Diff: piswarm.h

Revision:

11:5ebcb52726cf

Parent:

10:5c111c07a2ed

--- a/piswarm.h	Tue Feb 18 21:05:32 2014 +0000
+++ b/piswarm.h	Mon Jun 30 07:58:31 2014 +0000
@@ -27,6 +27,9 @@
 #endif
 
 // The following defines are user parameters and may be edited 
+// USE_BEACON - if Pi Swarm table with IR beacon is used, set to 1 to allow sync on boot.
+// DISPLAY_BEACON_READING - if value is 1, display shows beacon reading on each update
+// CALIBRATE_MEMS - set to 1 to calibrate MEMS sensors on boot
 // SWARM_SIZE - size of swarm (+1).  Max 32.
 // USE_COMMUNICATION_STACK - 1 to enable, 0 to bypass
 // CALIBRATE_COLOURS - 1 to increase blue intensity, 0 to not
@@ -44,8 +47,17 @@
 // RF_FREQUENCY - Frequency of RF chip.  See datasheet for details (default 435000000)
 // RF_DATARATE - Baud rate of the RF chip. Max 115200, default 57600.
 
+#define USE_BEACON 1
+#define DISPLAY_BEACON_READING 1
+#define CALIBRATE_MEMS 0
+#define SLOW_TURN_LEFT_MULTIPLIER 5200
+#define SLOW_TURN_RIGHT_MULTIPLIER 5450
+#define SLOW_TURN_LEFT_OFFSET 1
+#define SLOW_TURN_RIGHT_OFFSET 4
+#define FAST_TURN_LEFT_MULTIPLIER 1450
+#define FAST_TURN_RIGHT_MULTIPLIER 1450
 #define SWARM_SIZE 32
-#define USE_COMMUNICATION_STACK 1
+#define USE_COMMUNICATION_STACK 0
 #define CALIBRATE_COLOURS 1
 #define CENTER_LED_BRIGHTNESS 30
 #define OUTER_LED_BRIGHTNESS 50
@@ -55,7 +67,7 @@
 #define RF_USE_TDMA 1
 #define RF_TDMA_TIME_PERIOD_US 15625
 #define PISWARM_DEBUG 1
-#define RF_DEBUG 1
+#define RF_DEBUG 0
 #define RF_VERBOSE 0
 #define START_RADIO_ON_BOOT 1
 #define RF_FREQUENCY 435000000
@@ -115,6 +127,12 @@
     
     // Disable all the LEDs and the dedicated power supply
     void turn_off_all_oleds(void);
+    
+    // Save the current colour and state of OLEDs [introduced in API 0.7]
+    void save_oled_state(void);
+    
+    // Restore the saved colour and state of OLEDs [introduced in API 0.7]
+    void restore_oled_state(void);
      
     // Set brightness of outer LEDs (works by increasing total period for PWM)
     void set_oled_brightness ( char brightness );
@@ -267,6 +285,14 @@
     // Play a tune on the 3-pi buzzer (see notes at end of file for more details)
     void play_tune (char * tune, int length);
     
+    // Turn at slow speed (0.15) to the set amount of degrees (clockwise)
+    void slow_turn (float degrees);
+    
+    // Turn at fast speed (0.5) to the set amount of degrees (clockwise)
+    void fast_turn (float degrees);
+    
+    void test_turn_calibration(void);
+    
     //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////  
     // EEPROM Functions
     //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -398,6 +424,10 @@
 
 };
 
+void display_bearing_info(void);
+void resync_with_beacon(void);
+void update_bearing(void);
+void highlight_bearing(void);
 void display_system_time(void);
 void init(void);
 extern Serial pc;