:d8b901d791fd | 913 | //DEBUG("sent success\n"); |
| elmbed | 17:d8b901d791fd | 914 | } |
| elmbed | 17:d8b901d791fd | 915 | |
| elmbed | 17:d8b901d791fd | 916 | void find_cones(void) |
| elmbed | 17:d8b901d791fd | 917 | { |
| elmbed | 17:d8b901d791fd | 918 | |
| elmbed | 17:d8b901d791fd | 919 | while(ta.get_buffer_size()) |
| elmbed | 17:d8b901d791fd | 920 | ta.spin(); // wait for all messages to leave queue |
| elmbed | 17:d8b901d791fd | 921 | |
| elmbed | 17:d8b901d791fd | 922 | uint8_t i; |
| elmbed | 17:d8b901d791fd | 923 | m->command = 'z'; |
| elmbed | 17:d8b901d791fd | 924 | |
| elmbed | 17:d8b901d791fd | 925 | lonely = true; |
| elmbed | 17:d8b901d791fd | 926 | |
| elmbed | 17:d8b901d791fd | 927 | DEBUG("Finding cones\r\n"); |
| elmbed | 17:d8b901d791fd | 928 | |
| elmbed | 17:d8b901d791fd | 929 | for(i=2;i<NUM_CONES+1;i++) |
| elmbed | 17:d8b901d791fd | 930 | { |
| elmbed | 17:d8b901d791fd | 931 | active_cones[i] = false; |
| elmbed | 17:d8b901d791fd | 932 | m->cone = i; |
| elmbed | 17:d8b901d791fd | 933 | ta.send_immediate(m); |
| elmbed | 17:d8b901d791fd | 934 | |
| elmbed | 17:d8b901d791fd | 935 | unsigned long st = millis(); |
| elmbed | 17:d8b901d791fd | 936 | unsigned long delta = 0; |
| elmbed | 17:d8b901d791fd | 937 | |
| elmbed | 17:d8b901d791fd | 938 | while(1) |
| elmbed | 17:d8b901d791fd | 939 | { |
| elmbed | 17:d8b901d791fd | 940 | delta = millis() - st; |
| elmbed | 17:d8b901d791fd | 941 | |
| elmbed | 17:d8b901d791fd | 942 | if(delta > 50) |
| elmbed | 17:d8b901d791fd | 943 | break; |
| elmbed | 17:d8b901d791fd | 944 | |
| elmbed | 17:d8b901d791fd | 945 | ta.spin(); |
| elmbed | 17:d8b901d791fd | 946 | |
| elmbed | 17:d8b901d791fd | 947 | if(ta.recieve(m_in)) |
| elmbed | 17:d8b901d791fd | 948 | { |
| elmbed | 17:d8b901d791fd | 949 | lonely = false; |
| elmbed | 17:d8b901d791fd | 950 | active_cones[m_in->cone] = true; |
| elmbed | 17:d8b901d791fd | 951 | |
| elmbed | 17:d8b901d791fd | 952 | DEBUG("Reply from cone: "); |
| elmbed | 17:d8b901d791fd | 953 | DEBUG("%d",m_in->cone); |
| elmbed | 17:d8b901d791fd | 954 | DEBUG(", "); |
| elmbed | 17:d8b901d791fd | 955 | DEBUG("%d",delta); |
| elmbed | 17:d8b901d791fd | 956 | DEBUG("ms\n"); |
| elmbed | 17:d8b901d791fd | 957 | break; |
| elmbed | 17:d8b901d791fd | 958 | } |
| elmbed | 17:d8b901d791fd | 959 | } |
| elmbed | 17:d8b901d791fd | 960 | |
| elmbed | 17:d8b901d791fd | 961 | } |
| elmbed | 17:d8b901d791fd | 962 | |
| elmbed | 17:d8b901d791fd | 963 | DEBUG("available cones are: (1"); |
| elmbed | 17:d8b901d791fd | 964 | |
| elmbed | 17:d8b901d791fd | 965 | for(i=2;i<NUM_CONES+1;i++) |
| elmbed | 17:d8b901d791fd | 966 | { |
| elmbed | 17:d8b901d791fd | 967 | if(active_cones[i]) |
| elmbed | 17:d8b901d791fd | 968 | { |
| elmbed | 17:d8b901d791fd | 969 | DEBUG(", "); |
| elmbed | 17:d8b901d791fd | 970 | DEBUG("%d",i); |
| elmbed | 17:d8b901d791fd | 971 | } |
| elmbed | 17:d8b901d791fd | 972 | } |
| elmbed | 17:d8b901d791fd | 973 | DEBUG(")\r\n"); |
| elmbed | 17:d8b901d791fd | 974 | } |
| elmbed | 17:d8b901d791fd | 975 | |
| elmbed | 17:d8b901d791fd | 976 | void printMsAsSeconds(unsigned long number) |
| elmbed | 17:d8b901d791fd | 977 | { |
| elmbed | 17:d8b901d791fd | 978 | uint16_t remainder; |
| elmbed | 17:d8b901d791fd | 979 | |
| elmbed | 17:d8b901d791fd | 980 | //DEBUG("%d",number/1000); |
| elmbed | 17:d8b901d791fd | 981 | //DEBUG("."); |
| elmbed | 17:d8b901d791fd | 982 | |
| elmbed | 17:d8b901d791fd | 983 | remainder = number%1000; |
| elmbed | 17:d8b901d791fd | 984 | /* |
| elmbed | 17:d8b901d791fd | 985 | if(remainder < 100) |
| elmbed | 17:d8b901d791fd | 986 | //DEBUG("0"); |
| elmbed | 17:d8b901d791fd | 987 | |
| elmbed | 17:d8b901d791fd | 988 | if(remainder < 10) |
| elmbed | 17:d8b901d791fd | 989 | //DEBUG("0"); |
| elmbed | 17:d8b901d791fd | 990 | |
| elmbed | 17:d8b901d791fd | 991 | //DEBUG("%d",remainder); |
| elmbed | 17:d8b901d791fd | 992 | */ |
| elmbed | 17:d8b901d791fd | 993 | } |
| elmbed | 17:d8b901d791fd | 994 | |
| elmbed | 17:d8b901d791fd | 995 | void spinButtons(void) |
| elmbed | 17:d8b901d791fd | 996 | { |
| elmbed | 17:d8b901d791fd | 997 | static inputState_t last_state = IDLE_I; |
| elmbed | 17:d8b901d791fd | 998 | static bool first_i; // first should be true when we first enter a state (even if we just exited the same state) |
| elmbed | 17:d8b901d791fd | 999 | static Event event; |
| elmbed | 17:d8b901d791fd | 1000 | static uint8_t sequence = 0; |
| elmbed | 17:d8b901d791fd | 1001 | static unsigned long start = 0; |
| elmbed | 17:d8b901d791fd | 1002 | uint8_t section = 0; |
| elmbed | 17:d8b901d791fd | 1003 | |
| elmbed | 17:d8b901d791fd | 1004 | //uint8_t buttons; |
| elmbed | 17:d8b901d791fd | 1005 | |
| elmbed | 17:d8b901d791fd | 1006 | //timer = millis() - start; |
| elmbed | 17:d8b901d791fd | 1007 | if(millis() > 500) |
| elmbed | 17:d8b901d791fd | 1008 | event = getInputEvent(); |
| elmbed | 17:d8b901d791fd | 1009 | |
| elmbed | 17:d8b901d791fd | 1010 | if(event.type == Event::press) |
| elmbed | 17:d8b901d791fd | 1011 | { |
| elmbed | 17:d8b901d791fd | 1012 | in_menu = true; |
| elmbed | 17:d8b901d791fd | 1013 | state_i = MENU_I; |
| elmbed | 17:d8b901d791fd | 1014 | } |
| elmbed | 17:d8b901d791fd | 1015 | |
| elmbed | 17:d8b901d791fd | 1016 | first_i = false; |
| elmbed | 17:d8b901d791fd | 1017 | |
| elmbed | 17:d8b901d791fd | 1018 | if(last_state != state_i) |
| elmbed | 17:d8b901d791fd | 1019 | { |
| elmbed | 17:d8b901d791fd | 1020 | //if(state_i == IDLE_I)////////////DEBUG.println(F(""); |
| elmbed | 17:d8b901d791fd | 1021 | //if(state_i == RUNNING_I)//////////////DEBUG.println(F("State is WAITING"); |
| elmbed | 17:d8b901d791fd | 1022 | // need to print menu timeout? |
| elmbed | 17:d8b901d791fd | 1023 | if(state_i == MENU_I) |
| elmbed | 17:d8b901d791fd | 1024 | ////DEBUG("Menu\n"); |
| elmbed | 17:d8b901d791fd | 1025 | if(state_i == PATTERN_SELECT_I) |
| elmbed | 17:d8b901d791fd | 1026 | ////DEBUG("Choosing pattern"); |
| elmbed | 17:d8b901d791fd | 1027 | first_i = true; |
| elmbed | 17:d8b901d791fd | 1028 | } |
| elmbed | 17:d8b901d791fd | 1029 | |
| elmbed | 17:d8b901d791fd | 1030 | last_state = state_i; |
| elmbed | 17:d8b901d791fd | 1031 | |
| elmbed | 17:d8b901d791fd | 1032 | if(state_i == RUNNING_I) |
| elmbed | 17:d8b901d791fd | 1033 | in_menu = false; |
| elmbed | 17:d8b901d791fd | 1034 | |
| elmbed | 17:d8b901d791fd | 1035 | switch(state_i) |
| elmbed | 17:d8b901d791fd | 1036 | { |
| elmbed | 17:d8b901d791fd | 1037 | case IDLE_I: |
| elmbed | 17:d8b901d791fd | 1038 | // display something distinctive |
| elmbed | 17:d8b901d791fd | 1039 | if(event.type == Event::tap) |
| elmbed | 17:d8b901d791fd | 1040 | { |
| elmbed | 17:d8b901d791fd | 1041 | state_i = RUNNING_I; |
| elmbed | 17:d8b901d791fd | 1042 | //send 'p' or 'f' command as appropriate |
| elmbed | 17:d8b901d791fd | 1043 | if(mode == FREEFORM) |
| elmbed | 17:d8b901d791fd | 1044 | interpret('f', 0); |
| elmbed | 17:d8b901d791fd | 1045 | else |
| elmbed | 17:d8b901d791fd | 1046 | interpret('p', 0); |
| elmbed | 17:d8b901d791fd | 1047 | } |
| elmbed | 17:d8b901d791fd | 1048 | break; |
| elmbed | 17:d8b901d791fd | 1049 | case RUNNING_I: |
| elmbed | 17:d8b901d791fd | 1050 | if(event.type == Event::finish) |
| elmbed | 17:d8b901d791fd | 1051 | state_i = IDLE_I; |
| elmbed | 17:d8b901d791fd | 1052 | break; |
| elmbed | 17:d8b901d791fd | 1053 | case MENU_I: |
| elmbed | 17:d8b901d791fd | 1054 | if(first_i) |
| elmbed | 17:d8b901d791fd | 1055 | interpret('q', 0); |
| elmbed | 17:d8b901d791fd | 1056 | // every 3 seconds we cycle through the menu |
| elmbed | 17:d8b901d791fd | 1057 | // one option per second |
| elmbed | 17:d8b901d791fd | 1058 | // light changes color and stays on for 500ms |
| elmbed | 17:d8b901d791fd | 1059 | section = ((millis() - start)%3000)/500; |
| elmbed | 17:d8b901d791fd | 1060 | |
| elmbed | 17:d8b901d791fd | 1061 | if(section == 0) |
| elmbed | 17:d8b901d791fd | 1062 | ta.post_color(0xFF); |
| elmbed | 17:d8b901d791fd | 1063 | if(section == 1) |
| elmbed | 17:d8b901d791fd | 1064 | ta.post_color(0); |
| elmbed | 17:d8b901d791fd | 1065 | if(section == 2) |
| elmbed | 17:d8b901d791fd | 1066 | ta.post_color(0xFF00); |
| elmbed | 17:d8b901d791fd | 1067 | if(section == 3) |
| elmbed | 17:d8b901d791fd | 1068 | ta.post_color(0); |
| elmbed | 17:d8b901d791fd | 1069 | if(section == 4) |
| elmbed | 17:d8b901d791fd | 1070 | ta.post_color(0xFF0000); |
| elmbed | 17:d8b901d791fd | 1071 | if(section == 5) |
| elmbed | 17:d8b901d791fd | 1072 | ta.post_color(0); |
| elmbed | 17:d8b901d791fd | 1073 | if(event.type == Event::tap) |
| elmbed | 17:d8b901d791fd | 1074 | { |
| elmbed | 17:d8b901d791fd | 1075 | // set state here based on current light color |
| elmbed | 17:d8b901d791fd | 1076 | if(section < 2) |
| elmbed | 17:d8b901d791fd | 1077 | { |
| elmbed | 17:d8b901d791fd | 1078 | mode = FREEFORM; |
| elmbed | 17:d8b901d791fd | 1079 | ta.post_color(0xFF); |
| elmbed | 17:d8b901d791fd | 1080 | ////////DEBUG.println(F("Freeform mode."); |
| elmbed | 17:d8b901d791fd | 1081 | state_i = IDLE_I; |
| elmbed | 17:d8b901d791fd | 1082 | break; |
| elmbed | 17:d8b901d791fd | 1083 | } |
| elmbed | 17:d8b901d791fd | 1084 | |
| elmbed | 17:d8b901d791fd | 1085 | if(section < 4) |
| elmbed | 17:d8b901d791fd | 1086 | { |
| elmbed | 17:d8b901d791fd | 1087 | mode = PATTERN; |
| elmbed | 17:d8b901d791fd | 1088 | ta.post_color(0xFF00); |
| elmbed | 17:d8b901d791fd | 1089 | ////////DEBUG.println(F("Pattern mode."); |
| elmbed | 17:d8b901d791fd | 1090 | state_i = IDLE_I; |
| elmbed | 17:d8b901d791fd | 1091 | break; |
| elmbed | 17:d8b901d791fd | 1092 | } |
| elmbed | 17:d8b901d791fd | 1093 | |
| elmbed | 17:d8b901d791fd | 1094 | if(section < 6) |
| elmbed | 17:d8b901d791fd | 1095 | { |
| elmbed | 17:d8b901d791fd | 1096 | state_i = PATTERN_SELECT_I; |
| elmbed | 17:d8b901d791fd | 1097 | ta.post_color(0xFF0000); |
| elmbed | 17:d8b901d791fd | 1098 | break; |
| elmbed | 17:d8b901d791fd | 1099 | } |
| elmbed | 17:d8b901d791fd | 1100 | } |
| elmbed | 17:d8b901d791fd | 1101 | break; |
| elmbed | 17:d8b901d791fd | 1102 | case PATTERN_SELECT_I: |
| elmbed | 17:d8b901d791fd | 1103 | if(first_i) |
| elmbed | 17:d8b901d791fd | 1104 | { |
| elmbed | 17:d8b901d791fd | 1105 | sequence = active_sequence; |
| elmbed | 17:d8b901d791fd | 1106 | mode = PATTERN; |
| elmbed | 17:d8b901d791fd | 1107 | //start = millis(); |
| elmbed | 17:d8b901d791fd | 1108 | } |
| elmbed | 17:d8b901d791fd | 1109 | if(event.type == Event::tap) |
| elmbed | 17:d8b901d791fd | 1110 | { |
| elmbed | 17:d8b901d791fd | 1111 | ta.beep(50); |
| elmbed | 17:d8b901d791fd | 1112 | if(event.value == 1 && sequence > 0) |
| elmbed | 17:d8b901d791fd | 1113 | { |
| elmbed | 17:d8b901d791fd | 1114 | sequence--; |
| elmbed | 17:d8b901d791fd | 1115 | } |
| elmbed | 17:d8b901d791fd | 1116 | |
| elmbed | 17:d8b901d791fd | 1117 | if(event.value == 2 && sequence < SEQUENCES - 1) |
| elmbed | 17:d8b901d791fd | 1118 | { |
| elmbed | 17:d8b901d791fd | 1119 | sequence++; |
| elmbed | 17:d8b901d791fd | 1120 | } |
| elmbed | 17:d8b901d791fd | 1121 | |
| elmbed | 17:d8b901d791fd | 1122 | if(event.value == 3) |
| elmbed | 17:d8b901d791fd | 1123 | { |
| elmbed | 17:d8b901d791fd | 1124 | interpret('p', sequence + 1); |
| elmbed | 17:d8b901d791fd | 1125 | state_i = IDLE_I; |
| elmbed | 17:d8b901d791fd | 1126 | } |
| elmbed | 17:d8b901d791fd | 1127 | |
| elmbed | 17:d8b901d791fd | 1128 | if(event.value != 3) |
| elmbed | 17:d8b901d791fd | 1129 | { |
| elmbed | 17:d8b901d791fd | 1130 | ////DEBUG("Menu says: sequence "); |
| elmbed | 17:d8b901d791fd | 1131 | ////DEBUG("%d\n",sequence + 1); |
| elmbed | 17:d8b901d791fd | 1132 | } |
| elmbed | 17:d8b901d791fd | 1133 | break; |
| elmbed | 17:d8b901d791fd | 1134 | case TEACH_I: |
| elmbed | 17:d8b901d791fd | 1135 | // not implemented yet |
| elmbed | 17:d8b901d791fd | 1136 | break; |
| elmbed | 17:d8b901d791fd | 1137 | default: break; |
| elmbed | 17:d8b901d791fd | 1138 | } |
| elmbed | 17:d8b901d791fd | 1139 | } |
| elmbed | 17:d8b901d791fd | 1140 | } |
| elmbed | 17:d8b901d791fd | 1141 | |
| elmbed | 17:d8b901d791fd | 1142 | uint8_t checkButtons(void) |
| elmbed | 17:d8b901d791fd | 1143 | { |
| elmbed | 17:d8b901d791fd | 1144 | static unsigned long last_time = 0; |
| elmbed | 17:d8b901d791fd | 1145 | //static uint8_t last = 0; |
| elmbed | 17:d8b901d791fd | 1146 | static uint8_t buttons = 0; |
| elmbed | 17:d8b901d791fd | 1147 | |
| elmbed | 17:d8b901d791fd | 1148 | // listen for commands from the buttons |
| elmbed | 17:d8b901d791fd | 1149 | unsigned long time = millis(); |
| elmbed | 17:d8b901d791fd | 1150 | // only check every DEBOUNCE_MS to avoid jitter |
| elmbed | 17:d8b901d791fd | 1151 | if(time - last_time > DEBOUNCE_MS) |
| elmbed | 17:d8b901d791fd | 1152 | { |
| elmbed | 17:d8b901d791fd | 1153 | last_time = time; |
| elmbed | 17:d8b901d791fd | 1154 | buttons = ta.buttons(); |
| elmbed | 17:d8b901d791fd | 1155 | } |
| elmbed | 17:d8b901d791fd | 1156 | |
| elmbed | 17:d8b901d791fd | 1157 | return buttons; |
| elmbed | 17:d8b901d791fd | 1158 | } |
| elmbed | 17:d8b901d791fd | 1159 | |
| elmbed | 17:d8b901d791fd | 1160 | |
| elmbed | 17:d8b901d791fd | 1161 | Event getInputEvent(void) |
| elmbed | 17:d8b901d791fd | 1162 | { |
| elmbed | 17:d8b901d791fd | 1163 | static uint8_t last_buttons = 0; |
| elmbed | 17:d8b901d791fd | 1164 | static unsigned long time1 = 0; |
| elmbed | 17:d8b901d791fd | 1165 | static unsigned long time2 = 0; |
| elmbed | 17:d8b901d791fd | 1166 | static unsigned long time3 = 0; |
| elmbed | 17:d8b901d791fd | 1167 | unsigned long duration = 0; |
| elmbed | 17:d8b901d791fd | 1168 | uint8_t buttons = 0; |
| elmbed | 17:d8b901d791fd | 1169 | Event event; |
| elmbed | 17:d8b901d791fd | 1170 | event.type = Event::none; |
| elmbed | 17:d8b901d791fd | 1171 | event.value = 0; |
| elmbed | 17:d8b901d791fd | 1172 | |
| elmbed | 17:d8b901d791fd | 1173 | buttons = checkButtons(); |
| elmbed | 17:d8b901d791fd | 1174 | uint8_t rising = buttons & ~last_buttons; |
| elmbed | 17:d8b901d791fd | 1175 | uint8_t falling = ~buttons & last_buttons; |
| elmbed | 17:d8b901d791fd | 1176 | |
| elmbed | 17:d8b901d791fd | 1177 | /*if(rising){ |
| elmbed | 17:d8b901d791fd | 1178 | //DEBUG.print("Rising "); |
| elmbed | 17:d8b901d791fd | 1179 | //DEBUG.println(rising); |
| elmbed | 17:d8b901d791fd | 1180 | } |
| elmbed | 17:d8b901d791fd | 1181 | if(falling){ |
| elmbed | 17:d8b901d791fd | 1182 | //DEBUG.print("Falling "); |
| elmbed | 17:d8b901d791fd | 1183 | //DEBUG.println(falling); |
| elmbed | 17:d8b901d791fd | 1184 | }*/ |
| elmbed | 17:d8b901d791fd | 1185 | if(rising & 0x01) |
| elmbed | 17:d8b901d791fd | 1186 | time1 = millis(); |
| elmbed | 17:d8b901d791fd | 1187 | if(rising & 0x02) |
| elmbed | 17:d8b901d791fd | 1188 | time2 = millis(); |
| elmbed | 17:d8b901d791fd | 1189 | if(rising & 0x04) |
| elmbed | 17:d8b901d791fd | 1190 | time3 = millis(); |
| elmbed | 17:d8b901d791fd | 1191 | |
| elmbed | 17:d8b901d791fd | 1192 | // simultaneous falling edges will cause lower values to be ignored |
| elmbed | 17:d8b901d791fd | 1193 | if(falling & 0x01) |
| elmbed | 17:d8b901d791fd | 1194 | { |
| elmbed | 17:d8b901d791fd | 1195 | duration = millis() - time1; |
| elmbed | 17:d8b901d791fd | 1196 | event.value = 1; |
| elmbed | 17:d8b901d791fd | 1197 | } |
| elmbed | 17:d8b901d791fd | 1198 | |
| elmbed | 17:d8b901d791fd | 1199 | if(falling & 0x02) |
| elmbed | 17:d8b901d791fd | 1200 | { |
| elmbed | 17:d8b901d791fd | 1201 | duration = millis() - time2; |
| elmbed | 17:d8b901d791fd | 1202 | event.value = 2; |
| elmbed | 17:d8b901d791fd | 1203 | } |
| elmbed | 17:d8b901d791fd | 1204 | |
| elmbed | 17:d8b901d791fd | 1205 | if(falling & 0x04) |
| elmbed | 17:d8b901d791fd | 1206 | { |
| elmbed | 17:d8b901d791fd | 1207 | duration = millis() - time3; |
| elmbed | 17:d8b901d791fd | 1208 | event.value = 3; |
| elmbed | 17:d8b901d791fd | 1209 | } |
| elmbed | 17:d8b901d791fd | 1210 | |
| elmbed | 17:d8b901d791fd | 1211 | if(duration > 0) |
| elmbed | 17:d8b901d791fd | 1212 | event.type = Event::tap; |
| elmbed | 17:d8b901d791fd | 1213 | if(duration > 2000) |
| elmbed | 17:d8b901d791fd | 1214 | event.type = Event::press; |
| elmbed | 17:d8b901d791fd | 1215 | |
| elmbed | 17:d8b901d791fd | 1216 | // give feedback that we've waited lng enough for a press |
| elmbed | 17:d8b901d791fd | 1217 | unsigned long t = millis() - time1; |
| elmbed | 17:d8b901d791fd | 1218 | |
| elmbed | 17:d8b901d791fd | 1219 | if(2020 > t && t > 2000 && (buttons & 0x01)) |
| elmbed | 17:d8b901d791fd | 1220 | ta.beep(20); |
| elmbed | 17:d8b901d791fd | 1221 | |
| elmbed | 17:d8b901d791fd | 1222 | t = millis() - time2; |
| elmbed | 17:d8b901d791fd | 1223 | |
| elmbed | 17:d8b901d791fd | 1224 | if(2020 > t && t > 2000 && (buttons & 0x02)) |
| elmbed | 17:d8b901d791fd | 1225 | ta.beep(20); |
| elmbed | 17:d8b901d791fd | 1226 | |
| elmbed | 17:d8b901d791fd | 1227 | t = millis() - time3; |
| elmbed | 17:d8b901d791fd | 1228 | |
| elmbed | 17:d8b901d791fd | 1229 | if(2020 > t && t > 2000 && (buttons & 0x04)) |
| elmbed | 17:d8b901d791fd | 1230 | ta.beep(20); |
| elmbed | 17:d8b901d791fd | 1231 | |
| elmbed | 17:d8b901d791fd | 1232 | if(event.type != Event::none) |
| elmbed | 17:d8b901d791fd | 1233 | { |
| elmbed | 17:d8b901d791fd | 1234 | //DEBUG("Event: "); |
| elmbed | 17:d8b901d791fd | 1235 | if(event.type == Event::tap) |
| elmbed | 17:d8b901d791fd | 1236 | ////DEBUG("tap, "); |
| elmbed | 17:d8b901d791fd | 1237 | if(event.type == Event::press) |
| elmbed | 17:d8b901d791fd | 1238 | ////DEBUG("press, "); |
| elmbed | 17:d8b901d791fd | 1239 | |
| elmbed | 17:d8b901d791fd | 1240 | uint8_t val = event.value; |
| elmbed | 17:d8b901d791fd | 1241 | //DEBUG("%d\n",val); |
| elmbed | 17:d8b901d791fd | 1242 | //////DEBUG.println(duration); |
| elmbed | 17:d8b901d791fd | 1243 | } |
| elmbed | 17:d8b901d791fd | 1244 | |
| elmbed | 17:d8b901d791fd | 1245 | last_buttons = buttons; |
| elmbed | 17:d8b901d791fd | 1246 | return event; |
| elmbed | 17:d8b901d791fd | 1247 | } |