Psi Swarm robot library version 0.9
Fork of PsiSwarmV9 by
demo.cpp@20:1bc6c6dc477b, 2018-05-14 (annotated)
- Committer:
- jah128
- Date:
- Mon May 14 15:35:38 2018 +0000
- Revision:
- 20:1bc6c6dc477b
- Parent:
- 19:3e3b03d80ea3
Updated?
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jah128 | 0:d6269d17c8cf | 1 | /* University of York Robotics Laboratory PsiSwarm Library: Demo Mode Source File |
jah128 | 15:66be5ec52c3b | 2 | * |
jah128 | 14:2f1ad77d281e | 3 | * Copyright 2017 University of York |
jah128 | 6:b340a527add9 | 4 | * |
jah128 | 15:66be5ec52c3b | 5 | * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. |
jah128 | 6:b340a527add9 | 6 | * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 |
jah128 | 6:b340a527add9 | 7 | * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS |
jah128 | 15:66be5ec52c3b | 8 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
jah128 | 6:b340a527add9 | 9 | * See the License for the specific language governing permissions and limitations under the License. |
jah128 | 0:d6269d17c8cf | 10 | * |
jah128 | 0:d6269d17c8cf | 11 | * File: demo.cpp |
jah128 | 0:d6269d17c8cf | 12 | * |
jah128 | 0:d6269d17c8cf | 13 | * (C) Dept. Electronics & Computer Science, University of York |
jah128 | 0:d6269d17c8cf | 14 | * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis |
jah128 | 0:d6269d17c8cf | 15 | * |
jah128 | 14:2f1ad77d281e | 16 | * PsiSwarm Library Version: 0.9 |
jah128 | 0:d6269d17c8cf | 17 | * |
jah128 | 16:50686c07ad07 | 18 | * Version 0.9 : Added colour sensor functions, colour sensor demo and self-test mode |
jah128 | 8:6c92789d5f87 | 19 | * Version 0.8 : Rewritten as OO\C++ |
jah128 | 5:3cdd1a37cdd7 | 20 | * Version 0.7 : Updated for new MBED API |
jah128 | 4:1c621cb8cf0d | 21 | * Version 0.5 : Added motor calibration menu |
jah128 | 0:d6269d17c8cf | 22 | * Version 0.4 : Added PsiSwarmBasic menu |
jah128 | 0:d6269d17c8cf | 23 | * Version 0.2 : Remove most the functionality from center-button push to allow all operations to be accessable from |
jah128 | 0:d6269d17c8cf | 24 | * four directions alone. |
jah128 | 0:d6269d17c8cf | 25 | * Added extra sensor information, added various testing demos |
jah128 | 0:d6269d17c8cf | 26 | * |
jah128 | 2:c6986ee3c7c5 | 27 | * |
jah128 | 14:2f1ad77d281e | 28 | * June 2017 |
jah128 | 0:d6269d17c8cf | 29 | * |
jah128 | 0:d6269d17c8cf | 30 | */ |
jah128 | 0:d6269d17c8cf | 31 | |
jah128 | 0:d6269d17c8cf | 32 | |
jah128 | 0:d6269d17c8cf | 33 | #include "psiswarm.h" |
jah128 | 0:d6269d17c8cf | 34 | |
jah128 | 0:d6269d17c8cf | 35 | // PID terms |
jah128 | 0:d6269d17c8cf | 36 | #define LF_P_TERM 0.2 |
jah128 | 0:d6269d17c8cf | 37 | #define LF_I_TERM 0 |
jah128 | 0:d6269d17c8cf | 38 | #define LF_D_TERM 4 |
jah128 | 0:d6269d17c8cf | 39 | |
jah128 | 15:66be5ec52c3b | 40 | char quick_test = 0; |
jah128 | 0:d6269d17c8cf | 41 | char top_menu = 0; |
jah128 | 0:d6269d17c8cf | 42 | char sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 43 | char level = 0; |
jah128 | 0:d6269d17c8cf | 44 | char started = 0; |
jah128 | 0:d6269d17c8cf | 45 | char topline[17]; |
jah128 | 0:d6269d17c8cf | 46 | char bottomline[17]; |
jah128 | 0:d6269d17c8cf | 47 | char led_state[9]; |
jah128 | 0:d6269d17c8cf | 48 | char all_led_state = 0; |
jah128 | 0:d6269d17c8cf | 49 | char base_led_state = 0; |
jah128 | 0:d6269d17c8cf | 50 | char brightness = 20; |
jah128 | 0:d6269d17c8cf | 51 | char bl_brightness = 100; |
jah128 | 0:d6269d17c8cf | 52 | char base_ir_index = 0; |
jah128 | 0:d6269d17c8cf | 53 | char side_ir_index = 0; |
jah128 | 0:d6269d17c8cf | 54 | signed short left_speed = 0; |
jah128 | 0:d6269d17c8cf | 55 | signed short right_speed = 0; |
jah128 | 0:d6269d17c8cf | 56 | char both_motor_mode = 0; |
jah128 | 0:d6269d17c8cf | 57 | char last_switch_pressed; |
jah128 | 0:d6269d17c8cf | 58 | Timeout demo_event; |
jah128 | 0:d6269d17c8cf | 59 | char handling_event = 0; |
jah128 | 0:d6269d17c8cf | 60 | |
jah128 | 0:d6269d17c8cf | 61 | Timeout demo_timeout; |
jah128 | 0:d6269d17c8cf | 62 | char demo_running = 0; |
jah128 | 0:d6269d17c8cf | 63 | Timer demo_timer; |
jah128 | 0:d6269d17c8cf | 64 | float time_out; |
jah128 | 0:d6269d17c8cf | 65 | float speed; |
jah128 | 0:d6269d17c8cf | 66 | char state; |
jah128 | 0:d6269d17c8cf | 67 | char led_step = 0; |
jah128 | 0:d6269d17c8cf | 68 | char spin_step = 0; |
jah128 | 0:d6269d17c8cf | 69 | char stress_step = 0; |
jah128 | 0:d6269d17c8cf | 70 | |
jah128 | 0:d6269d17c8cf | 71 | |
jah128 | 0:d6269d17c8cf | 72 | float lf_right; |
jah128 | 0:d6269d17c8cf | 73 | float lf_left; |
jah128 | 0:d6269d17c8cf | 74 | float lf_current_pos_of_line = 0.0; |
jah128 | 0:d6269d17c8cf | 75 | float lf_previous_pos_of_line = 0.0; |
jah128 | 0:d6269d17c8cf | 76 | float lf_derivative,lf_proportional,lf_integral = 0; |
jah128 | 0:d6269d17c8cf | 77 | float lf_power; |
jah128 | 0:d6269d17c8cf | 78 | float lf_speed = 0.4; |
jah128 | 0:d6269d17c8cf | 79 | |
jah128 | 0:d6269d17c8cf | 80 | |
jah128 | 0:d6269d17c8cf | 81 | |
jah128 | 11:312663037b8c | 82 | void Demo::start_demo_mode() |
jah128 | 0:d6269d17c8cf | 83 | { |
jah128 | 12:878c6e9d9e60 | 84 | psi.debug("- Starting Demo Mode\n"); |
jah128 | 17:bf614e28668f | 85 | if(use_flash_basic == 1) top_menu = 8; |
jah128 | 17:bf614e28668f | 86 | if((has_base_ir == 1 && base_ir_calibration_set != 1) || (has_base_colour_sensor == 1 && base_colour_calibration_set != 1)) top_menu = 7; |
jah128 | 0:d6269d17c8cf | 87 | demo_on = 1; |
jah128 | 0:d6269d17c8cf | 88 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:d6269d17c8cf | 89 | display.clear_display(); |
jah128 | 0:d6269d17c8cf | 90 | display.write_string("PSI SWARM SYSTEM"); |
jah128 | 0:d6269d17c8cf | 91 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 92 | display.write_string(" DEMO MODE"); |
jah128 | 0:d6269d17c8cf | 93 | wait(0.5); |
jah128 | 0:d6269d17c8cf | 94 | display.clear_display(); |
jah128 | 0:d6269d17c8cf | 95 | display.write_string("Use cursor to"); |
jah128 | 0:d6269d17c8cf | 96 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 97 | display.write_string("navigate menus"); |
jah128 | 0:d6269d17c8cf | 98 | char step = 0; |
jah128 | 0:d6269d17c8cf | 99 | while(demo_on) { |
jah128 | 0:d6269d17c8cf | 100 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 101 | switch(step) { |
jah128 | 0:d6269d17c8cf | 102 | case 0: |
jah128 | 0:d6269d17c8cf | 103 | mbed_led1 = 1; |
jah128 | 0:d6269d17c8cf | 104 | mbed_led2 = 0; |
jah128 | 0:d6269d17c8cf | 105 | break; |
jah128 | 0:d6269d17c8cf | 106 | case 1: |
jah128 | 0:d6269d17c8cf | 107 | mbed_led2 = 1; |
jah128 | 0:d6269d17c8cf | 108 | mbed_led1 = 0; |
jah128 | 0:d6269d17c8cf | 109 | break; |
jah128 | 0:d6269d17c8cf | 110 | } |
jah128 | 0:d6269d17c8cf | 111 | step++; |
jah128 | 0:d6269d17c8cf | 112 | if(step==2)step=0; |
jah128 | 0:d6269d17c8cf | 113 | } else { |
jah128 | 0:d6269d17c8cf | 114 | mbed_led1 = 0; |
jah128 | 0:d6269d17c8cf | 115 | mbed_led2 = 0; |
jah128 | 0:d6269d17c8cf | 116 | mbed_led3 = 0; |
jah128 | 0:d6269d17c8cf | 117 | mbed_led4 = 0; |
jah128 | 0:d6269d17c8cf | 118 | } |
jah128 | 0:d6269d17c8cf | 119 | wait(0.5); |
jah128 | 0:d6269d17c8cf | 120 | } |
jah128 | 12:878c6e9d9e60 | 121 | psi.debug("- Demo mode ended\n"); |
jah128 | 0:d6269d17c8cf | 122 | } |
jah128 | 0:d6269d17c8cf | 123 | |
jah128 | 11:312663037b8c | 124 | void Demo::demo_handle_switch_event(char switch_pressed) |
jah128 | 0:d6269d17c8cf | 125 | { |
jah128 | 0:d6269d17c8cf | 126 | if(!handling_event) { |
jah128 | 0:d6269d17c8cf | 127 | handling_event = 1; |
jah128 | 0:d6269d17c8cf | 128 | last_switch_pressed = switch_pressed; |
jah128 | 11:312663037b8c | 129 | demo_event.attach_us(this,&Demo::demo_event_thread, 1000); |
jah128 | 0:d6269d17c8cf | 130 | } |
jah128 | 0:d6269d17c8cf | 131 | } |
jah128 | 0:d6269d17c8cf | 132 | |
jah128 | 11:312663037b8c | 133 | void Demo::demo_event_thread() |
jah128 | 0:d6269d17c8cf | 134 | { |
jah128 | 0:d6269d17c8cf | 135 | handling_event = 0; |
jah128 | 0:d6269d17c8cf | 136 | if(started == 1) { |
jah128 | 0:d6269d17c8cf | 137 | switch(last_switch_pressed) { |
jah128 | 0:d6269d17c8cf | 138 | case 1: //Up pressed |
jah128 | 0:d6269d17c8cf | 139 | switch(level) { |
jah128 | 0:d6269d17c8cf | 140 | case 0: |
jah128 | 15:66be5ec52c3b | 141 | if(top_menu != 9 && top_menu!= 0) { |
jah128 | 0:d6269d17c8cf | 142 | level++; |
jah128 | 0:d6269d17c8cf | 143 | sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 144 | } else { |
jah128 | 15:66be5ec52c3b | 145 | if(top_menu == 0) { |
jah128 | 15:66be5ec52c3b | 146 | toggle_quick_test(); |
jah128 | 15:66be5ec52c3b | 147 | } else { |
jah128 | 15:66be5ec52c3b | 148 | demo_on = 0; |
jah128 | 15:66be5ec52c3b | 149 | user_code_running = user_code_restore_mode; |
jah128 | 15:66be5ec52c3b | 150 | } |
jah128 | 0:d6269d17c8cf | 151 | } |
jah128 | 0:d6269d17c8cf | 152 | break; |
jah128 | 0:d6269d17c8cf | 153 | case 1: |
jah128 | 0:d6269d17c8cf | 154 | switch(top_menu) { |
jah128 | 15:66be5ec52c3b | 155 | case 8: // PsiBasic Menu |
jah128 | 0:d6269d17c8cf | 156 | if(sub_menu == psi_basic_file_count) level = 0; |
jah128 | 0:d6269d17c8cf | 157 | break; |
jah128 | 17:bf614e28668f | 158 | case 1: //LED Menu |
jah128 | 0:d6269d17c8cf | 159 | if(sub_menu < 9) { |
jah128 | 0:d6269d17c8cf | 160 | if(led_state[sub_menu] == 0) led_state[sub_menu] = 3; |
jah128 | 0:d6269d17c8cf | 161 | else led_state[sub_menu]--; |
jah128 | 0:d6269d17c8cf | 162 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 163 | } |
jah128 | 0:d6269d17c8cf | 164 | if(sub_menu == 9) { |
jah128 | 0:d6269d17c8cf | 165 | if(all_led_state == 0) all_led_state = 3; |
jah128 | 0:d6269d17c8cf | 166 | else all_led_state--; |
jah128 | 0:d6269d17c8cf | 167 | for(int i=0; i<9; i++) { |
jah128 | 0:d6269d17c8cf | 168 | led_state[i]=all_led_state; |
jah128 | 0:d6269d17c8cf | 169 | } |
jah128 | 0:d6269d17c8cf | 170 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 171 | } |
jah128 | 0:d6269d17c8cf | 172 | if(sub_menu == 10) { |
jah128 | 0:d6269d17c8cf | 173 | base_led_state = 1 - base_led_state; |
jah128 | 0:d6269d17c8cf | 174 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 175 | } |
jah128 | 0:d6269d17c8cf | 176 | if(sub_menu == 11) { |
jah128 | 0:d6269d17c8cf | 177 | switch(brightness) { |
jah128 | 0:d6269d17c8cf | 178 | case 100: |
jah128 | 0:d6269d17c8cf | 179 | brightness = 50; |
jah128 | 0:d6269d17c8cf | 180 | break; |
jah128 | 0:d6269d17c8cf | 181 | case 2: |
jah128 | 0:d6269d17c8cf | 182 | brightness = 1; |
jah128 | 0:d6269d17c8cf | 183 | break; |
jah128 | 0:d6269d17c8cf | 184 | case 5: |
jah128 | 0:d6269d17c8cf | 185 | brightness = 2; |
jah128 | 0:d6269d17c8cf | 186 | break; |
jah128 | 0:d6269d17c8cf | 187 | case 10: |
jah128 | 0:d6269d17c8cf | 188 | brightness = 5; |
jah128 | 0:d6269d17c8cf | 189 | break; |
jah128 | 0:d6269d17c8cf | 190 | case 20: |
jah128 | 0:d6269d17c8cf | 191 | brightness = 10; |
jah128 | 0:d6269d17c8cf | 192 | break; |
jah128 | 0:d6269d17c8cf | 193 | case 50: |
jah128 | 0:d6269d17c8cf | 194 | brightness = 20; |
jah128 | 0:d6269d17c8cf | 195 | break; |
jah128 | 0:d6269d17c8cf | 196 | } |
jah128 | 0:d6269d17c8cf | 197 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 198 | } |
jah128 | 0:d6269d17c8cf | 199 | if(sub_menu == 12) { |
jah128 | 0:d6269d17c8cf | 200 | if(bl_brightness > 0) bl_brightness-=10; |
jah128 | 0:d6269d17c8cf | 201 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:d6269d17c8cf | 202 | } |
jah128 | 0:d6269d17c8cf | 203 | if(sub_menu == 13) level = 0; |
jah128 | 0:d6269d17c8cf | 204 | break; |
jah128 | 15:66be5ec52c3b | 205 | case 2: // Sensors Menu |
jah128 | 17:bf614e28668f | 206 | if(sub_menu == 4 || sub_menu == 5 || sub_menu==6) { |
jah128 | 0:d6269d17c8cf | 207 | if(base_ir_index == 0) base_ir_index = 4; |
jah128 | 0:d6269d17c8cf | 208 | else base_ir_index --; |
jah128 | 0:d6269d17c8cf | 209 | } |
jah128 | 17:bf614e28668f | 210 | if(sub_menu > 6 && sub_menu < 10) { |
jah128 | 0:d6269d17c8cf | 211 | if(side_ir_index == 0) side_ir_index = 7; |
jah128 | 0:d6269d17c8cf | 212 | else side_ir_index --; |
jah128 | 0:d6269d17c8cf | 213 | } |
jah128 | 17:bf614e28668f | 214 | if(sub_menu == 13) level = 0; |
jah128 | 0:d6269d17c8cf | 215 | break; |
jah128 | 15:66be5ec52c3b | 216 | case 3: // Motor Menu |
jah128 | 0:d6269d17c8cf | 217 | if(sub_menu == 0) { |
jah128 | 0:d6269d17c8cf | 218 | left_speed += 5; |
jah128 | 0:d6269d17c8cf | 219 | if(left_speed > 100) left_speed = 100; |
jah128 | 8:6c92789d5f87 | 220 | motors.set_left_motor_speed(left_speed / 100.0f); |
jah128 | 0:d6269d17c8cf | 221 | } |
jah128 | 0:d6269d17c8cf | 222 | if(sub_menu == 1) { |
jah128 | 0:d6269d17c8cf | 223 | right_speed += 5; |
jah128 | 0:d6269d17c8cf | 224 | if(right_speed > 100) right_speed = 100; |
jah128 | 8:6c92789d5f87 | 225 | motors.set_right_motor_speed(right_speed / 100.0f); |
jah128 | 0:d6269d17c8cf | 226 | } |
jah128 | 0:d6269d17c8cf | 227 | if(sub_menu == 2) { |
jah128 | 0:d6269d17c8cf | 228 | if(both_motor_mode == 0) both_motor_mode=5; |
jah128 | 0:d6269d17c8cf | 229 | else both_motor_mode--; |
jah128 | 0:d6269d17c8cf | 230 | switch(both_motor_mode) { |
jah128 | 0:d6269d17c8cf | 231 | case 0: |
jah128 | 8:6c92789d5f87 | 232 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 233 | break; |
jah128 | 0:d6269d17c8cf | 234 | case 1: |
jah128 | 8:6c92789d5f87 | 235 | motors.brake(); |
jah128 | 0:d6269d17c8cf | 236 | break; |
jah128 | 0:d6269d17c8cf | 237 | case 2: |
jah128 | 8:6c92789d5f87 | 238 | motors.forward(0.5); |
jah128 | 0:d6269d17c8cf | 239 | break; |
jah128 | 0:d6269d17c8cf | 240 | case 3: |
jah128 | 8:6c92789d5f87 | 241 | motors.forward(1); |
jah128 | 0:d6269d17c8cf | 242 | break; |
jah128 | 0:d6269d17c8cf | 243 | case 4: |
jah128 | 8:6c92789d5f87 | 244 | motors.backward(0.5); |
jah128 | 0:d6269d17c8cf | 245 | break; |
jah128 | 0:d6269d17c8cf | 246 | case 5: |
jah128 | 8:6c92789d5f87 | 247 | motors.backward(1.0); |
jah128 | 0:d6269d17c8cf | 248 | break; |
jah128 | 0:d6269d17c8cf | 249 | } |
jah128 | 0:d6269d17c8cf | 250 | } |
jah128 | 0:d6269d17c8cf | 251 | if(sub_menu == 3) { |
jah128 | 0:d6269d17c8cf | 252 | level = 0; |
jah128 | 0:d6269d17c8cf | 253 | } |
jah128 | 0:d6269d17c8cf | 254 | break; |
jah128 | 15:66be5ec52c3b | 255 | case 4: // Radio Menu |
jah128 | 0:d6269d17c8cf | 256 | if(sub_menu == 0) level = 0; |
jah128 | 0:d6269d17c8cf | 257 | break; |
jah128 | 15:66be5ec52c3b | 258 | case 5: // Info Menu |
jah128 | 0:d6269d17c8cf | 259 | if(sub_menu == 6) level = 0; |
jah128 | 0:d6269d17c8cf | 260 | break; |
jah128 | 17:bf614e28668f | 261 | case 7: // Calibration Menu |
jah128 | 17:bf614e28668f | 262 | if(sub_menu == 0) sensors.calibrate_base_sensors(); |
jah128 | 18:9204f74069b4 | 263 | if(sub_menu == 1) motors.calibrate_motors(); |
jah128 | 17:bf614e28668f | 264 | if(sub_menu == 2) level = 0; |
jah128 | 17:bf614e28668f | 265 | break; |
jah128 | 15:66be5ec52c3b | 266 | case 6: // Demo Menu |
jah128 | 0:d6269d17c8cf | 267 | if(sub_menu == 0) { |
jah128 | 0:d6269d17c8cf | 268 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 269 | start_line_demo(); |
jah128 | 0:d6269d17c8cf | 270 | } else { |
jah128 | 0:d6269d17c8cf | 271 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 272 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 273 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 274 | } |
jah128 | 0:d6269d17c8cf | 275 | } |
jah128 | 0:d6269d17c8cf | 276 | if(sub_menu == 1) { |
jah128 | 0:d6269d17c8cf | 277 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 278 | start_obstacle_demo(); |
jah128 | 0:d6269d17c8cf | 279 | } else { |
jah128 | 0:d6269d17c8cf | 280 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 281 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 282 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 283 | } |
jah128 | 0:d6269d17c8cf | 284 | } |
jah128 | 0:d6269d17c8cf | 285 | if(sub_menu == 2) { |
jah128 | 0:d6269d17c8cf | 286 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 287 | start_spinning_demo(); |
jah128 | 0:d6269d17c8cf | 288 | } else { |
jah128 | 0:d6269d17c8cf | 289 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 290 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 291 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 292 | } |
jah128 | 0:d6269d17c8cf | 293 | } |
jah128 | 0:d6269d17c8cf | 294 | if(sub_menu == 3) { |
jah128 | 0:d6269d17c8cf | 295 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 296 | start_stress_demo(); |
jah128 | 0:d6269d17c8cf | 297 | } else { |
jah128 | 0:d6269d17c8cf | 298 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 299 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 300 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 301 | } |
jah128 | 0:d6269d17c8cf | 302 | } |
jah128 | 16:50686c07ad07 | 303 | if(sub_menu == 4) { |
jah128 | 16:50686c07ad07 | 304 | if(demo_running == 0) { |
jah128 | 16:50686c07ad07 | 305 | start_colour_demo(); |
jah128 | 16:50686c07ad07 | 306 | } else { |
jah128 | 16:50686c07ad07 | 307 | demo_running = 0; |
jah128 | 16:50686c07ad07 | 308 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 16:50686c07ad07 | 309 | motors.stop(); |
jah128 | 16:50686c07ad07 | 310 | } |
jah128 | 16:50686c07ad07 | 311 | } |
jah128 | 16:50686c07ad07 | 312 | if(sub_menu == 5) level = 0; |
jah128 | 0:d6269d17c8cf | 313 | break; |
jah128 | 0:d6269d17c8cf | 314 | } |
jah128 | 0:d6269d17c8cf | 315 | break; |
jah128 | 0:d6269d17c8cf | 316 | } |
jah128 | 0:d6269d17c8cf | 317 | break; |
jah128 | 0:d6269d17c8cf | 318 | case 2: //Down pressed |
jah128 | 0:d6269d17c8cf | 319 | switch(level) { |
jah128 | 0:d6269d17c8cf | 320 | case 0: |
jah128 | 15:66be5ec52c3b | 321 | if(top_menu != 9 && top_menu != 0) { |
jah128 | 0:d6269d17c8cf | 322 | level++; |
jah128 | 0:d6269d17c8cf | 323 | sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 324 | } else { |
jah128 | 15:66be5ec52c3b | 325 | if(top_menu == 0) { |
jah128 | 15:66be5ec52c3b | 326 | toggle_quick_test(); |
jah128 | 15:66be5ec52c3b | 327 | } else { |
jah128 | 15:66be5ec52c3b | 328 | demo_on = 0; |
jah128 | 15:66be5ec52c3b | 329 | user_code_running = user_code_restore_mode; |
jah128 | 15:66be5ec52c3b | 330 | } |
jah128 | 0:d6269d17c8cf | 331 | } |
jah128 | 0:d6269d17c8cf | 332 | break; |
jah128 | 0:d6269d17c8cf | 333 | case 1: |
jah128 | 0:d6269d17c8cf | 334 | switch(top_menu) { |
jah128 | 15:66be5ec52c3b | 335 | case 8: // PsiBasic Menu |
jah128 | 0:d6269d17c8cf | 336 | if(sub_menu == psi_basic_file_count) level = 0; |
jah128 | 0:d6269d17c8cf | 337 | break; |
jah128 | 15:66be5ec52c3b | 338 | case 1: //LED Menu |
jah128 | 0:d6269d17c8cf | 339 | if(sub_menu < 9) { |
jah128 | 0:d6269d17c8cf | 340 | led_state[sub_menu]++; |
jah128 | 0:d6269d17c8cf | 341 | if(led_state[sub_menu] == 4) led_state[sub_menu] = 0; |
jah128 | 0:d6269d17c8cf | 342 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 343 | } |
jah128 | 0:d6269d17c8cf | 344 | if(sub_menu == 9) { |
jah128 | 0:d6269d17c8cf | 345 | all_led_state++; |
jah128 | 0:d6269d17c8cf | 346 | if(all_led_state == 4) all_led_state = 0; |
jah128 | 0:d6269d17c8cf | 347 | for(int i=0; i<9; i++) { |
jah128 | 0:d6269d17c8cf | 348 | led_state[i]=all_led_state; |
jah128 | 0:d6269d17c8cf | 349 | } |
jah128 | 0:d6269d17c8cf | 350 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 351 | } |
jah128 | 0:d6269d17c8cf | 352 | if(sub_menu == 10) { |
jah128 | 0:d6269d17c8cf | 353 | base_led_state = 1 - base_led_state; |
jah128 | 0:d6269d17c8cf | 354 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 355 | } |
jah128 | 0:d6269d17c8cf | 356 | if(sub_menu == 11) { |
jah128 | 0:d6269d17c8cf | 357 | switch(brightness) { |
jah128 | 0:d6269d17c8cf | 358 | case 1: |
jah128 | 0:d6269d17c8cf | 359 | brightness = 2; |
jah128 | 0:d6269d17c8cf | 360 | break; |
jah128 | 0:d6269d17c8cf | 361 | case 2: |
jah128 | 0:d6269d17c8cf | 362 | brightness = 5; |
jah128 | 0:d6269d17c8cf | 363 | break; |
jah128 | 0:d6269d17c8cf | 364 | case 5: |
jah128 | 0:d6269d17c8cf | 365 | brightness = 10; |
jah128 | 0:d6269d17c8cf | 366 | break; |
jah128 | 0:d6269d17c8cf | 367 | case 10: |
jah128 | 0:d6269d17c8cf | 368 | brightness = 20; |
jah128 | 0:d6269d17c8cf | 369 | break; |
jah128 | 0:d6269d17c8cf | 370 | case 20: |
jah128 | 0:d6269d17c8cf | 371 | brightness = 50; |
jah128 | 0:d6269d17c8cf | 372 | break; |
jah128 | 0:d6269d17c8cf | 373 | case 50: |
jah128 | 0:d6269d17c8cf | 374 | brightness = 100; |
jah128 | 0:d6269d17c8cf | 375 | break; |
jah128 | 0:d6269d17c8cf | 376 | } |
jah128 | 0:d6269d17c8cf | 377 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 378 | } |
jah128 | 0:d6269d17c8cf | 379 | |
jah128 | 0:d6269d17c8cf | 380 | if(sub_menu == 12) { |
jah128 | 0:d6269d17c8cf | 381 | if(bl_brightness < 100) bl_brightness+=10; |
jah128 | 0:d6269d17c8cf | 382 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:d6269d17c8cf | 383 | } |
jah128 | 0:d6269d17c8cf | 384 | if(sub_menu == 13) level = 0; |
jah128 | 0:d6269d17c8cf | 385 | |
jah128 | 0:d6269d17c8cf | 386 | break; |
jah128 | 15:66be5ec52c3b | 387 | case 2: // Sensors Menu |
jah128 | 17:bf614e28668f | 388 | if(sub_menu == 4 || sub_menu == 5 || sub_menu == 6) { |
jah128 | 0:d6269d17c8cf | 389 | if(base_ir_index == 4) base_ir_index = 0; |
jah128 | 0:d6269d17c8cf | 390 | else base_ir_index ++; |
jah128 | 0:d6269d17c8cf | 391 | } |
jah128 | 17:bf614e28668f | 392 | if(sub_menu > 6 && sub_menu < 10) { |
jah128 | 0:d6269d17c8cf | 393 | if(side_ir_index == 7) side_ir_index = 0; |
jah128 | 0:d6269d17c8cf | 394 | else side_ir_index ++; |
jah128 | 0:d6269d17c8cf | 395 | } |
jah128 | 17:bf614e28668f | 396 | if(sub_menu == 13) level = 0; |
jah128 | 0:d6269d17c8cf | 397 | break; |
jah128 | 15:66be5ec52c3b | 398 | case 3: // Motor Menu |
jah128 | 0:d6269d17c8cf | 399 | if(sub_menu == 0) { |
jah128 | 0:d6269d17c8cf | 400 | left_speed -= 5; |
jah128 | 0:d6269d17c8cf | 401 | if(left_speed < -100) left_speed = -100; |
jah128 | 8:6c92789d5f87 | 402 | motors.set_left_motor_speed(left_speed / 100.0f); |
jah128 | 0:d6269d17c8cf | 403 | } |
jah128 | 0:d6269d17c8cf | 404 | if(sub_menu == 1) { |
jah128 | 0:d6269d17c8cf | 405 | right_speed -= 5; |
jah128 | 0:d6269d17c8cf | 406 | if(right_speed < -100) right_speed = -100; |
jah128 | 8:6c92789d5f87 | 407 | motors.set_right_motor_speed(right_speed / 100.0f); |
jah128 | 0:d6269d17c8cf | 408 | } |
jah128 | 0:d6269d17c8cf | 409 | if(sub_menu == 2) { |
jah128 | 0:d6269d17c8cf | 410 | both_motor_mode++; |
jah128 | 0:d6269d17c8cf | 411 | if(both_motor_mode == 6) both_motor_mode=0; |
jah128 | 0:d6269d17c8cf | 412 | switch(both_motor_mode) { |
jah128 | 0:d6269d17c8cf | 413 | case 0: |
jah128 | 8:6c92789d5f87 | 414 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 415 | break; |
jah128 | 0:d6269d17c8cf | 416 | case 1: |
jah128 | 8:6c92789d5f87 | 417 | motors.brake(); |
jah128 | 0:d6269d17c8cf | 418 | break; |
jah128 | 0:d6269d17c8cf | 419 | case 2: |
jah128 | 8:6c92789d5f87 | 420 | motors.forward(0.5); |
jah128 | 0:d6269d17c8cf | 421 | break; |
jah128 | 0:d6269d17c8cf | 422 | case 3: |
jah128 | 8:6c92789d5f87 | 423 | motors.forward(1); |
jah128 | 0:d6269d17c8cf | 424 | break; |
jah128 | 0:d6269d17c8cf | 425 | case 4: |
jah128 | 8:6c92789d5f87 | 426 | motors.backward(0.5); |
jah128 | 0:d6269d17c8cf | 427 | break; |
jah128 | 0:d6269d17c8cf | 428 | case 5: |
jah128 | 8:6c92789d5f87 | 429 | motors.backward(1.0); |
jah128 | 0:d6269d17c8cf | 430 | break; |
jah128 | 0:d6269d17c8cf | 431 | } |
jah128 | 0:d6269d17c8cf | 432 | } |
jah128 | 0:d6269d17c8cf | 433 | if(sub_menu == 3) { |
jah128 | 0:d6269d17c8cf | 434 | level = 0; |
jah128 | 0:d6269d17c8cf | 435 | } |
jah128 | 0:d6269d17c8cf | 436 | break; |
jah128 | 15:66be5ec52c3b | 437 | case 4: // Radio Menu |
jah128 | 0:d6269d17c8cf | 438 | if(sub_menu == 0) level = 0; |
jah128 | 0:d6269d17c8cf | 439 | break; |
jah128 | 15:66be5ec52c3b | 440 | case 5: // Info Menu |
jah128 | 0:d6269d17c8cf | 441 | if(sub_menu == 6) level = 0; |
jah128 | 0:d6269d17c8cf | 442 | break; |
jah128 | 17:bf614e28668f | 443 | case 7: // Calibration Menu |
jah128 | 17:bf614e28668f | 444 | if(sub_menu == 0) sensors.calibrate_base_sensors(); |
jah128 | 18:9204f74069b4 | 445 | if(sub_menu == 1) motors.calibrate_motors(); |
jah128 | 17:bf614e28668f | 446 | if(sub_menu == 2) level = 0; |
jah128 | 18:9204f74069b4 | 447 | break; |
jah128 | 15:66be5ec52c3b | 448 | case 6: // Demo Menu |
jah128 | 0:d6269d17c8cf | 449 | if(sub_menu == 0) { |
jah128 | 0:d6269d17c8cf | 450 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 451 | start_line_demo(); |
jah128 | 0:d6269d17c8cf | 452 | } else { |
jah128 | 0:d6269d17c8cf | 453 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 454 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 455 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 456 | } |
jah128 | 0:d6269d17c8cf | 457 | } |
jah128 | 0:d6269d17c8cf | 458 | if(sub_menu == 1) { |
jah128 | 0:d6269d17c8cf | 459 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 460 | start_obstacle_demo(); |
jah128 | 0:d6269d17c8cf | 461 | } else { |
jah128 | 0:d6269d17c8cf | 462 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 463 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 464 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 465 | |
jah128 | 0:d6269d17c8cf | 466 | } |
jah128 | 0:d6269d17c8cf | 467 | } |
jah128 | 0:d6269d17c8cf | 468 | if(sub_menu == 2) { |
jah128 | 0:d6269d17c8cf | 469 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 470 | start_spinning_demo(); |
jah128 | 0:d6269d17c8cf | 471 | } else { |
jah128 | 0:d6269d17c8cf | 472 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 473 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 474 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 475 | } |
jah128 | 0:d6269d17c8cf | 476 | } |
jah128 | 0:d6269d17c8cf | 477 | if(sub_menu == 3) { |
jah128 | 0:d6269d17c8cf | 478 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 479 | start_stress_demo(); |
jah128 | 0:d6269d17c8cf | 480 | } else { |
jah128 | 0:d6269d17c8cf | 481 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 482 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 483 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 484 | } |
jah128 | 0:d6269d17c8cf | 485 | } |
jah128 | 16:50686c07ad07 | 486 | if(sub_menu == 4) { |
jah128 | 16:50686c07ad07 | 487 | if(demo_running == 0) { |
jah128 | 16:50686c07ad07 | 488 | start_colour_demo(); |
jah128 | 16:50686c07ad07 | 489 | } else { |
jah128 | 16:50686c07ad07 | 490 | demo_running = 0; |
jah128 | 16:50686c07ad07 | 491 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 16:50686c07ad07 | 492 | motors.stop(); |
jah128 | 16:50686c07ad07 | 493 | } |
jah128 | 16:50686c07ad07 | 494 | } |
jah128 | 16:50686c07ad07 | 495 | if(sub_menu == 5) level = 0; |
jah128 | 0:d6269d17c8cf | 496 | break; |
jah128 | 0:d6269d17c8cf | 497 | } |
jah128 | 0:d6269d17c8cf | 498 | break; |
jah128 | 0:d6269d17c8cf | 499 | } |
jah128 | 0:d6269d17c8cf | 500 | break; |
jah128 | 0:d6269d17c8cf | 501 | case 4: //Left pressed |
jah128 | 0:d6269d17c8cf | 502 | switch(level) { |
jah128 | 0:d6269d17c8cf | 503 | case 0: |
jah128 | 20:1bc6c6dc477b | 504 | stop_demo(); |
jah128 | 0:d6269d17c8cf | 505 | if(top_menu == 0) { |
jah128 | 15:66be5ec52c3b | 506 | top_menu = 9; |
jah128 | 15:66be5ec52c3b | 507 | } else { |
jah128 | 17:bf614e28668f | 508 | top_menu --; |
jah128 | 15:66be5ec52c3b | 509 | if(use_flash_basic == 0 && top_menu == 8) top_menu = 7; |
jah128 | 19:3e3b03d80ea3 | 510 | if(has_433_radio == 0 && top_menu == 4) top_menu = 3; |
jah128 | 4:1c621cb8cf0d | 511 | } |
jah128 | 0:d6269d17c8cf | 512 | break; |
jah128 | 0:d6269d17c8cf | 513 | case 1: |
jah128 | 0:d6269d17c8cf | 514 | switch(top_menu) { |
jah128 | 15:66be5ec52c3b | 515 | case 1: //LED Menu |
jah128 | 0:d6269d17c8cf | 516 | if(sub_menu == 0) sub_menu = 13; |
jah128 | 0:d6269d17c8cf | 517 | else sub_menu --; |
jah128 | 0:d6269d17c8cf | 518 | break; |
jah128 | 15:66be5ec52c3b | 519 | case 2: //Sensors Menu |
jah128 | 17:bf614e28668f | 520 | if(sub_menu == 0) sub_menu = 13; |
jah128 | 0:d6269d17c8cf | 521 | else sub_menu --; |
jah128 | 0:d6269d17c8cf | 522 | break; |
jah128 | 0:d6269d17c8cf | 523 | |
jah128 | 15:66be5ec52c3b | 524 | case 3: //Motor Menu |
jah128 | 0:d6269d17c8cf | 525 | if(sub_menu == 0) sub_menu = 3; |
jah128 | 0:d6269d17c8cf | 526 | else sub_menu --; |
jah128 | 0:d6269d17c8cf | 527 | break; |
jah128 | 15:66be5ec52c3b | 528 | case 5: //Info Menu |
jah128 | 0:d6269d17c8cf | 529 | if(sub_menu == 0) sub_menu = 6; |
jah128 | 0:d6269d17c8cf | 530 | else sub_menu --; |
jah128 | 0:d6269d17c8cf | 531 | break; |
jah128 | 15:66be5ec52c3b | 532 | case 6: //Demo Menu |
jah128 | 20:1bc6c6dc477b | 533 | stop_demo(); |
jah128 | 16:50686c07ad07 | 534 | if(sub_menu == 0) sub_menu = 5; |
jah128 | 0:d6269d17c8cf | 535 | else sub_menu --; |
jah128 | 0:d6269d17c8cf | 536 | break; |
jah128 | 15:66be5ec52c3b | 537 | case 7: //Calibrate Menu |
jah128 | 4:1c621cb8cf0d | 538 | if(sub_menu == 0) sub_menu = 2; |
jah128 | 4:1c621cb8cf0d | 539 | else sub_menu --; |
jah128 | 4:1c621cb8cf0d | 540 | break; |
jah128 | 15:66be5ec52c3b | 541 | case 8: //PsiBasic Menu |
jah128 | 0:d6269d17c8cf | 542 | if(sub_menu == 0) sub_menu = psi_basic_file_count; |
jah128 | 0:d6269d17c8cf | 543 | else sub_menu --; |
jah128 | 0:d6269d17c8cf | 544 | } |
jah128 | 0:d6269d17c8cf | 545 | break; |
jah128 | 0:d6269d17c8cf | 546 | |
jah128 | 0:d6269d17c8cf | 547 | } |
jah128 | 0:d6269d17c8cf | 548 | break; |
jah128 | 0:d6269d17c8cf | 549 | case 8: //Right pressed |
jah128 | 0:d6269d17c8cf | 550 | switch(level) { |
jah128 | 0:d6269d17c8cf | 551 | case 0: |
jah128 | 20:1bc6c6dc477b | 552 | stop_demo(); |
jah128 | 0:d6269d17c8cf | 553 | top_menu ++; |
jah128 | 17:bf614e28668f | 554 | if(top_menu == 8 && use_flash_basic == 0) top_menu = 9; |
jah128 | 19:3e3b03d80ea3 | 555 | if(has_433_radio == 0 && top_menu == 4) top_menu = 5; |
jah128 | 17:bf614e28668f | 556 | if((top_menu) > 9) top_menu = 0; |
jah128 | 0:d6269d17c8cf | 557 | break; |
jah128 | 0:d6269d17c8cf | 558 | case 1: |
jah128 | 0:d6269d17c8cf | 559 | switch(top_menu) { |
jah128 | 15:66be5ec52c3b | 560 | case 1: //LED Menu |
jah128 | 0:d6269d17c8cf | 561 | if(sub_menu == 13) sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 562 | else sub_menu ++; |
jah128 | 0:d6269d17c8cf | 563 | break; |
jah128 | 15:66be5ec52c3b | 564 | case 2: //Sensors Menu |
jah128 | 17:bf614e28668f | 565 | if(sub_menu == 13) sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 566 | else sub_menu ++; |
jah128 | 0:d6269d17c8cf | 567 | break; |
jah128 | 15:66be5ec52c3b | 568 | case 3: //Motor Menu |
jah128 | 0:d6269d17c8cf | 569 | if(sub_menu == 3) sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 570 | else sub_menu ++; |
jah128 | 0:d6269d17c8cf | 571 | break; |
jah128 | 15:66be5ec52c3b | 572 | case 5: //Info Menu |
jah128 | 0:d6269d17c8cf | 573 | if(sub_menu == 6) sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 574 | else sub_menu ++; |
jah128 | 0:d6269d17c8cf | 575 | break; |
jah128 | 15:66be5ec52c3b | 576 | case 6: //Demo Menu |
jah128 | 20:1bc6c6dc477b | 577 | stop_demo(); |
jah128 | 16:50686c07ad07 | 578 | if(sub_menu == 5) sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 579 | else sub_menu ++; |
jah128 | 0:d6269d17c8cf | 580 | break; |
jah128 | 15:66be5ec52c3b | 581 | case 7: //Calibrate Menu |
jah128 | 4:1c621cb8cf0d | 582 | if(sub_menu == 2) sub_menu = 0; |
jah128 | 4:1c621cb8cf0d | 583 | else sub_menu ++; |
jah128 | 4:1c621cb8cf0d | 584 | break; |
jah128 | 15:66be5ec52c3b | 585 | case 8: //PsiBasic Menu |
jah128 | 0:d6269d17c8cf | 586 | if(sub_menu == psi_basic_file_count) sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 587 | else sub_menu ++; |
jah128 | 0:d6269d17c8cf | 588 | } |
jah128 | 0:d6269d17c8cf | 589 | break; |
jah128 | 0:d6269d17c8cf | 590 | } |
jah128 | 0:d6269d17c8cf | 591 | break; |
jah128 | 0:d6269d17c8cf | 592 | } |
jah128 | 0:d6269d17c8cf | 593 | } else started = 1; |
jah128 | 20:1bc6c6dc477b | 594 | if(demo_running == 0) { |
jah128 | 20:1bc6c6dc477b | 595 | display.clear_display(); |
jah128 | 20:1bc6c6dc477b | 596 | switch(level) { |
jah128 | 20:1bc6c6dc477b | 597 | case 0: |
jah128 | 20:1bc6c6dc477b | 598 | //Top level menu |
jah128 | 20:1bc6c6dc477b | 599 | switch(top_menu) { |
jah128 | 20:1bc6c6dc477b | 600 | case 0: |
jah128 | 20:1bc6c6dc477b | 601 | strcpy(topline,"---QUICK TEST---"); |
jah128 | 20:1bc6c6dc477b | 602 | break; |
jah128 | 20:1bc6c6dc477b | 603 | case 1: |
jah128 | 20:1bc6c6dc477b | 604 | strcpy(topline,"---TEST LEDS----"); |
jah128 | 20:1bc6c6dc477b | 605 | break; |
jah128 | 20:1bc6c6dc477b | 606 | case 2: |
jah128 | 20:1bc6c6dc477b | 607 | strcpy(topline,"--TEST SENSORS--"); |
jah128 | 20:1bc6c6dc477b | 608 | break; |
jah128 | 20:1bc6c6dc477b | 609 | case 3: |
jah128 | 20:1bc6c6dc477b | 610 | strcpy(topline,"--TEST MOTORS---"); |
jah128 | 20:1bc6c6dc477b | 611 | break; |
jah128 | 20:1bc6c6dc477b | 612 | case 4: |
jah128 | 20:1bc6c6dc477b | 613 | strcpy(topline,"---TEST RADIO---"); |
jah128 | 20:1bc6c6dc477b | 614 | break; |
jah128 | 20:1bc6c6dc477b | 615 | case 5: |
jah128 | 20:1bc6c6dc477b | 616 | strcpy(topline,"------INFO------"); |
jah128 | 20:1bc6c6dc477b | 617 | break; |
jah128 | 20:1bc6c6dc477b | 618 | case 6: |
jah128 | 20:1bc6c6dc477b | 619 | strcpy(topline,"-----DEMOS------"); |
jah128 | 20:1bc6c6dc477b | 620 | break; |
jah128 | 20:1bc6c6dc477b | 621 | case 7: |
jah128 | 20:1bc6c6dc477b | 622 | strcpy(topline,"---CALIBRATION--"); |
jah128 | 20:1bc6c6dc477b | 623 | break; |
jah128 | 20:1bc6c6dc477b | 624 | case 8: |
jah128 | 20:1bc6c6dc477b | 625 | strcpy(topline,"---PSI BASIC----"); |
jah128 | 20:1bc6c6dc477b | 626 | break; |
jah128 | 20:1bc6c6dc477b | 627 | case 9: |
jah128 | 20:1bc6c6dc477b | 628 | strcpy(topline,"------EXIT------"); |
jah128 | 20:1bc6c6dc477b | 629 | break; |
jah128 | 20:1bc6c6dc477b | 630 | } |
jah128 | 20:1bc6c6dc477b | 631 | strcpy(bottomline,""); |
jah128 | 20:1bc6c6dc477b | 632 | break; |
jah128 | 20:1bc6c6dc477b | 633 | case 1: |
jah128 | 20:1bc6c6dc477b | 634 | //Sub level menu |
jah128 | 20:1bc6c6dc477b | 635 | switch(top_menu) { |
jah128 | 20:1bc6c6dc477b | 636 | case 8: |
jah128 | 20:1bc6c6dc477b | 637 | strcpy(topline,"-PSI BASIC MENU-"); |
jah128 | 20:1bc6c6dc477b | 638 | if(sub_menu == psi_basic_file_count) strcpy(bottomline,"EXIT"); |
jah128 | 20:1bc6c6dc477b | 639 | else strcpy(bottomline,basic_filenames.at(sub_menu).c_str()); |
jah128 | 20:1bc6c6dc477b | 640 | break; |
jah128 | 20:1bc6c6dc477b | 641 | case 1: |
jah128 | 20:1bc6c6dc477b | 642 | strcpy(topline,"----LED MENU----"); |
jah128 | 20:1bc6c6dc477b | 643 | char led_status[7]; |
jah128 | 20:1bc6c6dc477b | 644 | if(sub_menu<9) { |
jah128 | 20:1bc6c6dc477b | 645 | switch(led_state[sub_menu]) { |
jah128 | 20:1bc6c6dc477b | 646 | case 0: |
jah128 | 20:1bc6c6dc477b | 647 | strcpy(led_status,"OFF"); |
jah128 | 20:1bc6c6dc477b | 648 | break; |
jah128 | 20:1bc6c6dc477b | 649 | case 1: |
jah128 | 20:1bc6c6dc477b | 650 | strcpy(led_status,"RED"); |
jah128 | 20:1bc6c6dc477b | 651 | break; |
jah128 | 20:1bc6c6dc477b | 652 | case 2: |
jah128 | 20:1bc6c6dc477b | 653 | strcpy(led_status,"GREEN"); |
jah128 | 20:1bc6c6dc477b | 654 | break; |
jah128 | 20:1bc6c6dc477b | 655 | case 3: |
jah128 | 20:1bc6c6dc477b | 656 | strcpy(led_status,"YELLOW"); |
jah128 | 20:1bc6c6dc477b | 657 | break; |
jah128 | 20:1bc6c6dc477b | 658 | } |
jah128 | 20:1bc6c6dc477b | 659 | } |
jah128 | 20:1bc6c6dc477b | 660 | if(sub_menu < 8) sprintf(bottomline,"OUTER %d: %s",(sub_menu + 1),led_status); |
jah128 | 20:1bc6c6dc477b | 661 | if(sub_menu == 8) sprintf(bottomline,"CENTER: %s",led_status); |
jah128 | 20:1bc6c6dc477b | 662 | if(sub_menu == 9) { |
jah128 | 20:1bc6c6dc477b | 663 | switch(all_led_state) { |
jah128 | 20:1bc6c6dc477b | 664 | case 0: |
jah128 | 20:1bc6c6dc477b | 665 | strcpy(led_status,"OFF"); |
jah128 | 20:1bc6c6dc477b | 666 | break; |
jah128 | 20:1bc6c6dc477b | 667 | case 1: |
jah128 | 20:1bc6c6dc477b | 668 | strcpy(led_status,"RED"); |
jah128 | 20:1bc6c6dc477b | 669 | break; |
jah128 | 20:1bc6c6dc477b | 670 | case 2: |
jah128 | 20:1bc6c6dc477b | 671 | strcpy(led_status,"GREEN"); |
jah128 | 20:1bc6c6dc477b | 672 | break; |
jah128 | 20:1bc6c6dc477b | 673 | case 3: |
jah128 | 20:1bc6c6dc477b | 674 | strcpy(led_status,"YELLOW"); |
jah128 | 20:1bc6c6dc477b | 675 | break; |
jah128 | 20:1bc6c6dc477b | 676 | } |
jah128 | 20:1bc6c6dc477b | 677 | sprintf(bottomline,"SET ALL %s", led_status); |
jah128 | 20:1bc6c6dc477b | 678 | } |
jah128 | 20:1bc6c6dc477b | 679 | if(sub_menu == 10) { |
jah128 | 20:1bc6c6dc477b | 680 | if(base_led_state == 0) strcpy(led_status,"OFF"); |
jah128 | 20:1bc6c6dc477b | 681 | else strcpy(led_status,"ON"); |
jah128 | 20:1bc6c6dc477b | 682 | sprintf(bottomline,"BASE: %s",led_status); |
jah128 | 20:1bc6c6dc477b | 683 | } |
jah128 | 20:1bc6c6dc477b | 684 | if(sub_menu == 11) sprintf(bottomline,"CLED BNESS %d%%", brightness); |
jah128 | 20:1bc6c6dc477b | 685 | if(sub_menu == 12) sprintf(bottomline,"DISP BNESS %d%%", bl_brightness); |
jah128 | 20:1bc6c6dc477b | 686 | if(sub_menu == 13) strcpy(bottomline,"EXIT"); |
jah128 | 20:1bc6c6dc477b | 687 | break; |
jah128 | 20:1bc6c6dc477b | 688 | |
jah128 | 20:1bc6c6dc477b | 689 | case 2: |
jah128 | 20:1bc6c6dc477b | 690 | strcpy(topline,"--SENSORS MENU--"); |
jah128 | 20:1bc6c6dc477b | 691 | switch(sub_menu) { |
jah128 | 20:1bc6c6dc477b | 692 | case 0: { |
jah128 | 20:1bc6c6dc477b | 693 | float battery = sensors.get_battery_voltage (); |
jah128 | 20:1bc6c6dc477b | 694 | sprintf(bottomline,"BATTERY: %1.3fV",battery); |
jah128 | 0:d6269d17c8cf | 695 | break; |
jah128 | 20:1bc6c6dc477b | 696 | } |
jah128 | 20:1bc6c6dc477b | 697 | case 1: { |
jah128 | 20:1bc6c6dc477b | 698 | float dc = sensors.get_dc_voltage (); |
jah128 | 20:1bc6c6dc477b | 699 | sprintf(bottomline,"DC: %1.3fV",dc); |
jah128 | 20:1bc6c6dc477b | 700 | break; |
jah128 | 20:1bc6c6dc477b | 701 | } |
jah128 | 20:1bc6c6dc477b | 702 | case 2: { |
jah128 | 20:1bc6c6dc477b | 703 | float current = sensors.get_current (); |
jah128 | 20:1bc6c6dc477b | 704 | sprintf(bottomline,"CURRENT: %1.3fA",current); |
jah128 | 0:d6269d17c8cf | 705 | break; |
jah128 | 20:1bc6c6dc477b | 706 | } |
jah128 | 20:1bc6c6dc477b | 707 | case 3: { |
jah128 | 20:1bc6c6dc477b | 708 | float temperature = sensors.get_temperature(); |
jah128 | 20:1bc6c6dc477b | 709 | sprintf(bottomline,"TEMP: %3.2fC", temperature); |
jah128 | 0:d6269d17c8cf | 710 | break; |
jah128 | 20:1bc6c6dc477b | 711 | } |
jah128 | 20:1bc6c6dc477b | 712 | case 4: |
jah128 | 20:1bc6c6dc477b | 713 | sensors.store_background_base_ir_values(); |
jah128 | 20:1bc6c6dc477b | 714 | sprintf(bottomline,"BIR%dB:%d",base_ir_index+1,sensors.get_background_base_ir_value(base_ir_index)); |
jah128 | 20:1bc6c6dc477b | 715 | break; |
jah128 | 20:1bc6c6dc477b | 716 | case 5: |
jah128 | 20:1bc6c6dc477b | 717 | sensors.store_illuminated_base_ir_values(); |
jah128 | 20:1bc6c6dc477b | 718 | sprintf(bottomline,"BIR%dR:%d",base_ir_index+1,sensors.get_illuminated_base_ir_value(base_ir_index)); |
jah128 | 20:1bc6c6dc477b | 719 | break; |
jah128 | 20:1bc6c6dc477b | 720 | case 6: |
jah128 | 20:1bc6c6dc477b | 721 | sensors.store_illuminated_base_ir_values(); |
jah128 | 20:1bc6c6dc477b | 722 | sprintf(bottomline,"BIC%dR:%1.3f",base_ir_index+1,sensors.get_calibrated_base_ir_value(base_ir_index)); |
jah128 | 0:d6269d17c8cf | 723 | break; |
jah128 | 20:1bc6c6dc477b | 724 | case 7: |
jah128 | 20:1bc6c6dc477b | 725 | sensors.store_background_raw_ir_values(); |
jah128 | 20:1bc6c6dc477b | 726 | sprintf(bottomline,"SIR%dB:%d",side_ir_index+1,sensors.get_background_raw_ir_value(side_ir_index)); |
jah128 | 20:1bc6c6dc477b | 727 | break; |
jah128 | 20:1bc6c6dc477b | 728 | case 8: |
jah128 | 20:1bc6c6dc477b | 729 | sensors.store_illuminated_raw_ir_values(); |
jah128 | 20:1bc6c6dc477b | 730 | sprintf(bottomline,"SIR%dR:%d",side_ir_index+1,sensors.get_illuminated_raw_ir_value(side_ir_index)); |
jah128 | 20:1bc6c6dc477b | 731 | break; |
jah128 | 20:1bc6c6dc477b | 732 | case 9: |
jah128 | 20:1bc6c6dc477b | 733 | sprintf(bottomline,"SIR%dD:%3.1f",side_ir_index+1,0.0); |
jah128 | 0:d6269d17c8cf | 734 | break; |
jah128 | 20:1bc6c6dc477b | 735 | case 10: |
jah128 | 20:1bc6c6dc477b | 736 | if(ultrasonic_distance_updated == 1) { |
jah128 | 20:1bc6c6dc477b | 737 | sprintf(bottomline,"USONIC:%3dcm",ultrasonic_distance); |
jah128 | 20:1bc6c6dc477b | 738 | } else sprintf(bottomline,"USONIC:---------"); |
jah128 | 20:1bc6c6dc477b | 739 | sensors.update_ultrasonic_measure(); |
jah128 | 0:d6269d17c8cf | 740 | break; |
jah128 | 20:1bc6c6dc477b | 741 | case 11: |
jah128 | 20:1bc6c6dc477b | 742 | sensors.store_line_position(); |
jah128 | 20:1bc6c6dc477b | 743 | if(line_found == 1)sprintf(bottomline,"LINE:%1.3f",line_position); |
jah128 | 20:1bc6c6dc477b | 744 | else sprintf(bottomline,"LINE:---------"); |
jah128 | 0:d6269d17c8cf | 745 | break; |
jah128 | 20:1bc6c6dc477b | 746 | |
jah128 | 20:1bc6c6dc477b | 747 | case 12: |
jah128 | 20:1bc6c6dc477b | 748 | sprintf(bottomline,"COLOUR: %s",colour.get_colour_string(colour.detect_colour_once())); |
jah128 | 20:1bc6c6dc477b | 749 | break; |
jah128 | 20:1bc6c6dc477b | 750 | case 13: |
jah128 | 20:1bc6c6dc477b | 751 | sprintf(bottomline,"EXIT"); |
jah128 | 0:d6269d17c8cf | 752 | break; |
jah128 | 0:d6269d17c8cf | 753 | } |
jah128 | 20:1bc6c6dc477b | 754 | break; |
jah128 | 20:1bc6c6dc477b | 755 | case 3: |
jah128 | 20:1bc6c6dc477b | 756 | strcpy(topline,"--MOTORS MENU---"); |
jah128 | 20:1bc6c6dc477b | 757 | switch(sub_menu) { |
jah128 | 20:1bc6c6dc477b | 758 | case 0: |
jah128 | 20:1bc6c6dc477b | 759 | sprintf(bottomline,"LEFT: %d%%", left_speed); |
jah128 | 20:1bc6c6dc477b | 760 | break; |
jah128 | 20:1bc6c6dc477b | 761 | case 1: |
jah128 | 20:1bc6c6dc477b | 762 | sprintf(bottomline,"RIGHT: %d%%", right_speed); |
jah128 | 20:1bc6c6dc477b | 763 | break; |
jah128 | 20:1bc6c6dc477b | 764 | case 2: |
jah128 | 20:1bc6c6dc477b | 765 | char both_mode_string[16]; |
jah128 | 20:1bc6c6dc477b | 766 | switch(both_motor_mode) { |
jah128 | 20:1bc6c6dc477b | 767 | case 0: |
jah128 | 20:1bc6c6dc477b | 768 | strcpy(both_mode_string,"OFF"); |
jah128 | 20:1bc6c6dc477b | 769 | break; |
jah128 | 20:1bc6c6dc477b | 770 | case 1: |
jah128 | 20:1bc6c6dc477b | 771 | strcpy(both_mode_string,"BRAKE"); |
jah128 | 20:1bc6c6dc477b | 772 | break; |
jah128 | 20:1bc6c6dc477b | 773 | case 2: |
jah128 | 20:1bc6c6dc477b | 774 | strcpy(both_mode_string,"+50%"); |
jah128 | 20:1bc6c6dc477b | 775 | break; |
jah128 | 20:1bc6c6dc477b | 776 | case 3: |
jah128 | 20:1bc6c6dc477b | 777 | strcpy(both_mode_string,"+100%"); |
jah128 | 20:1bc6c6dc477b | 778 | break; |
jah128 | 20:1bc6c6dc477b | 779 | case 4: |
jah128 | 20:1bc6c6dc477b | 780 | strcpy(both_mode_string,"-50%"); |
jah128 | 20:1bc6c6dc477b | 781 | break; |
jah128 | 20:1bc6c6dc477b | 782 | case 5: |
jah128 | 20:1bc6c6dc477b | 783 | strcpy(both_mode_string,"-100%"); |
jah128 | 20:1bc6c6dc477b | 784 | break; |
jah128 | 20:1bc6c6dc477b | 785 | } |
jah128 | 20:1bc6c6dc477b | 786 | sprintf(bottomline,"BOTH TO %s",both_mode_string); |
jah128 | 20:1bc6c6dc477b | 787 | break; |
jah128 | 20:1bc6c6dc477b | 788 | case 3: |
jah128 | 20:1bc6c6dc477b | 789 | sprintf(bottomline,"EXIT"); |
jah128 | 20:1bc6c6dc477b | 790 | break; |
jah128 | 0:d6269d17c8cf | 791 | } |
jah128 | 20:1bc6c6dc477b | 792 | break; |
jah128 | 20:1bc6c6dc477b | 793 | case 4: |
jah128 | 20:1bc6c6dc477b | 794 | strcpy(topline,"---RADIO MENU---"); |
jah128 | 20:1bc6c6dc477b | 795 | switch(sub_menu) { |
jah128 | 18:9204f74069b4 | 796 | |
jah128 | 20:1bc6c6dc477b | 797 | case 0: |
jah128 | 20:1bc6c6dc477b | 798 | sprintf(bottomline,"EXIT"); |
jah128 | 20:1bc6c6dc477b | 799 | break; |
jah128 | 20:1bc6c6dc477b | 800 | } |
jah128 | 20:1bc6c6dc477b | 801 | break; |
jah128 | 20:1bc6c6dc477b | 802 | case 5: |
jah128 | 20:1bc6c6dc477b | 803 | strcpy(topline,"---INFO MENU----"); |
jah128 | 20:1bc6c6dc477b | 804 | switch(sub_menu) { |
jah128 | 20:1bc6c6dc477b | 805 | case 0: |
jah128 | 20:1bc6c6dc477b | 806 | sprintf(bottomline,"ROBOT ID: %d",robot_id); |
jah128 | 20:1bc6c6dc477b | 807 | break; |
jah128 | 20:1bc6c6dc477b | 808 | case 1: |
jah128 | 20:1bc6c6dc477b | 809 | sprintf(bottomline,"SOFTWARE: %1.2f",SOFTWARE_VERSION_CODE); |
jah128 | 20:1bc6c6dc477b | 810 | break; |
jah128 | 20:1bc6c6dc477b | 811 | case 2: |
jah128 | 20:1bc6c6dc477b | 812 | if(firmware_version > 0) sprintf(bottomline,"FIRMWARE: %1.2f",firmware_version); |
jah128 | 20:1bc6c6dc477b | 813 | else sprintf(bottomline,"FIRMWARE: ?????"); |
jah128 | 20:1bc6c6dc477b | 814 | break; |
jah128 | 20:1bc6c6dc477b | 815 | case 3: |
jah128 | 20:1bc6c6dc477b | 816 | sprintf(bottomline,"PROG:%s",program_name); |
jah128 | 20:1bc6c6dc477b | 817 | break; |
jah128 | 20:1bc6c6dc477b | 818 | case 4: |
jah128 | 20:1bc6c6dc477b | 819 | sprintf(bottomline,"AUTH:%s",author_name); |
jah128 | 20:1bc6c6dc477b | 820 | break; |
jah128 | 20:1bc6c6dc477b | 821 | case 5: |
jah128 | 20:1bc6c6dc477b | 822 | sprintf(bottomline,"VER:%s",version_name); |
jah128 | 20:1bc6c6dc477b | 823 | break; |
jah128 | 20:1bc6c6dc477b | 824 | case 6: |
jah128 | 20:1bc6c6dc477b | 825 | sprintf(bottomline,"EXIT"); |
jah128 | 20:1bc6c6dc477b | 826 | break; |
jah128 | 20:1bc6c6dc477b | 827 | } |
jah128 | 20:1bc6c6dc477b | 828 | break; |
jah128 | 20:1bc6c6dc477b | 829 | case 6: |
jah128 | 20:1bc6c6dc477b | 830 | strcpy(topline,"---DEMOS MENU---"); |
jah128 | 20:1bc6c6dc477b | 831 | switch(sub_menu) { |
jah128 | 20:1bc6c6dc477b | 832 | case 0: |
jah128 | 20:1bc6c6dc477b | 833 | sprintf(bottomline,"LINE FOLLOW"); |
jah128 | 20:1bc6c6dc477b | 834 | break; |
jah128 | 20:1bc6c6dc477b | 835 | case 1: |
jah128 | 20:1bc6c6dc477b | 836 | sprintf(bottomline,"OBST. AVOID"); |
jah128 | 20:1bc6c6dc477b | 837 | break; |
jah128 | 20:1bc6c6dc477b | 838 | case 2: |
jah128 | 20:1bc6c6dc477b | 839 | sprintf(bottomline,"COLOUR SPIN"); |
jah128 | 20:1bc6c6dc477b | 840 | break; |
jah128 | 20:1bc6c6dc477b | 841 | case 3: |
jah128 | 20:1bc6c6dc477b | 842 | sprintf(bottomline,"STRESS TEST"); |
jah128 | 20:1bc6c6dc477b | 843 | break; |
jah128 | 20:1bc6c6dc477b | 844 | case 4: |
jah128 | 20:1bc6c6dc477b | 845 | sprintf(bottomline,"COLOUR WALK"); |
jah128 | 20:1bc6c6dc477b | 846 | break; |
jah128 | 20:1bc6c6dc477b | 847 | case 5: |
jah128 | 20:1bc6c6dc477b | 848 | sprintf(bottomline,"EXIT"); |
jah128 | 20:1bc6c6dc477b | 849 | break; |
jah128 | 20:1bc6c6dc477b | 850 | } |
jah128 | 20:1bc6c6dc477b | 851 | break; |
jah128 | 20:1bc6c6dc477b | 852 | case 7: |
jah128 | 20:1bc6c6dc477b | 853 | strcpy(topline,"---CALIB. MENU--"); |
jah128 | 20:1bc6c6dc477b | 854 | switch(sub_menu) { |
jah128 | 20:1bc6c6dc477b | 855 | case 0: |
jah128 | 20:1bc6c6dc477b | 856 | sprintf(bottomline,"BASE SENSOR"); |
jah128 | 20:1bc6c6dc477b | 857 | break; |
jah128 | 20:1bc6c6dc477b | 858 | case 1: |
jah128 | 20:1bc6c6dc477b | 859 | sprintf(bottomline,"MOTOR"); |
jah128 | 20:1bc6c6dc477b | 860 | break; |
jah128 | 20:1bc6c6dc477b | 861 | case 2: |
jah128 | 20:1bc6c6dc477b | 862 | sprintf(bottomline,"EXIT"); |
jah128 | 20:1bc6c6dc477b | 863 | break; |
jah128 | 20:1bc6c6dc477b | 864 | } |
jah128 | 20:1bc6c6dc477b | 865 | break; |
jah128 | 20:1bc6c6dc477b | 866 | } |
jah128 | 20:1bc6c6dc477b | 867 | break; |
jah128 | 20:1bc6c6dc477b | 868 | } |
jah128 | 20:1bc6c6dc477b | 869 | display.write_string(topline); |
jah128 | 20:1bc6c6dc477b | 870 | display.set_position(1,0); |
jah128 | 20:1bc6c6dc477b | 871 | display.write_string(bottomline); |
jah128 | 20:1bc6c6dc477b | 872 | // Periodically update when on sensors menu |
jah128 | 20:1bc6c6dc477b | 873 | if(top_menu == 2 && level == 1) { |
jah128 | 20:1bc6c6dc477b | 874 | demo_event.attach(this,&Demo::demo_event_thread, 0.25); |
jah128 | 20:1bc6c6dc477b | 875 | } |
jah128 | 0:d6269d17c8cf | 876 | } |
jah128 | 0:d6269d17c8cf | 877 | } |
jah128 | 0:d6269d17c8cf | 878 | |
jah128 | 15:66be5ec52c3b | 879 | char test_step = 0; |
jah128 | 15:66be5ec52c3b | 880 | char test_substep = 0; |
jah128 | 15:66be5ec52c3b | 881 | char test_warnings = 0; |
jah128 | 15:66be5ec52c3b | 882 | |
jah128 | 15:66be5ec52c3b | 883 | |
jah128 | 15:66be5ec52c3b | 884 | void Demo::quick_test_cycle() |
jah128 | 15:66be5ec52c3b | 885 | { |
jah128 | 20:1bc6c6dc477b | 886 | char next_step [] = {4,5,8,3,6,4}; |
jah128 | 15:66be5ec52c3b | 887 | char test_message [17]; |
jah128 | 20:1bc6c6dc477b | 888 | int wait_period = SELF_TEST_PERIOD * 5; |
jah128 | 18:9204f74069b4 | 889 | |
jah128 | 15:66be5ec52c3b | 890 | if(test_substep == 0) { |
jah128 | 15:66be5ec52c3b | 891 | display.clear_display(); |
jah128 | 20:1bc6c6dc477b | 892 | if(test_step == 5 && has_base_colour_sensor == 0)test_step ++; |
jah128 | 15:66be5ec52c3b | 893 | switch(test_step) { |
jah128 | 15:66be5ec52c3b | 894 | case 0: |
jah128 | 15:66be5ec52c3b | 895 | display.write_string("01 - Power "); |
jah128 | 20:1bc6c6dc477b | 896 | pc.printf("\nTest 01: Power tests [%f]\n",psi.get_uptime()); |
jah128 | 15:66be5ec52c3b | 897 | break; |
jah128 | 15:66be5ec52c3b | 898 | case 1: |
jah128 | 15:66be5ec52c3b | 899 | display.write_string("02 - Base IR "); |
jah128 | 15:66be5ec52c3b | 900 | pc.printf("\nTest 02: Base infrared tests [%f]\n",psi.get_uptime()); |
jah128 | 15:66be5ec52c3b | 901 | break; |
jah128 | 15:66be5ec52c3b | 902 | case 2: |
jah128 | 15:66be5ec52c3b | 903 | display.write_string("03 - Side IR "); |
jah128 | 15:66be5ec52c3b | 904 | pc.printf("\nTest 03: Side infrared tests [%f]\n",psi.get_uptime()); |
jah128 | 15:66be5ec52c3b | 905 | break; |
jah128 | 15:66be5ec52c3b | 906 | case 3: |
jah128 | 15:66be5ec52c3b | 907 | display.write_string("04 - LEDs "); |
jah128 | 20:1bc6c6dc477b | 908 | pc.printf("\nTest 04: LED tests [%f]\n",psi.get_uptime()); |
jah128 | 20:1bc6c6dc477b | 909 | break; |
jah128 | 20:1bc6c6dc477b | 910 | case 4: |
jah128 | 20:1bc6c6dc477b | 911 | display.write_string("05 - Motors "); |
jah128 | 20:1bc6c6dc477b | 912 | pc.printf("\nTest 05: Motor tests [%f]\n",psi.get_uptime()); |
jah128 | 20:1bc6c6dc477b | 913 | break; |
jah128 | 20:1bc6c6dc477b | 914 | case 5: |
jah128 | 20:1bc6c6dc477b | 915 | display.write_string("06 - Colour "); |
jah128 | 20:1bc6c6dc477b | 916 | pc.printf("\nTest 06: Base colour sensor tests [%f]\n",psi.get_uptime()); |
jah128 | 15:66be5ec52c3b | 917 | break; |
jah128 | 15:66be5ec52c3b | 918 | } |
jah128 | 15:66be5ec52c3b | 919 | } |
jah128 | 20:1bc6c6dc477b | 920 | char wait_time = 8; |
jah128 | 20:1bc6c6dc477b | 921 | if(test_step == 5) { |
jah128 | 20:1bc6c6dc477b | 922 | // Base colour sensor tests |
jah128 | 20:1bc6c6dc477b | 923 | int dark_rgb_readings [4]; |
jah128 | 20:1bc6c6dc477b | 924 | int light_rgb_readings [4]; |
jah128 | 20:1bc6c6dc477b | 925 | colour.enable_base_colour_sensor(); |
jah128 | 20:1bc6c6dc477b | 926 | wait(0.03); |
jah128 | 20:1bc6c6dc477b | 927 | colour.read_base_colour_sensor_values( dark_rgb_readings); |
jah128 | 20:1bc6c6dc477b | 928 | led.set_base_led(1); |
jah128 | 20:1bc6c6dc477b | 929 | wait(0.05); |
jah128 | 20:1bc6c6dc477b | 930 | colour.read_base_colour_sensor_values( light_rgb_readings); |
jah128 | 20:1bc6c6dc477b | 931 | led.set_base_led(0); |
jah128 | 20:1bc6c6dc477b | 932 | colour.disable_base_colour_sensor(); |
jah128 | 20:1bc6c6dc477b | 933 | wait(0.02); |
jah128 | 20:1bc6c6dc477b | 934 | float adjusted[4]; |
jah128 | 20:1bc6c6dc477b | 935 | colour.get_calibrated_colour(light_rgb_readings,adjusted); |
jah128 | 20:1bc6c6dc477b | 936 | int last_detected_colour = colour.identify_colour_from_calibrated_colour_scores(adjusted); |
jah128 | 20:1bc6c6dc477b | 937 | pc.printf("Sample %d Dark: C%04d-R%04d-G%04d-B%04d Light: C%04d-R%04d-G%04d-B%04d Calib: C%1.3f-R%1.3f-G%1.3f-B%1.3f Colour: %s\n", |
jah128 | 20:1bc6c6dc477b | 938 | dark_rgb_readings[0],dark_rgb_readings[1],dark_rgb_readings[2],dark_rgb_readings[3], |
jah128 | 20:1bc6c6dc477b | 939 | light_rgb_readings[0],light_rgb_readings[1],light_rgb_readings[2],light_rgb_readings[3], |
jah128 | 20:1bc6c6dc477b | 940 | adjusted[0],adjusted[1],adjusted[2],adjusted[3],colour.get_colour_string(last_detected_colour) ); |
jah128 | 20:1bc6c6dc477b | 941 | switch(test_substep){ |
jah128 | 20:1bc6c6dc477b | 942 | case 0:sprintf(test_message,"D:%4d %4d %4d",dark_rgb_readings[1],dark_rgb_readings[2],dark_rgb_readings[3]);break; |
jah128 | 20:1bc6c6dc477b | 943 | case 1:sprintf(test_message,"L:%4d %4d %4d",light_rgb_readings[1],light_rgb_readings[2],light_rgb_readings[3]);break; |
jah128 | 20:1bc6c6dc477b | 944 | case 2:sprintf(test_message,"C:%1.2f %1.2f %1.2f",adjusted[1],adjusted[2],adjusted[3]);break; |
jah128 | 20:1bc6c6dc477b | 945 | case 3:sprintf(test_message,"COLOUR: %s",colour.get_colour_string(last_detected_colour));break; |
jah128 | 20:1bc6c6dc477b | 946 | } |
jah128 | 20:1bc6c6dc477b | 947 | } |
jah128 | 20:1bc6c6dc477b | 948 | |
jah128 | 20:1bc6c6dc477b | 949 | if(test_step == 4) { |
jah128 | 20:1bc6c6dc477b | 950 | // Motor tests |
jah128 | 20:1bc6c6dc477b | 951 | switch(test_substep){ |
jah128 | 20:1bc6c6dc477b | 952 | case 0:sprintf(test_message,"20%% Forward"); |
jah128 | 20:1bc6c6dc477b | 953 | pc.printf("20%% Forward\n"); |
jah128 | 20:1bc6c6dc477b | 954 | motors.forward(0.2); |
jah128 | 20:1bc6c6dc477b | 955 | wait_time = 16; |
jah128 | 20:1bc6c6dc477b | 956 | break; |
jah128 | 20:1bc6c6dc477b | 957 | case 1:sprintf(test_message,"40%% Forward"); |
jah128 | 20:1bc6c6dc477b | 958 | pc.printf("40%% Forward\n"); |
jah128 | 20:1bc6c6dc477b | 959 | motors.forward(0.4); |
jah128 | 20:1bc6c6dc477b | 960 | break; |
jah128 | 20:1bc6c6dc477b | 961 | case 3:sprintf(test_message,"20%% Backward"); |
jah128 | 20:1bc6c6dc477b | 962 | pc.printf("20%% Backward\n"); |
jah128 | 20:1bc6c6dc477b | 963 | motors.backward(0.2); |
jah128 | 20:1bc6c6dc477b | 964 | wait_time = 16; |
jah128 | 20:1bc6c6dc477b | 965 | break; |
jah128 | 20:1bc6c6dc477b | 966 | case 4:sprintf(test_message,"40%% Backward"); |
jah128 | 20:1bc6c6dc477b | 967 | pc.printf("40%% Backward\n"); |
jah128 | 20:1bc6c6dc477b | 968 | motors.backward(0.4); |
jah128 | 20:1bc6c6dc477b | 969 | break; |
jah128 | 20:1bc6c6dc477b | 970 | case 2:case 5:sprintf(test_message,"BRAKE"); |
jah128 | 20:1bc6c6dc477b | 971 | pc.printf("Brake motors\n"); |
jah128 | 20:1bc6c6dc477b | 972 | motors.brake(); |
jah128 | 20:1bc6c6dc477b | 973 | break; |
jah128 | 20:1bc6c6dc477b | 974 | } |
jah128 | 20:1bc6c6dc477b | 975 | wait_us(SELF_TEST_PERIOD * wait_time); |
jah128 | 20:1bc6c6dc477b | 976 | motors.stop(); |
jah128 | 20:1bc6c6dc477b | 977 | wait_us(SELF_TEST_PERIOD); |
jah128 | 20:1bc6c6dc477b | 978 | } |
jah128 | 20:1bc6c6dc477b | 979 | if(test_step == 3) { |
jah128 | 20:1bc6c6dc477b | 980 | //LED tests |
jah128 | 20:1bc6c6dc477b | 981 | switch(test_substep){ |
jah128 | 20:1bc6c6dc477b | 982 | case 0:sprintf(test_message,"RED"); |
jah128 | 20:1bc6c6dc477b | 983 | led.set_leds(0x00,0xFF); |
jah128 | 20:1bc6c6dc477b | 984 | led.set_center_led(1,1); |
jah128 | 20:1bc6c6dc477b | 985 | break; |
jah128 | 20:1bc6c6dc477b | 986 | case 1:sprintf(test_message,"GREEN"); |
jah128 | 20:1bc6c6dc477b | 987 | led.set_leds(0xFF,0x00); |
jah128 | 20:1bc6c6dc477b | 988 | led.set_center_led(2,1); |
jah128 | 20:1bc6c6dc477b | 989 | break; |
jah128 | 20:1bc6c6dc477b | 990 | case 2:sprintf(test_message,"YELLOW"); |
jah128 | 20:1bc6c6dc477b | 991 | led.set_leds(0xFF,0xFF); |
jah128 | 20:1bc6c6dc477b | 992 | led.set_center_led(3,1); |
jah128 | 20:1bc6c6dc477b | 993 | break; |
jah128 | 20:1bc6c6dc477b | 994 | } |
jah128 | 20:1bc6c6dc477b | 995 | wait_us(SELF_TEST_PERIOD * 10); |
jah128 | 20:1bc6c6dc477b | 996 | led.set_leds(0x00,0x00); |
jah128 | 20:1bc6c6dc477b | 997 | led.set_center_led(0); |
jah128 | 20:1bc6c6dc477b | 998 | wait_us(SELF_TEST_PERIOD); |
jah128 | 20:1bc6c6dc477b | 999 | } |
jah128 | 18:9204f74069b4 | 1000 | if(test_step == 1) { |
jah128 | 18:9204f74069b4 | 1001 | //Base IR tests |
jah128 | 18:9204f74069b4 | 1002 | sensors.store_background_base_ir_values(); |
jah128 | 18:9204f74069b4 | 1003 | wait(0.05); |
jah128 | 18:9204f74069b4 | 1004 | sensors.store_illuminated_base_ir_values(); |
jah128 | 18:9204f74069b4 | 1005 | pc.printf("Sample %d 1: %04d-%04d-%1.2f 2: %04d-%04d-%1.2f 3: %04d-%04d-%1.2f 4: %04d-%04d-%1.2f 5: %04d-%04d-%1.2f\n", (test_substep+1), |
jah128 | 18:9204f74069b4 | 1006 | sensors.get_background_base_ir_value(0), sensors.get_illuminated_base_ir_value(0), sensors.get_calibrated_base_ir_value (0), |
jah128 | 18:9204f74069b4 | 1007 | sensors.get_background_base_ir_value(1), sensors.get_illuminated_base_ir_value(1),sensors.get_calibrated_base_ir_value (1), |
jah128 | 18:9204f74069b4 | 1008 | sensors.get_background_base_ir_value(2), sensors.get_illuminated_base_ir_value(2),sensors.get_calibrated_base_ir_value (2), |
jah128 | 18:9204f74069b4 | 1009 | sensors.get_background_base_ir_value(3), sensors.get_illuminated_base_ir_value(3),sensors.get_calibrated_base_ir_value (3), |
jah128 | 18:9204f74069b4 | 1010 | sensors.get_background_base_ir_value(4), sensors.get_illuminated_base_ir_value(4),sensors.get_calibrated_base_ir_value (4)); |
jah128 | 18:9204f74069b4 | 1011 | sprintf(test_message,"%d:%4d-%4d-%1.2f",test_substep+1,sensors.get_background_base_ir_value(test_substep),sensors.get_illuminated_base_ir_value(test_substep),sensors.get_calibrated_base_ir_value(test_substep)); |
jah128 | 18:9204f74069b4 | 1012 | wait_us(SELF_TEST_PERIOD); |
jah128 | 18:9204f74069b4 | 1013 | } |
jah128 | 18:9204f74069b4 | 1014 | if(test_step == 2) { |
jah128 | 18:9204f74069b4 | 1015 | //Side IR tests |
jah128 | 18:9204f74069b4 | 1016 | sensors.store_background_raw_ir_values(); |
jah128 | 18:9204f74069b4 | 1017 | wait(0.05); |
jah128 | 18:9204f74069b4 | 1018 | sensors.store_illuminated_raw_ir_values(); |
jah128 | 18:9204f74069b4 | 1019 | pc.printf("Sample %d 1: %04d-%04d 2: %04d-%04d 3: %04d-%04d 4: %04d-%04d 5: %04d-%04d 6: %04d-%04d 7: %04d-%04d 8: %04d-%04d\n", (test_substep+1), |
jah128 | 18:9204f74069b4 | 1020 | sensors.get_background_raw_ir_value(0), sensors.get_illuminated_raw_ir_value(0), |
jah128 | 18:9204f74069b4 | 1021 | sensors.get_background_raw_ir_value(1), sensors.get_illuminated_raw_ir_value(1), |
jah128 | 18:9204f74069b4 | 1022 | sensors.get_background_raw_ir_value(2), sensors.get_illuminated_raw_ir_value(2), |
jah128 | 18:9204f74069b4 | 1023 | sensors.get_background_raw_ir_value(3), sensors.get_illuminated_raw_ir_value(3), |
jah128 | 18:9204f74069b4 | 1024 | sensors.get_background_raw_ir_value(4), sensors.get_illuminated_raw_ir_value(4), |
jah128 | 18:9204f74069b4 | 1025 | sensors.get_background_raw_ir_value(5), sensors.get_illuminated_raw_ir_value(5), |
jah128 | 18:9204f74069b4 | 1026 | sensors.get_background_raw_ir_value(6), sensors.get_illuminated_raw_ir_value(6), |
jah128 | 18:9204f74069b4 | 1027 | sensors.get_background_raw_ir_value(7), sensors.get_illuminated_raw_ir_value(7)); |
jah128 | 18:9204f74069b4 | 1028 | sprintf(test_message,"%d:%4d-%4d",test_substep+1,sensors.get_background_raw_ir_value(test_substep),sensors.get_illuminated_raw_ir_value(test_substep)); |
jah128 | 18:9204f74069b4 | 1029 | wait_us(SELF_TEST_PERIOD); |
jah128 | 18:9204f74069b4 | 1030 | } |
jah128 | 15:66be5ec52c3b | 1031 | if(test_step == 0) { |
jah128 | 15:66be5ec52c3b | 1032 | // Power self-test |
jah128 | 15:66be5ec52c3b | 1033 | switch(test_substep) { |
jah128 | 15:66be5ec52c3b | 1034 | case 0: { // Battery Voltage |
jah128 | 15:66be5ec52c3b | 1035 | float battery_voltages [SAMPLE_SIZE]; |
jah128 | 15:66be5ec52c3b | 1036 | float mean_battery_voltage = 0; |
jah128 | 15:66be5ec52c3b | 1037 | float sd_battery_voltage = 0; |
jah128 | 15:66be5ec52c3b | 1038 | for(int i=0; i<SAMPLE_SIZE; i++) { |
jah128 | 15:66be5ec52c3b | 1039 | battery_voltages[i]=sensors.get_battery_voltage (); |
jah128 | 15:66be5ec52c3b | 1040 | mean_battery_voltage += battery_voltages[i]; |
jah128 | 15:66be5ec52c3b | 1041 | wait_us(SELF_TEST_PERIOD); |
jah128 | 15:66be5ec52c3b | 1042 | } |
jah128 | 15:66be5ec52c3b | 1043 | mean_battery_voltage /= SAMPLE_SIZE; |
jah128 | 15:66be5ec52c3b | 1044 | for(int i=0; i<SAMPLE_SIZE; ++i) sd_battery_voltage += pow(battery_voltages[i] - mean_battery_voltage, 2); |
jah128 | 15:66be5ec52c3b | 1045 | sd_battery_voltage = sqrt(sd_battery_voltage/SAMPLE_SIZE); |
jah128 | 15:66be5ec52c3b | 1046 | |
jah128 | 15:66be5ec52c3b | 1047 | sprintf(test_message,"BATTERY: %1.3fV",mean_battery_voltage); |
jah128 | 15:66be5ec52c3b | 1048 | pc.printf(" - Battery Voltage : %1.4fV [SD = % 1.4f]\n",mean_battery_voltage,sd_battery_voltage); |
jah128 | 15:66be5ec52c3b | 1049 | if(mean_battery_voltage < 3.6) { |
jah128 | 15:66be5ec52c3b | 1050 | pc.printf(" - WARNING : Battery voltage low\n"); |
jah128 | 15:66be5ec52c3b | 1051 | test_warnings++; |
jah128 | 15:66be5ec52c3b | 1052 | } |
jah128 | 15:66be5ec52c3b | 1053 | break; |
jah128 | 15:66be5ec52c3b | 1054 | } |
jah128 | 15:66be5ec52c3b | 1055 | case 1: {// DC Voltage |
jah128 | 15:66be5ec52c3b | 1056 | float dc_voltages [SAMPLE_SIZE]; |
jah128 | 15:66be5ec52c3b | 1057 | float mean_dc_voltage = 0; |
jah128 | 15:66be5ec52c3b | 1058 | float sd_dc_voltage = 0; |
jah128 | 15:66be5ec52c3b | 1059 | for(int i=0; i<SAMPLE_SIZE; i++) { |
jah128 | 15:66be5ec52c3b | 1060 | dc_voltages[i]=sensors.get_dc_voltage (); |
jah128 | 15:66be5ec52c3b | 1061 | mean_dc_voltage += dc_voltages[i]; |
jah128 | 15:66be5ec52c3b | 1062 | wait_us(SELF_TEST_PERIOD); |
jah128 | 15:66be5ec52c3b | 1063 | } |
jah128 | 15:66be5ec52c3b | 1064 | mean_dc_voltage /= SAMPLE_SIZE; |
jah128 | 15:66be5ec52c3b | 1065 | for(int i=0; i<SAMPLE_SIZE; ++i) sd_dc_voltage += pow(dc_voltages[i] - mean_dc_voltage, 2); |
jah128 | 15:66be5ec52c3b | 1066 | sd_dc_voltage = sqrt(sd_dc_voltage/SAMPLE_SIZE); |
jah128 | 15:66be5ec52c3b | 1067 | |
jah128 | 15:66be5ec52c3b | 1068 | sprintf(test_message,"DC : %1.3fV",mean_dc_voltage); |
jah128 | 15:66be5ec52c3b | 1069 | pc.printf(" - DC Input Voltage : %1.4fV [SD = % 1.4f]\n",mean_dc_voltage,sd_dc_voltage); |
jah128 | 15:66be5ec52c3b | 1070 | if(mean_dc_voltage < 0.5) { |
jah128 | 15:66be5ec52c3b | 1071 | pc.printf(" - WARNING : DC voltage low - check charging resistor\n"); |
jah128 | 15:66be5ec52c3b | 1072 | test_warnings++; |
jah128 | 15:66be5ec52c3b | 1073 | } |
jah128 | 15:66be5ec52c3b | 1074 | break; |
jah128 | 15:66be5ec52c3b | 1075 | } |
jah128 | 15:66be5ec52c3b | 1076 | |
jah128 | 15:66be5ec52c3b | 1077 | |
jah128 | 15:66be5ec52c3b | 1078 | case 2: { // Current |
jah128 | 15:66be5ec52c3b | 1079 | float currents [SAMPLE_SIZE]; |
jah128 | 15:66be5ec52c3b | 1080 | float mean_current = 0; |
jah128 | 15:66be5ec52c3b | 1081 | float sd_current = 0; |
jah128 | 15:66be5ec52c3b | 1082 | for(int i=0; i<SAMPLE_SIZE; i++) { |
jah128 | 15:66be5ec52c3b | 1083 | currents[i]=sensors.get_current (); |
jah128 | 15:66be5ec52c3b | 1084 | mean_current += currents[i]; |
jah128 | 15:66be5ec52c3b | 1085 | wait_us(SELF_TEST_PERIOD); |
jah128 | 15:66be5ec52c3b | 1086 | } |
jah128 | 15:66be5ec52c3b | 1087 | mean_current /= SAMPLE_SIZE; |
jah128 | 15:66be5ec52c3b | 1088 | for(int i=0; i<SAMPLE_SIZE; ++i) sd_current += pow(currents[i] - mean_current, 2); |
jah128 | 15:66be5ec52c3b | 1089 | sd_current = sqrt(sd_current/SAMPLE_SIZE); |
jah128 | 15:66be5ec52c3b | 1090 | |
jah128 | 15:66be5ec52c3b | 1091 | sprintf(test_message,"CURRENT: %1.3fV",mean_current); |
jah128 | 18:9204f74069b4 | 1092 | pc.printf(" - Load Current : %1.4fA [SD = % 1.4f]\n",mean_current,sd_current); |
jah128 | 15:66be5ec52c3b | 1093 | if(mean_current > 0.2) { |
jah128 | 15:66be5ec52c3b | 1094 | pc.printf(" - WARNING : Higher than expected load current\n"); |
jah128 | 15:66be5ec52c3b | 1095 | test_warnings++; |
jah128 | 15:66be5ec52c3b | 1096 | } |
jah128 | 15:66be5ec52c3b | 1097 | break; |
jah128 | 15:66be5ec52c3b | 1098 | } |
jah128 | 18:9204f74069b4 | 1099 | |
jah128 | 15:66be5ec52c3b | 1100 | case 3: {// System temperature |
jah128 | 15:66be5ec52c3b | 1101 | float temps[SAMPLE_SIZE]; |
jah128 | 15:66be5ec52c3b | 1102 | float mean_temp = 0; |
jah128 | 15:66be5ec52c3b | 1103 | float sd_temp = 0; |
jah128 | 15:66be5ec52c3b | 1104 | for(int i=0; i<SAMPLE_SIZE; i++) { |
jah128 | 15:66be5ec52c3b | 1105 | temps[i]=sensors.get_temperature(); |
jah128 | 15:66be5ec52c3b | 1106 | mean_temp += temps[i]; |
jah128 | 15:66be5ec52c3b | 1107 | wait_us(SELF_TEST_PERIOD); |
jah128 | 15:66be5ec52c3b | 1108 | } |
jah128 | 15:66be5ec52c3b | 1109 | mean_temp /= SAMPLE_SIZE; |
jah128 | 15:66be5ec52c3b | 1110 | for(int i=0; i<SAMPLE_SIZE; ++i) sd_temp += pow(temps[i] - mean_temp, 2); |
jah128 | 15:66be5ec52c3b | 1111 | sd_temp = sqrt(sd_temp/SAMPLE_SIZE); |
jah128 | 15:66be5ec52c3b | 1112 | |
jah128 | 15:66be5ec52c3b | 1113 | sprintf(test_message,"TEMP : %3.2fC",mean_temp); |
jah128 | 18:9204f74069b4 | 1114 | pc.printf(" - System Temperature : %3.2fC [SD = % 1.4f]\n",mean_temp,sd_temp); |
jah128 | 15:66be5ec52c3b | 1115 | if(mean_temp > 32) { |
jah128 | 15:66be5ec52c3b | 1116 | pc.printf(" - WARNING : High system temperature detected\n"); |
jah128 | 15:66be5ec52c3b | 1117 | test_warnings++; |
jah128 | 15:66be5ec52c3b | 1118 | } |
jah128 | 15:66be5ec52c3b | 1119 | if(mean_temp < 10) { |
jah128 | 15:66be5ec52c3b | 1120 | pc.printf(" - WARNING : Low system temperature detected\n"); |
jah128 | 15:66be5ec52c3b | 1121 | test_warnings++; |
jah128 | 15:66be5ec52c3b | 1122 | } |
jah128 | 15:66be5ec52c3b | 1123 | break; |
jah128 | 15:66be5ec52c3b | 1124 | } |
jah128 | 15:66be5ec52c3b | 1125 | } |
jah128 | 15:66be5ec52c3b | 1126 | } |
jah128 | 15:66be5ec52c3b | 1127 | |
jah128 | 15:66be5ec52c3b | 1128 | display.set_position(1,0); |
jah128 | 15:66be5ec52c3b | 1129 | display.write_string(" "); |
jah128 | 15:66be5ec52c3b | 1130 | display.set_position(1,0); |
jah128 | 15:66be5ec52c3b | 1131 | display.write_string(test_message); |
jah128 | 15:66be5ec52c3b | 1132 | test_substep++; |
jah128 | 15:66be5ec52c3b | 1133 | if(test_substep >= next_step[test_step]) { |
jah128 | 15:66be5ec52c3b | 1134 | test_substep = 0; |
jah128 | 15:66be5ec52c3b | 1135 | test_step ++; |
jah128 | 20:1bc6c6dc477b | 1136 | if(test_step >= 6) test_step = 0; |
jah128 | 15:66be5ec52c3b | 1137 | } |
jah128 | 15:66be5ec52c3b | 1138 | |
jah128 | 20:1bc6c6dc477b | 1139 | if(demo_running == 1) { |
jah128 | 20:1bc6c6dc477b | 1140 | demo_timeout.attach_us(this,&Demo::quick_test_cycle, wait_period); |
jah128 | 20:1bc6c6dc477b | 1141 | } else pc.printf("- Quick test terminated\n"); |
jah128 | 15:66be5ec52c3b | 1142 | } |
jah128 | 15:66be5ec52c3b | 1143 | |
jah128 | 15:66be5ec52c3b | 1144 | void Demo::toggle_quick_test() |
jah128 | 15:66be5ec52c3b | 1145 | { |
jah128 | 15:66be5ec52c3b | 1146 | quick_test = 1 - quick_test; |
jah128 | 15:66be5ec52c3b | 1147 | if(quick_test == 0) { |
jah128 | 15:66be5ec52c3b | 1148 | pc.printf("________________________________________\n"); |
jah128 | 15:66be5ec52c3b | 1149 | pc.printf("Self test stopped at %f with %d warnings\n\n",psi.get_uptime(),test_warnings); |
jah128 | 15:66be5ec52c3b | 1150 | display.clear_display(); |
jah128 | 15:66be5ec52c3b | 1151 | display.write_string("---QUICK TEST---"); |
jah128 | 20:1bc6c6dc477b | 1152 | stop_demo(); |
jah128 | 15:66be5ec52c3b | 1153 | } else { |
jah128 | 15:66be5ec52c3b | 1154 | // Reset all LEDs, motors, display |
jah128 | 15:66be5ec52c3b | 1155 | pc.printf("\n________________________________________\n"); |
jah128 | 15:66be5ec52c3b | 1156 | pc.printf("Self test started at %f\n\n",psi.get_uptime(),test_warnings); |
jah128 | 15:66be5ec52c3b | 1157 | display.clear_display(); |
jah128 | 15:66be5ec52c3b | 1158 | test_step = 0; |
jah128 | 15:66be5ec52c3b | 1159 | test_substep = 0; |
jah128 | 15:66be5ec52c3b | 1160 | demo_running = 1; |
jah128 | 15:66be5ec52c3b | 1161 | demo_timeout.attach_us(this,&Demo::quick_test_cycle,1000); |
jah128 | 15:66be5ec52c3b | 1162 | } |
jah128 | 15:66be5ec52c3b | 1163 | } |
jah128 | 15:66be5ec52c3b | 1164 | |
jah128 | 20:1bc6c6dc477b | 1165 | void Demo::setup_demo() |
jah128 | 0:d6269d17c8cf | 1166 | { |
jah128 | 0:d6269d17c8cf | 1167 | display.set_backlight_brightness(0); |
jah128 | 0:d6269d17c8cf | 1168 | time_out = 0.25f; |
jah128 | 0:d6269d17c8cf | 1169 | demo_timer.start(); |
jah128 | 0:d6269d17c8cf | 1170 | state = 0; |
jah128 | 0:d6269d17c8cf | 1171 | speed = 0; |
jah128 | 0:d6269d17c8cf | 1172 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1173 | demo_running = 1; |
jah128 | 20:1bc6c6dc477b | 1174 | } |
jah128 | 20:1bc6c6dc477b | 1175 | |
jah128 | 20:1bc6c6dc477b | 1176 | void Demo::start_line_demo() |
jah128 | 20:1bc6c6dc477b | 1177 | { |
jah128 | 20:1bc6c6dc477b | 1178 | setup_demo(); |
jah128 | 11:312663037b8c | 1179 | demo_timeout.attach_us(this,&Demo::line_demo_cycle,1000); |
jah128 | 0:d6269d17c8cf | 1180 | } |
jah128 | 0:d6269d17c8cf | 1181 | |
jah128 | 11:312663037b8c | 1182 | void Demo::start_obstacle_demo() |
jah128 | 0:d6269d17c8cf | 1183 | { |
jah128 | 20:1bc6c6dc477b | 1184 | setup_demo(); |
jah128 | 11:312663037b8c | 1185 | demo_timeout.attach_us(this,&Demo::obstacle_demo_cycle,1000); |
jah128 | 0:d6269d17c8cf | 1186 | } |
jah128 | 0:d6269d17c8cf | 1187 | |
jah128 | 16:50686c07ad07 | 1188 | void Demo::start_colour_demo() |
jah128 | 16:50686c07ad07 | 1189 | { |
jah128 | 20:1bc6c6dc477b | 1190 | setup_demo(); |
jah128 | 16:50686c07ad07 | 1191 | colour.start_colour_ticker(100); |
jah128 | 16:50686c07ad07 | 1192 | demo_timeout.attach_us(this,&Demo::colour_demo_cycle,1000); |
jah128 | 16:50686c07ad07 | 1193 | } |
jah128 | 16:50686c07ad07 | 1194 | |
jah128 | 11:312663037b8c | 1195 | void Demo::start_stress_demo() |
jah128 | 0:d6269d17c8cf | 1196 | { |
jah128 | 0:d6269d17c8cf | 1197 | display.set_backlight_brightness(0.25); |
jah128 | 0:d6269d17c8cf | 1198 | display.write_string("STRESS TEST"); |
jah128 | 0:d6269d17c8cf | 1199 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 1200 | display.write_string("----25%----"); |
jah128 | 20:1bc6c6dc477b | 1201 | setup_demo(); |
jah128 | 0:d6269d17c8cf | 1202 | time_out = 0.04f; |
jah128 | 11:312663037b8c | 1203 | demo_timeout.attach_us(this,&Demo::stress_demo_cycle,1000); |
jah128 | 0:d6269d17c8cf | 1204 | } |
jah128 | 0:d6269d17c8cf | 1205 | |
jah128 | 11:312663037b8c | 1206 | void Demo::start_spinning_demo() |
jah128 | 0:d6269d17c8cf | 1207 | { |
jah128 | 0:d6269d17c8cf | 1208 | display.set_backlight_brightness(0); |
jah128 | 20:1bc6c6dc477b | 1209 | setup_demo(); |
jah128 | 0:d6269d17c8cf | 1210 | time_out = 0.0f; |
jah128 | 11:312663037b8c | 1211 | demo_timeout.attach_us(this,&Demo::spinning_demo_cycle,1000); |
jah128 | 0:d6269d17c8cf | 1212 | } |
jah128 | 0:d6269d17c8cf | 1213 | |
jah128 | 11:312663037b8c | 1214 | void Demo::line_demo_cycle() |
jah128 | 0:d6269d17c8cf | 1215 | { |
jah128 | 0:d6269d17c8cf | 1216 | if(demo_timer.read() > time_out) { |
jah128 | 10:e58323951c08 | 1217 | sensors.store_line_position(); |
jah128 | 0:d6269d17c8cf | 1218 | if(line_found) { |
jah128 | 0:d6269d17c8cf | 1219 | time_out = 0.01f; |
jah128 | 0:d6269d17c8cf | 1220 | state = 0; |
jah128 | 0:d6269d17c8cf | 1221 | // Get the position of the line. |
jah128 | 0:d6269d17c8cf | 1222 | lf_current_pos_of_line = line_position; |
jah128 | 0:d6269d17c8cf | 1223 | lf_proportional = lf_current_pos_of_line; |
jah128 | 0:d6269d17c8cf | 1224 | |
jah128 | 0:d6269d17c8cf | 1225 | // Compute the derivative |
jah128 | 0:d6269d17c8cf | 1226 | lf_derivative = lf_current_pos_of_line - lf_previous_pos_of_line; |
jah128 | 0:d6269d17c8cf | 1227 | |
jah128 | 0:d6269d17c8cf | 1228 | // Compute the integral |
jah128 | 0:d6269d17c8cf | 1229 | lf_integral += lf_proportional; |
jah128 | 0:d6269d17c8cf | 1230 | |
jah128 | 0:d6269d17c8cf | 1231 | // Remember the last position. |
jah128 | 0:d6269d17c8cf | 1232 | lf_previous_pos_of_line = lf_current_pos_of_line; |
jah128 | 0:d6269d17c8cf | 1233 | |
jah128 | 0:d6269d17c8cf | 1234 | // Compute the power |
jah128 | 0:d6269d17c8cf | 1235 | lf_power = (lf_proportional * (LF_P_TERM) ) + (lf_integral*(LF_I_TERM)) + (lf_derivative*(LF_D_TERM)) ; |
jah128 | 0:d6269d17c8cf | 1236 | |
jah128 | 0:d6269d17c8cf | 1237 | // Compute new speeds |
jah128 | 0:d6269d17c8cf | 1238 | lf_right = lf_speed-lf_power; |
jah128 | 0:d6269d17c8cf | 1239 | lf_left = lf_speed+lf_power; |
jah128 | 0:d6269d17c8cf | 1240 | |
jah128 | 0:d6269d17c8cf | 1241 | // limit checks |
jah128 | 0:d6269d17c8cf | 1242 | if (lf_right < 0) |
jah128 | 0:d6269d17c8cf | 1243 | lf_right = 0; |
jah128 | 0:d6269d17c8cf | 1244 | else if (lf_right > 1.0f) |
jah128 | 0:d6269d17c8cf | 1245 | lf_right = 1.0f; |
jah128 | 0:d6269d17c8cf | 1246 | |
jah128 | 0:d6269d17c8cf | 1247 | if (lf_left < 0) |
jah128 | 0:d6269d17c8cf | 1248 | lf_left = 0; |
jah128 | 0:d6269d17c8cf | 1249 | else if (lf_left > 1.0f) |
jah128 | 0:d6269d17c8cf | 1250 | lf_left = 1.0f; |
jah128 | 15:66be5ec52c3b | 1251 | } else { |
jah128 | 15:66be5ec52c3b | 1252 | //Cannot see line: hunt for it |
jah128 | 15:66be5ec52c3b | 1253 | if(lf_left > lf_right) { |
jah128 | 15:66be5ec52c3b | 1254 | //Currently turning left, keep turning left |
jah128 | 15:66be5ec52c3b | 1255 | state ++; |
jah128 | 15:66be5ec52c3b | 1256 | float d_step = state * 0.04; |
jah128 | 15:66be5ec52c3b | 1257 | lf_left = 0.2 + d_step; |
jah128 | 15:66be5ec52c3b | 1258 | lf_right = -0.2 - d_step; |
jah128 | 15:66be5ec52c3b | 1259 | if(state > 20) { |
jah128 | 15:66be5ec52c3b | 1260 | state = 0; |
jah128 | 15:66be5ec52c3b | 1261 | lf_right = 0.2; |
jah128 | 15:66be5ec52c3b | 1262 | lf_left = -0.2; |
jah128 | 15:66be5ec52c3b | 1263 | time_out += 0.01f; |
jah128 | 15:66be5ec52c3b | 1264 | if(time_out > 0.1f) demo_running = 0; |
jah128 | 15:66be5ec52c3b | 1265 | } |
jah128 | 15:66be5ec52c3b | 1266 | } else { |
jah128 | 15:66be5ec52c3b | 1267 | //Currently turning right, keep turning right |
jah128 | 15:66be5ec52c3b | 1268 | state ++; |
jah128 | 15:66be5ec52c3b | 1269 | float d_step = state * 0.04; |
jah128 | 15:66be5ec52c3b | 1270 | lf_left = -0.2 - d_step; |
jah128 | 15:66be5ec52c3b | 1271 | lf_right = 0.2 + d_step; |
jah128 | 15:66be5ec52c3b | 1272 | if(state > 20) { |
jah128 | 15:66be5ec52c3b | 1273 | state = 0; |
jah128 | 15:66be5ec52c3b | 1274 | lf_right = -0.2; |
jah128 | 15:66be5ec52c3b | 1275 | lf_left = 0.2; |
jah128 | 15:66be5ec52c3b | 1276 | time_out += 0.01f; |
jah128 | 15:66be5ec52c3b | 1277 | if(time_out > 0.1f) demo_running = 0; |
jah128 | 15:66be5ec52c3b | 1278 | } |
jah128 | 0:d6269d17c8cf | 1279 | } |
jah128 | 0:d6269d17c8cf | 1280 | } |
jah128 | 0:d6269d17c8cf | 1281 | // set speed |
jah128 | 8:6c92789d5f87 | 1282 | motors.set_left_motor_speed(lf_left); |
jah128 | 8:6c92789d5f87 | 1283 | motors.set_right_motor_speed(lf_right); |
jah128 | 0:d6269d17c8cf | 1284 | |
jah128 | 0:d6269d17c8cf | 1285 | |
jah128 | 0:d6269d17c8cf | 1286 | demo_timer.reset(); |
jah128 | 0:d6269d17c8cf | 1287 | } |
jah128 | 11:312663037b8c | 1288 | if(demo_running == 1)demo_timeout.attach_us(this,&Demo::line_demo_cycle,500); |
jah128 | 20:1bc6c6dc477b | 1289 | else stop_demo(); |
jah128 | 0:d6269d17c8cf | 1290 | } |
jah128 | 0:d6269d17c8cf | 1291 | |
jah128 | 11:312663037b8c | 1292 | void Demo::stress_demo_cycle() |
jah128 | 0:d6269d17c8cf | 1293 | { |
jah128 | 0:d6269d17c8cf | 1294 | if(demo_timer.read() > time_out) { |
jah128 | 0:d6269d17c8cf | 1295 | float pct = 0.25 + (0.25 * stress_step); |
jah128 | 0:d6269d17c8cf | 1296 | switch(state) { |
jah128 | 0:d6269d17c8cf | 1297 | case 0: |
jah128 | 0:d6269d17c8cf | 1298 | if(spin_step % 2 == 0) { |
jah128 | 8:6c92789d5f87 | 1299 | motors.forward(pct); |
jah128 | 9:dde9e21030eb | 1300 | led.set_leds(0xFF,0xFF); |
jah128 | 0:d6269d17c8cf | 1301 | } else { |
jah128 | 8:6c92789d5f87 | 1302 | motors.backward(pct); |
jah128 | 9:dde9e21030eb | 1303 | led.set_leds(0,0xFF); |
jah128 | 0:d6269d17c8cf | 1304 | } |
jah128 | 0:d6269d17c8cf | 1305 | spin_step ++; |
jah128 | 0:d6269d17c8cf | 1306 | if(spin_step > 199) { |
jah128 | 0:d6269d17c8cf | 1307 | state ++; |
jah128 | 0:d6269d17c8cf | 1308 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 1309 | } |
jah128 | 0:d6269d17c8cf | 1310 | break; |
jah128 | 0:d6269d17c8cf | 1311 | case 1: |
jah128 | 0:d6269d17c8cf | 1312 | if(stress_step < 3) stress_step ++; |
jah128 | 0:d6269d17c8cf | 1313 | float pct = 0.25 + (0.25 * stress_step); |
jah128 | 0:d6269d17c8cf | 1314 | display.set_backlight_brightness(pct); |
jah128 | 0:d6269d17c8cf | 1315 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 1316 | switch(stress_step) { |
jah128 | 0:d6269d17c8cf | 1317 | case 1: |
jah128 | 0:d6269d17c8cf | 1318 | display.write_string("----50%----"); |
jah128 | 0:d6269d17c8cf | 1319 | break; |
jah128 | 0:d6269d17c8cf | 1320 | case 2: |
jah128 | 0:d6269d17c8cf | 1321 | display.write_string("----75%----"); |
jah128 | 0:d6269d17c8cf | 1322 | break; |
jah128 | 0:d6269d17c8cf | 1323 | case 3: |
jah128 | 0:d6269d17c8cf | 1324 | display.write_string("---100%----"); |
jah128 | 0:d6269d17c8cf | 1325 | break; |
jah128 | 0:d6269d17c8cf | 1326 | } |
jah128 | 0:d6269d17c8cf | 1327 | state = 0; |
jah128 | 0:d6269d17c8cf | 1328 | break; |
jah128 | 0:d6269d17c8cf | 1329 | } |
jah128 | 0:d6269d17c8cf | 1330 | demo_timer.reset(); |
jah128 | 0:d6269d17c8cf | 1331 | } |
jah128 | 11:312663037b8c | 1332 | if(demo_running == 1)demo_timeout.attach_us(this,&Demo::stress_demo_cycle,500); |
jah128 | 20:1bc6c6dc477b | 1333 | else stop_demo(); |
jah128 | 20:1bc6c6dc477b | 1334 | } |
jah128 | 20:1bc6c6dc477b | 1335 | |
jah128 | 20:1bc6c6dc477b | 1336 | void Demo::stop_demo() |
jah128 | 20:1bc6c6dc477b | 1337 | { |
jah128 | 20:1bc6c6dc477b | 1338 | demo_running = 0; |
jah128 | 20:1bc6c6dc477b | 1339 | demo_timeout.detach(); |
jah128 | 20:1bc6c6dc477b | 1340 | motors.stop(); |
jah128 | 20:1bc6c6dc477b | 1341 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:d6269d17c8cf | 1342 | } |
jah128 | 0:d6269d17c8cf | 1343 | |
jah128 | 11:312663037b8c | 1344 | void Demo::spinning_demo_cycle() |
jah128 | 0:d6269d17c8cf | 1345 | { |
jah128 | 0:d6269d17c8cf | 1346 | if(demo_timer.read() > time_out) { |
jah128 | 0:d6269d17c8cf | 1347 | switch(state) { |
jah128 | 0:d6269d17c8cf | 1348 | case 0: //Robot is stopped |
jah128 | 9:dde9e21030eb | 1349 | led.set_leds(0,0xFF); |
jah128 | 9:dde9e21030eb | 1350 | led.set_center_led(1,1); |
jah128 | 0:d6269d17c8cf | 1351 | speed = 0.1f; |
jah128 | 8:6c92789d5f87 | 1352 | motors.brake(); |
jah128 | 0:d6269d17c8cf | 1353 | time_out = 0.5; |
jah128 | 0:d6269d17c8cf | 1354 | state = 1; |
jah128 | 0:d6269d17c8cf | 1355 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1356 | break; |
jah128 | 0:d6269d17c8cf | 1357 | case 1: //Motor is turning right, accelerating |
jah128 | 0:d6269d17c8cf | 1358 | time_out = 0.1; |
jah128 | 9:dde9e21030eb | 1359 | led.set_center_led(2,1); |
jah128 | 0:d6269d17c8cf | 1360 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1361 | case 0: |
jah128 | 9:dde9e21030eb | 1362 | led.set_leds(0x01,0); |
jah128 | 0:d6269d17c8cf | 1363 | break; |
jah128 | 0:d6269d17c8cf | 1364 | case 1: |
jah128 | 9:dde9e21030eb | 1365 | led.set_leds(0x02,0); |
jah128 | 0:d6269d17c8cf | 1366 | break; |
jah128 | 0:d6269d17c8cf | 1367 | case 2: |
jah128 | 9:dde9e21030eb | 1368 | led.set_leds(0x04,0); |
jah128 | 0:d6269d17c8cf | 1369 | break; |
jah128 | 0:d6269d17c8cf | 1370 | case 3: |
jah128 | 9:dde9e21030eb | 1371 | led.set_leds(0x08,0); |
jah128 | 0:d6269d17c8cf | 1372 | break; |
jah128 | 0:d6269d17c8cf | 1373 | case 4: |
jah128 | 9:dde9e21030eb | 1374 | led.set_leds(0x10,0); |
jah128 | 0:d6269d17c8cf | 1375 | break; |
jah128 | 0:d6269d17c8cf | 1376 | case 5: |
jah128 | 9:dde9e21030eb | 1377 | led.set_leds(0x20,0); |
jah128 | 0:d6269d17c8cf | 1378 | break; |
jah128 | 0:d6269d17c8cf | 1379 | case 6: |
jah128 | 9:dde9e21030eb | 1380 | led.set_leds(0x40,0); |
jah128 | 0:d6269d17c8cf | 1381 | break; |
jah128 | 0:d6269d17c8cf | 1382 | case 7: |
jah128 | 9:dde9e21030eb | 1383 | led.set_leds(0x80,0); |
jah128 | 0:d6269d17c8cf | 1384 | break; |
jah128 | 0:d6269d17c8cf | 1385 | } |
jah128 | 0:d6269d17c8cf | 1386 | led_step ++; |
jah128 | 0:d6269d17c8cf | 1387 | if(led_step == 8) led_step =0; |
jah128 | 0:d6269d17c8cf | 1388 | if(speed < 1) { |
jah128 | 0:d6269d17c8cf | 1389 | speed += 0.0125; |
jah128 | 8:6c92789d5f87 | 1390 | motors.turn(speed); |
jah128 | 0:d6269d17c8cf | 1391 | } else { |
jah128 | 0:d6269d17c8cf | 1392 | state = 2; |
jah128 | 0:d6269d17c8cf | 1393 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 1394 | led_step =0; |
jah128 | 0:d6269d17c8cf | 1395 | } |
jah128 | 0:d6269d17c8cf | 1396 | break; |
jah128 | 0:d6269d17c8cf | 1397 | case 2: //Motor is turning right, full speed |
jah128 | 9:dde9e21030eb | 1398 | led.set_center_led(3,1); |
jah128 | 0:d6269d17c8cf | 1399 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1400 | case 0: |
jah128 | 9:dde9e21030eb | 1401 | led.set_leds(0x33,0x33); |
jah128 | 0:d6269d17c8cf | 1402 | break; |
jah128 | 0:d6269d17c8cf | 1403 | case 1: |
jah128 | 9:dde9e21030eb | 1404 | led.set_leds(0x66,0x66); |
jah128 | 0:d6269d17c8cf | 1405 | break; |
jah128 | 0:d6269d17c8cf | 1406 | case 2: |
jah128 | 9:dde9e21030eb | 1407 | led.set_leds(0xCC,0xCC); |
jah128 | 0:d6269d17c8cf | 1408 | break; |
jah128 | 0:d6269d17c8cf | 1409 | case 3: |
jah128 | 9:dde9e21030eb | 1410 | led.set_leds(0x99,0x99); |
jah128 | 0:d6269d17c8cf | 1411 | break; |
jah128 | 0:d6269d17c8cf | 1412 | } |
jah128 | 0:d6269d17c8cf | 1413 | led_step ++; |
jah128 | 0:d6269d17c8cf | 1414 | if(led_step == 4) led_step = 0; |
jah128 | 0:d6269d17c8cf | 1415 | spin_step ++; |
jah128 | 0:d6269d17c8cf | 1416 | if(spin_step == 40) { |
jah128 | 0:d6269d17c8cf | 1417 | state = 3; |
jah128 | 0:d6269d17c8cf | 1418 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1419 | } |
jah128 | 0:d6269d17c8cf | 1420 | break; |
jah128 | 0:d6269d17c8cf | 1421 | case 3: //Motor is turning right, decelerating |
jah128 | 9:dde9e21030eb | 1422 | led.set_center_led(2,1); |
jah128 | 0:d6269d17c8cf | 1423 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1424 | case 0: |
jah128 | 9:dde9e21030eb | 1425 | led.set_leds(0x01,0); |
jah128 | 0:d6269d17c8cf | 1426 | break; |
jah128 | 0:d6269d17c8cf | 1427 | case 1: |
jah128 | 9:dde9e21030eb | 1428 | led.set_leds(0x02,0); |
jah128 | 0:d6269d17c8cf | 1429 | break; |
jah128 | 0:d6269d17c8cf | 1430 | case 2: |
jah128 | 9:dde9e21030eb | 1431 | led.set_leds(0x04,0); |
jah128 | 0:d6269d17c8cf | 1432 | break; |
jah128 | 0:d6269d17c8cf | 1433 | case 3: |
jah128 | 9:dde9e21030eb | 1434 | led.set_leds(0x08,0); |
jah128 | 0:d6269d17c8cf | 1435 | break; |
jah128 | 0:d6269d17c8cf | 1436 | case 4: |
jah128 | 9:dde9e21030eb | 1437 | led.set_leds(0x10,0); |
jah128 | 0:d6269d17c8cf | 1438 | break; |
jah128 | 0:d6269d17c8cf | 1439 | case 5: |
jah128 | 9:dde9e21030eb | 1440 | led.set_leds(0x20,0); |
jah128 | 0:d6269d17c8cf | 1441 | break; |
jah128 | 0:d6269d17c8cf | 1442 | case 6: |
jah128 | 9:dde9e21030eb | 1443 | led.set_leds(0x40,0); |
jah128 | 0:d6269d17c8cf | 1444 | break; |
jah128 | 0:d6269d17c8cf | 1445 | case 7: |
jah128 | 9:dde9e21030eb | 1446 | led.set_leds(0x80,0); |
jah128 | 0:d6269d17c8cf | 1447 | break; |
jah128 | 0:d6269d17c8cf | 1448 | } |
jah128 | 0:d6269d17c8cf | 1449 | if(led_step == 0) led_step =8; |
jah128 | 0:d6269d17c8cf | 1450 | led_step --; |
jah128 | 0:d6269d17c8cf | 1451 | if(speed > 0.1) { |
jah128 | 0:d6269d17c8cf | 1452 | speed -= 0.025; |
jah128 | 8:6c92789d5f87 | 1453 | motors.turn(speed); |
jah128 | 0:d6269d17c8cf | 1454 | } else { |
jah128 | 0:d6269d17c8cf | 1455 | state = 4; |
jah128 | 0:d6269d17c8cf | 1456 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 1457 | led_step =0; |
jah128 | 0:d6269d17c8cf | 1458 | } |
jah128 | 0:d6269d17c8cf | 1459 | break; |
jah128 | 0:d6269d17c8cf | 1460 | case 4: //Robot is stopped |
jah128 | 9:dde9e21030eb | 1461 | led.set_leds(0,0xFF); |
jah128 | 9:dde9e21030eb | 1462 | led.set_center_led(1,1); |
jah128 | 0:d6269d17c8cf | 1463 | speed = 0.1f; |
jah128 | 8:6c92789d5f87 | 1464 | motors.brake(); |
jah128 | 0:d6269d17c8cf | 1465 | time_out = 0.5; |
jah128 | 0:d6269d17c8cf | 1466 | led_step =0; |
jah128 | 0:d6269d17c8cf | 1467 | state = 5; |
jah128 | 0:d6269d17c8cf | 1468 | break; |
jah128 | 0:d6269d17c8cf | 1469 | case 5: //Motor is turning left, accelerating |
jah128 | 0:d6269d17c8cf | 1470 | time_out = 0.1; |
jah128 | 9:dde9e21030eb | 1471 | led.set_center_led(2,1); |
jah128 | 0:d6269d17c8cf | 1472 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1473 | case 0: |
jah128 | 9:dde9e21030eb | 1474 | led.set_leds(0x01,0); |
jah128 | 0:d6269d17c8cf | 1475 | break; |
jah128 | 0:d6269d17c8cf | 1476 | case 1: |
jah128 | 9:dde9e21030eb | 1477 | led.set_leds(0x02,0); |
jah128 | 0:d6269d17c8cf | 1478 | break; |
jah128 | 0:d6269d17c8cf | 1479 | case 2: |
jah128 | 9:dde9e21030eb | 1480 | led.set_leds(0x04,0); |
jah128 | 0:d6269d17c8cf | 1481 | break; |
jah128 | 0:d6269d17c8cf | 1482 | case 3: |
jah128 | 9:dde9e21030eb | 1483 | led.set_leds(0x08,0); |
jah128 | 0:d6269d17c8cf | 1484 | break; |
jah128 | 0:d6269d17c8cf | 1485 | case 4: |
jah128 | 9:dde9e21030eb | 1486 | led.set_leds(0x10,0); |
jah128 | 0:d6269d17c8cf | 1487 | break; |
jah128 | 0:d6269d17c8cf | 1488 | case 5: |
jah128 | 9:dde9e21030eb | 1489 | led.set_leds(0x20,0); |
jah128 | 0:d6269d17c8cf | 1490 | break; |
jah128 | 0:d6269d17c8cf | 1491 | case 6: |
jah128 | 9:dde9e21030eb | 1492 | led.set_leds(0x40,0); |
jah128 | 0:d6269d17c8cf | 1493 | break; |
jah128 | 0:d6269d17c8cf | 1494 | case 7: |
jah128 | 9:dde9e21030eb | 1495 | led.set_leds(0x80,0); |
jah128 | 0:d6269d17c8cf | 1496 | break; |
jah128 | 0:d6269d17c8cf | 1497 | } |
jah128 | 0:d6269d17c8cf | 1498 | if(led_step == 0) led_step =8; |
jah128 | 0:d6269d17c8cf | 1499 | led_step --; |
jah128 | 0:d6269d17c8cf | 1500 | if(speed < 1) { |
jah128 | 0:d6269d17c8cf | 1501 | speed += 0.0125; |
jah128 | 8:6c92789d5f87 | 1502 | motors.turn(-speed); |
jah128 | 0:d6269d17c8cf | 1503 | } else { |
jah128 | 0:d6269d17c8cf | 1504 | state = 6; |
jah128 | 0:d6269d17c8cf | 1505 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 1506 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1507 | } |
jah128 | 0:d6269d17c8cf | 1508 | break; |
jah128 | 0:d6269d17c8cf | 1509 | case 6: //Motor is turning left, full speed |
jah128 | 9:dde9e21030eb | 1510 | led.set_center_led(3,1); |
jah128 | 0:d6269d17c8cf | 1511 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1512 | case 0: |
jah128 | 9:dde9e21030eb | 1513 | led.set_leds(0x33,0x33); |
jah128 | 0:d6269d17c8cf | 1514 | break; |
jah128 | 0:d6269d17c8cf | 1515 | case 1: |
jah128 | 9:dde9e21030eb | 1516 | led.set_leds(0x66,0x66); |
jah128 | 0:d6269d17c8cf | 1517 | break; |
jah128 | 0:d6269d17c8cf | 1518 | case 2: |
jah128 | 9:dde9e21030eb | 1519 | led.set_leds(0xCC,0xCC); |
jah128 | 0:d6269d17c8cf | 1520 | break; |
jah128 | 0:d6269d17c8cf | 1521 | case 3: |
jah128 | 9:dde9e21030eb | 1522 | led.set_leds(0x99,0x99); |
jah128 | 0:d6269d17c8cf | 1523 | break; |
jah128 | 0:d6269d17c8cf | 1524 | } |
jah128 | 0:d6269d17c8cf | 1525 | if(led_step == 0) led_step = 4; |
jah128 | 0:d6269d17c8cf | 1526 | led_step --; |
jah128 | 0:d6269d17c8cf | 1527 | spin_step ++; |
jah128 | 0:d6269d17c8cf | 1528 | if(spin_step == 40) { |
jah128 | 0:d6269d17c8cf | 1529 | state = 7; |
jah128 | 0:d6269d17c8cf | 1530 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1531 | } |
jah128 | 0:d6269d17c8cf | 1532 | break; |
jah128 | 0:d6269d17c8cf | 1533 | case 7: //Motor is turning left, decelerating |
jah128 | 9:dde9e21030eb | 1534 | led.set_center_led(2,1); |
jah128 | 0:d6269d17c8cf | 1535 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1536 | case 0: |
jah128 | 9:dde9e21030eb | 1537 | led.set_leds(0x01,0); |
jah128 | 0:d6269d17c8cf | 1538 | break; |
jah128 | 0:d6269d17c8cf | 1539 | case 1: |
jah128 | 9:dde9e21030eb | 1540 | led.set_leds(0x02,0); |
jah128 | 0:d6269d17c8cf | 1541 | break; |
jah128 | 0:d6269d17c8cf | 1542 | case 2: |
jah128 | 9:dde9e21030eb | 1543 | led.set_leds(0x04,0); |
jah128 | 0:d6269d17c8cf | 1544 | break; |
jah128 | 0:d6269d17c8cf | 1545 | case 3: |
jah128 | 9:dde9e21030eb | 1546 | led.set_leds(0x08,0); |
jah128 | 0:d6269d17c8cf | 1547 | break; |
jah128 | 0:d6269d17c8cf | 1548 | case 4: |
jah128 | 9:dde9e21030eb | 1549 | led.set_leds(0x10,0); |
jah128 | 0:d6269d17c8cf | 1550 | break; |
jah128 | 0:d6269d17c8cf | 1551 | case 5: |
jah128 | 9:dde9e21030eb | 1552 | led.set_leds(0x20,0); |
jah128 | 0:d6269d17c8cf | 1553 | break; |
jah128 | 0:d6269d17c8cf | 1554 | case 6: |
jah128 | 9:dde9e21030eb | 1555 | led.set_leds(0x40,0); |
jah128 | 0:d6269d17c8cf | 1556 | break; |
jah128 | 0:d6269d17c8cf | 1557 | case 7: |
jah128 | 9:dde9e21030eb | 1558 | led.set_leds(0x80,0); |
jah128 | 0:d6269d17c8cf | 1559 | break; |
jah128 | 0:d6269d17c8cf | 1560 | } |
jah128 | 0:d6269d17c8cf | 1561 | led_step ++; |
jah128 | 0:d6269d17c8cf | 1562 | if(led_step == 8) led_step =0; |
jah128 | 0:d6269d17c8cf | 1563 | if(speed > 0.1) { |
jah128 | 0:d6269d17c8cf | 1564 | speed -= 0.025; |
jah128 | 8:6c92789d5f87 | 1565 | motors.turn(-speed); |
jah128 | 0:d6269d17c8cf | 1566 | } else { |
jah128 | 0:d6269d17c8cf | 1567 | state = 0; |
jah128 | 0:d6269d17c8cf | 1568 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 1569 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1570 | } |
jah128 | 0:d6269d17c8cf | 1571 | break; |
jah128 | 0:d6269d17c8cf | 1572 | } |
jah128 | 0:d6269d17c8cf | 1573 | demo_timer.reset(); |
jah128 | 0:d6269d17c8cf | 1574 | } |
jah128 | 11:312663037b8c | 1575 | if(demo_running == 1)demo_timeout.attach_us(this,&Demo::spinning_demo_cycle,500); |
jah128 | 20:1bc6c6dc477b | 1576 | else stop_demo(); |
jah128 | 0:d6269d17c8cf | 1577 | } |
jah128 | 0:d6269d17c8cf | 1578 | |
jah128 | 16:50686c07ad07 | 1579 | void Demo::colour_demo_cycle() |
jah128 | 16:50686c07ad07 | 1580 | { |
jah128 | 16:50686c07ad07 | 1581 | if(demo_timer.read() > time_out) { |
jah128 | 16:50686c07ad07 | 1582 | int col = colour.get_detected_colour(); |
jah128 | 18:9204f74069b4 | 1583 | switch(col) { |
jah128 | 18:9204f74069b4 | 1584 | case 0: |
jah128 | 18:9204f74069b4 | 1585 | led.set_leds(0,0xFF); |
jah128 | 18:9204f74069b4 | 1586 | led.set_center_led(1,1); |
jah128 | 18:9204f74069b4 | 1587 | break; |
jah128 | 18:9204f74069b4 | 1588 | case 1: |
jah128 | 18:9204f74069b4 | 1589 | led.set_leds(0xFF,0xFF); |
jah128 | 18:9204f74069b4 | 1590 | led.set_center_led(3,1); |
jah128 | 18:9204f74069b4 | 1591 | break; |
jah128 | 18:9204f74069b4 | 1592 | case 2: |
jah128 | 18:9204f74069b4 | 1593 | led.set_leds(0xFF,0); |
jah128 | 18:9204f74069b4 | 1594 | led.set_center_led(2,1); |
jah128 | 18:9204f74069b4 | 1595 | break; |
jah128 | 18:9204f74069b4 | 1596 | default: |
jah128 | 18:9204f74069b4 | 1597 | led.set_leds(0,0); |
jah128 | 18:9204f74069b4 | 1598 | led.set_center_led(0,0); |
jah128 | 18:9204f74069b4 | 1599 | break; |
jah128 | 16:50686c07ad07 | 1600 | } |
jah128 | 16:50686c07ad07 | 1601 | switch(state) { |
jah128 | 16:50686c07ad07 | 1602 | case 0: //Robot is stopped |
jah128 | 16:50686c07ad07 | 1603 | speed = 0.2f; |
jah128 | 16:50686c07ad07 | 1604 | motors.forward(speed); |
jah128 | 16:50686c07ad07 | 1605 | time_out = 0.05; |
jah128 | 16:50686c07ad07 | 1606 | state = 1; |
jah128 | 16:50686c07ad07 | 1607 | break; |
jah128 | 16:50686c07ad07 | 1608 | case 1: { //Motor is moving forward |
jah128 | 16:50686c07ad07 | 1609 | sensors.store_ir_values(); |
jah128 | 16:50686c07ad07 | 1610 | int front_right = sensors.read_illuminated_raw_ir_value(0); |
jah128 | 16:50686c07ad07 | 1611 | int front_left = sensors.read_illuminated_raw_ir_value(7); |
jah128 | 16:50686c07ad07 | 1612 | if(front_left > 400 || front_right > 400) { |
jah128 | 16:50686c07ad07 | 1613 | motors.brake(); |
jah128 | 16:50686c07ad07 | 1614 | time_out = 0.04; |
jah128 | 16:50686c07ad07 | 1615 | if(front_left > front_right)state=2; |
jah128 | 16:50686c07ad07 | 1616 | else state=3; |
jah128 | 16:50686c07ad07 | 1617 | } else { |
jah128 | 16:50686c07ad07 | 1618 | if(speed < 0.5) { |
jah128 | 16:50686c07ad07 | 1619 | speed += 0.03; |
jah128 | 16:50686c07ad07 | 1620 | motors.forward(speed); |
jah128 | 16:50686c07ad07 | 1621 | } |
jah128 | 16:50686c07ad07 | 1622 | } |
jah128 | 16:50686c07ad07 | 1623 | break; |
jah128 | 16:50686c07ad07 | 1624 | } |
jah128 | 16:50686c07ad07 | 1625 | case 2: //Turn right |
jah128 | 16:50686c07ad07 | 1626 | motors.set_left_motor_speed(0.35); |
jah128 | 16:50686c07ad07 | 1627 | motors.set_right_motor_speed(-0.35); |
jah128 | 16:50686c07ad07 | 1628 | time_out = 0.5; |
jah128 | 16:50686c07ad07 | 1629 | state = 0; |
jah128 | 16:50686c07ad07 | 1630 | break; |
jah128 | 16:50686c07ad07 | 1631 | case 3: //Turn left |
jah128 | 16:50686c07ad07 | 1632 | motors.set_left_motor_speed(-0.35); |
jah128 | 16:50686c07ad07 | 1633 | motors.set_right_motor_speed(0.35); |
jah128 | 16:50686c07ad07 | 1634 | time_out = 0.5; |
jah128 | 16:50686c07ad07 | 1635 | state = 0; |
jah128 | 16:50686c07ad07 | 1636 | break; |
jah128 | 16:50686c07ad07 | 1637 | } |
jah128 | 16:50686c07ad07 | 1638 | demo_timer.reset(); |
jah128 | 16:50686c07ad07 | 1639 | } |
jah128 | 16:50686c07ad07 | 1640 | if(demo_running == 1)demo_timeout.attach_us(this,&Demo::colour_demo_cycle,200); |
jah128 | 20:1bc6c6dc477b | 1641 | else stop_demo(); |
jah128 | 16:50686c07ad07 | 1642 | } |
jah128 | 16:50686c07ad07 | 1643 | |
jah128 | 16:50686c07ad07 | 1644 | |
jah128 | 11:312663037b8c | 1645 | void Demo::obstacle_demo_cycle() |
jah128 | 0:d6269d17c8cf | 1646 | { |
jah128 | 18:9204f74069b4 | 1647 | |
jah128 | 0:d6269d17c8cf | 1648 | if(demo_timer.read() > time_out) { |
jah128 | 0:d6269d17c8cf | 1649 | switch(state) { |
jah128 | 0:d6269d17c8cf | 1650 | case 0: //Robot is stopped |
jah128 | 9:dde9e21030eb | 1651 | led.set_leds(0,0xFF); |
jah128 | 9:dde9e21030eb | 1652 | led.set_center_led(1,0.4); |
jah128 | 0:d6269d17c8cf | 1653 | speed = 0.3f; |
jah128 | 8:6c92789d5f87 | 1654 | motors.forward(speed); |
jah128 | 0:d6269d17c8cf | 1655 | time_out = 0.05; |
jah128 | 0:d6269d17c8cf | 1656 | state = 1; |
jah128 | 0:d6269d17c8cf | 1657 | break; |
jah128 | 0:d6269d17c8cf | 1658 | case 1: { //Motor is moving forward |
jah128 | 10:e58323951c08 | 1659 | sensors.store_ir_values(); |
jah128 | 10:e58323951c08 | 1660 | int front_right = sensors.read_illuminated_raw_ir_value(0); |
jah128 | 10:e58323951c08 | 1661 | int front_left = sensors.read_illuminated_raw_ir_value(7); |
jah128 | 0:d6269d17c8cf | 1662 | if(front_left > 400 || front_right > 400) { |
jah128 | 8:6c92789d5f87 | 1663 | motors.brake(); |
jah128 | 0:d6269d17c8cf | 1664 | time_out = 0.04; |
jah128 | 0:d6269d17c8cf | 1665 | if(front_left > front_right)state=2; |
jah128 | 0:d6269d17c8cf | 1666 | else state=3; |
jah128 | 0:d6269d17c8cf | 1667 | } else { |
jah128 | 0:d6269d17c8cf | 1668 | if(speed < 0.5) { |
jah128 | 0:d6269d17c8cf | 1669 | speed += 0.03; |
jah128 | 8:6c92789d5f87 | 1670 | motors.forward(speed); |
jah128 | 0:d6269d17c8cf | 1671 | } |
jah128 | 0:d6269d17c8cf | 1672 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1673 | case 0: |
jah128 | 9:dde9e21030eb | 1674 | led.set_leds(0x01,0); |
jah128 | 0:d6269d17c8cf | 1675 | break; |
jah128 | 0:d6269d17c8cf | 1676 | case 1: |
jah128 | 9:dde9e21030eb | 1677 | led.set_leds(0x38,0); |
jah128 | 0:d6269d17c8cf | 1678 | break; |
jah128 | 0:d6269d17c8cf | 1679 | case 2: |
jah128 | 9:dde9e21030eb | 1680 | led.set_leds(0x6C,0); |
jah128 | 0:d6269d17c8cf | 1681 | break; |
jah128 | 0:d6269d17c8cf | 1682 | case 3: |
jah128 | 9:dde9e21030eb | 1683 | led.set_leds(0xC6,0); |
jah128 | 0:d6269d17c8cf | 1684 | break; |
jah128 | 0:d6269d17c8cf | 1685 | case 4: |
jah128 | 9:dde9e21030eb | 1686 | led.set_leds(0x83,0); |
jah128 | 0:d6269d17c8cf | 1687 | break; |
jah128 | 0:d6269d17c8cf | 1688 | } |
jah128 | 9:dde9e21030eb | 1689 | led.set_center_led(2, 0.6); |
jah128 | 0:d6269d17c8cf | 1690 | led_step ++; |
jah128 | 0:d6269d17c8cf | 1691 | if(led_step == 5) led_step = 0; |
jah128 | 0:d6269d17c8cf | 1692 | } |
jah128 | 0:d6269d17c8cf | 1693 | break; |
jah128 | 0:d6269d17c8cf | 1694 | } |
jah128 | 0:d6269d17c8cf | 1695 | case 2: //Turn right |
jah128 | 8:6c92789d5f87 | 1696 | motors.set_left_motor_speed(0.85); |
jah128 | 8:6c92789d5f87 | 1697 | motors.set_right_motor_speed(-0.85); |
jah128 | 0:d6269d17c8cf | 1698 | time_out = 0.4; |
jah128 | 0:d6269d17c8cf | 1699 | state = 0; |
jah128 | 9:dde9e21030eb | 1700 | led.set_leds(0x0E,0x0E); |
jah128 | 9:dde9e21030eb | 1701 | led.set_center_led(3,0.5); |
jah128 | 0:d6269d17c8cf | 1702 | break; |
jah128 | 0:d6269d17c8cf | 1703 | case 3: //Turn left |
jah128 | 8:6c92789d5f87 | 1704 | motors.set_left_motor_speed(-0.85); |
jah128 | 8:6c92789d5f87 | 1705 | motors.set_right_motor_speed(0.85); |
jah128 | 0:d6269d17c8cf | 1706 | time_out = 0.4; |
jah128 | 0:d6269d17c8cf | 1707 | state = 0; |
jah128 | 9:dde9e21030eb | 1708 | led.set_leds(0xE0,0xE0); |
jah128 | 9:dde9e21030eb | 1709 | led.set_center_led(3,0.5); |
jah128 | 0:d6269d17c8cf | 1710 | break; |
jah128 | 0:d6269d17c8cf | 1711 | } |
jah128 | 0:d6269d17c8cf | 1712 | demo_timer.reset(); |
jah128 | 0:d6269d17c8cf | 1713 | } |
jah128 | 11:312663037b8c | 1714 | if(demo_running == 1)demo_timeout.attach_us(this,&Demo::obstacle_demo_cycle,200); |
jah128 | 20:1bc6c6dc477b | 1715 | else stop_demo(); |
jah128 | 0:d6269d17c8cf | 1716 | } |
jah128 | 0:d6269d17c8cf | 1717 | |
jah128 | 16:50686c07ad07 | 1718 | |
jah128 | 11:312663037b8c | 1719 | void Demo::demo_update_leds() |
jah128 | 0:d6269d17c8cf | 1720 | { |
jah128 | 0:d6269d17c8cf | 1721 | char red = 0; |
jah128 | 0:d6269d17c8cf | 1722 | char green = 0; |
jah128 | 0:d6269d17c8cf | 1723 | for(int i=0; i<8; i++) { |
jah128 | 0:d6269d17c8cf | 1724 | if(led_state[i]==1 || led_state[i]==3) red+=(1<<i); |
jah128 | 0:d6269d17c8cf | 1725 | if(led_state[i]==2 || led_state[i]==3) green+=(1<<i); |
jah128 | 0:d6269d17c8cf | 1726 | } |
jah128 | 9:dde9e21030eb | 1727 | led.set_leds(green,red); |
jah128 | 0:d6269d17c8cf | 1728 | float brightness_f = brightness / 100.0f; |
jah128 | 9:dde9e21030eb | 1729 | led.set_center_led(led_state[8], brightness_f); |
jah128 | 9:dde9e21030eb | 1730 | led.set_base_led(base_led_state); |
jah128 | 0:d6269d17c8cf | 1731 | } |