James Hilder / PsiSwarmV9-Fork

Psi Swarm robot library version 0.9

Fork of PsiSwarmV9 by Psi Swarm Robot

demo.cpp@5:3cdd1a37cdd7, 2016-10-15 (annotated)

Committer:
jah128
Date:
Sat Oct 15 13:29:37 2016 +0000
Revision:
5:3cdd1a37cdd7
Parent:
4:1c621cb8cf0d
Child:
6:b340a527add9
Initial commit of API Version 7 (fork from version 5)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:d6269d17c8cf 1 /* University of York Robotics Laboratory PsiSwarm Library: Demo Mode Source File
jah128 0:d6269d17c8cf 2 *
jah128 0:d6269d17c8cf 3 * File: demo.cpp
jah128 0:d6269d17c8cf 4 *
jah128 0:d6269d17c8cf 5 * (C) Dept. Electronics & Computer Science, University of York
jah128 0:d6269d17c8cf 6 * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
jah128 0:d6269d17c8cf 7 *
jah128 5:3cdd1a37cdd7 8 * PsiSwarm Library Version: 0.7
jah128 0:d6269d17c8cf 9 *
jah128 5:3cdd1a37cdd7 10 * Version 0.7 : Updated for new MBED API
jah128 4:1c621cb8cf0d 11 * Version 0.5 : Added motor calibration menu
jah128 0:d6269d17c8cf 12 * Version 0.4 : Added PsiSwarmBasic menu
jah128 0:d6269d17c8cf 13 * Version 0.2 : Remove most the functionality from center-button push to allow all operations to be accessable from
jah128 0:d6269d17c8cf 14 * four directions alone.
jah128 0:d6269d17c8cf 15 * Added extra sensor information, added various testing demos
jah128 0:d6269d17c8cf 16 *
jah128 2:c6986ee3c7c5 17 *
jah128 5:3cdd1a37cdd7 18 * October 2016
jah128 0:d6269d17c8cf 19 *
jah128 0:d6269d17c8cf 20 */
jah128 0:d6269d17c8cf 21
jah128 0:d6269d17c8cf 22
jah128 0:d6269d17c8cf 23 #include "psiswarm.h"
jah128 0:d6269d17c8cf 24
jah128 0:d6269d17c8cf 25 // PID terms
jah128 0:d6269d17c8cf 26 #define LF_P_TERM 0.2
jah128 0:d6269d17c8cf 27 #define LF_I_TERM 0
jah128 0:d6269d17c8cf 28 #define LF_D_TERM 4
jah128 0:d6269d17c8cf 29
jah128 0:d6269d17c8cf 30 char top_menu = 0;
jah128 0:d6269d17c8cf 31 char sub_menu = 0;
jah128 0:d6269d17c8cf 32 char level = 0;
jah128 0:d6269d17c8cf 33 char started = 0;
jah128 0:d6269d17c8cf 34 char topline[17];
jah128 0:d6269d17c8cf 35 char bottomline[17];
jah128 0:d6269d17c8cf 36 char led_state[9];
jah128 0:d6269d17c8cf 37 char all_led_state = 0;
jah128 0:d6269d17c8cf 38 char base_led_state = 0;
jah128 0:d6269d17c8cf 39 char brightness = 20;
jah128 0:d6269d17c8cf 40 char bl_brightness = 100;
jah128 0:d6269d17c8cf 41 char base_ir_index = 0;
jah128 0:d6269d17c8cf 42 char side_ir_index = 0;
jah128 0:d6269d17c8cf 43 signed short left_speed = 0;
jah128 0:d6269d17c8cf 44 signed short right_speed = 0;
jah128 0:d6269d17c8cf 45 char both_motor_mode = 0;
jah128 0:d6269d17c8cf 46 char last_switch_pressed;
jah128 0:d6269d17c8cf 47 Timeout demo_event;
jah128 0:d6269d17c8cf 48 char handling_event = 0;
jah128 0:d6269d17c8cf 49
jah128 0:d6269d17c8cf 50 Timeout demo_timeout;
jah128 0:d6269d17c8cf 51 char demo_running = 0;
jah128 0:d6269d17c8cf 52 Timer demo_timer;
jah128 0:d6269d17c8cf 53 float time_out;
jah128 0:d6269d17c8cf 54 float speed;
jah128 0:d6269d17c8cf 55 char state;
jah128 0:d6269d17c8cf 56 char led_step = 0;
jah128 0:d6269d17c8cf 57 char spin_step = 0;
jah128 0:d6269d17c8cf 58 char stress_step = 0;
jah128 0:d6269d17c8cf 59
jah128 0:d6269d17c8cf 60
jah128 0:d6269d17c8cf 61 float lf_right;
jah128 0:d6269d17c8cf 62 float lf_left;
jah128 0:d6269d17c8cf 63 float lf_current_pos_of_line = 0.0;
jah128 0:d6269d17c8cf 64 float lf_previous_pos_of_line = 0.0;
jah128 0:d6269d17c8cf 65 float lf_derivative,lf_proportional,lf_integral = 0;
jah128 0:d6269d17c8cf 66 float lf_power;
jah128 0:d6269d17c8cf 67 float lf_speed = 0.4;
jah128 0:d6269d17c8cf 68
jah128 0:d6269d17c8cf 69
jah128 0:d6269d17c8cf 70
jah128 0:d6269d17c8cf 71 void demo_mode()
jah128 0:d6269d17c8cf 72 {
jah128 0:d6269d17c8cf 73 debug("- Starting Demo Mode\n");
jah128 0:d6269d17c8cf 74 if(use_flash_basic == 1) top_menu = 7;
jah128 0:d6269d17c8cf 75 demo_on = 1;
jah128 0:d6269d17c8cf 76 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 77 display.clear_display();
jah128 0:d6269d17c8cf 78 display.write_string("PSI SWARM SYSTEM");
jah128 0:d6269d17c8cf 79 display.set_position(1,0);
jah128 0:d6269d17c8cf 80 display.write_string(" DEMO MODE");
jah128 0:d6269d17c8cf 81 wait(0.5);
jah128 0:d6269d17c8cf 82 display.clear_display();
jah128 0:d6269d17c8cf 83 display.write_string("Use cursor to");
jah128 0:d6269d17c8cf 84 display.set_position(1,0);
jah128 0:d6269d17c8cf 85 display.write_string("navigate menus");
jah128 0:d6269d17c8cf 86 char step = 0;
jah128 0:d6269d17c8cf 87 while(demo_on) {
jah128 0:d6269d17c8cf 88 if(demo_running == 0) {
jah128 0:d6269d17c8cf 89 switch(step) {
jah128 0:d6269d17c8cf 90 case 0:
jah128 0:d6269d17c8cf 91 mbed_led1 = 1;
jah128 0:d6269d17c8cf 92 mbed_led2 = 0;
jah128 0:d6269d17c8cf 93 break;
jah128 0:d6269d17c8cf 94 case 1:
jah128 0:d6269d17c8cf 95 mbed_led2 = 1;
jah128 0:d6269d17c8cf 96 mbed_led1 = 0;
jah128 0:d6269d17c8cf 97 break;
jah128 0:d6269d17c8cf 98 }
jah128 0:d6269d17c8cf 99 step++;
jah128 0:d6269d17c8cf 100 if(step==2)step=0;
jah128 0:d6269d17c8cf 101 } else {
jah128 0:d6269d17c8cf 102 mbed_led1 = 0;
jah128 0:d6269d17c8cf 103 mbed_led2 = 0;
jah128 0:d6269d17c8cf 104 mbed_led3 = 0;
jah128 0:d6269d17c8cf 105 mbed_led4 = 0;
jah128 0:d6269d17c8cf 106 }
jah128 0:d6269d17c8cf 107 wait(0.5);
jah128 0:d6269d17c8cf 108 }
jah128 0:d6269d17c8cf 109 debug("- Demo mode ended\n");
jah128 0:d6269d17c8cf 110 }
jah128 0:d6269d17c8cf 111
jah128 0:d6269d17c8cf 112 void demo_handle_switch_event(char switch_pressed)
jah128 0:d6269d17c8cf 113 {
jah128 0:d6269d17c8cf 114 if(!handling_event) {
jah128 0:d6269d17c8cf 115 handling_event = 1;
jah128 0:d6269d17c8cf 116 last_switch_pressed = switch_pressed;
jah128 0:d6269d17c8cf 117 demo_event.attach_us(&demo_event_thread, 1000);
jah128 0:d6269d17c8cf 118 }
jah128 0:d6269d17c8cf 119 }
jah128 0:d6269d17c8cf 120
jah128 0:d6269d17c8cf 121 void demo_event_thread()
jah128 0:d6269d17c8cf 122 {
jah128 0:d6269d17c8cf 123 handling_event = 0;
jah128 0:d6269d17c8cf 124 if(started == 1) {
jah128 0:d6269d17c8cf 125 switch(last_switch_pressed) {
jah128 0:d6269d17c8cf 126 case 1: //Up pressed
jah128 0:d6269d17c8cf 127 switch(level) {
jah128 0:d6269d17c8cf 128 case 0:
jah128 4:1c621cb8cf0d 129 if(top_menu != 8) {
jah128 0:d6269d17c8cf 130 level++;
jah128 0:d6269d17c8cf 131 sub_menu = 0;
jah128 0:d6269d17c8cf 132 } else {
jah128 0:d6269d17c8cf 133 demo_on = 0;
jah128 0:d6269d17c8cf 134 user_code_running = user_code_restore_mode;
jah128 0:d6269d17c8cf 135 }
jah128 0:d6269d17c8cf 136 break;
jah128 0:d6269d17c8cf 137 case 1:
jah128 0:d6269d17c8cf 138 switch(top_menu) {
jah128 0:d6269d17c8cf 139 case 7: // PsiBasic Menu
jah128 0:d6269d17c8cf 140 if(sub_menu == psi_basic_file_count) level = 0;
jah128 0:d6269d17c8cf 141 break;
jah128 0:d6269d17c8cf 142 case 0: //LED Menu
jah128 0:d6269d17c8cf 143 if(sub_menu < 9) {
jah128 0:d6269d17c8cf 144 if(led_state[sub_menu] == 0) led_state[sub_menu] = 3;
jah128 0:d6269d17c8cf 145 else led_state[sub_menu]--;
jah128 0:d6269d17c8cf 146 demo_update_leds();
jah128 0:d6269d17c8cf 147 }
jah128 0:d6269d17c8cf 148 if(sub_menu == 9) {
jah128 0:d6269d17c8cf 149 if(all_led_state == 0) all_led_state = 3;
jah128 0:d6269d17c8cf 150 else all_led_state--;
jah128 0:d6269d17c8cf 151 for(int i=0; i<9; i++) {
jah128 0:d6269d17c8cf 152 led_state[i]=all_led_state;
jah128 0:d6269d17c8cf 153 }
jah128 0:d6269d17c8cf 154 demo_update_leds();
jah128 0:d6269d17c8cf 155 }
jah128 0:d6269d17c8cf 156 if(sub_menu == 10) {
jah128 0:d6269d17c8cf 157 base_led_state = 1 - base_led_state;
jah128 0:d6269d17c8cf 158 demo_update_leds();
jah128 0:d6269d17c8cf 159 }
jah128 0:d6269d17c8cf 160 if(sub_menu == 11) {
jah128 0:d6269d17c8cf 161 switch(brightness) {
jah128 0:d6269d17c8cf 162 case 100:
jah128 0:d6269d17c8cf 163 brightness = 50;
jah128 0:d6269d17c8cf 164 break;
jah128 0:d6269d17c8cf 165 case 2:
jah128 0:d6269d17c8cf 166 brightness = 1;
jah128 0:d6269d17c8cf 167 break;
jah128 0:d6269d17c8cf 168 case 5:
jah128 0:d6269d17c8cf 169 brightness = 2;
jah128 0:d6269d17c8cf 170 break;
jah128 0:d6269d17c8cf 171 case 10:
jah128 0:d6269d17c8cf 172 brightness = 5;
jah128 0:d6269d17c8cf 173 break;
jah128 0:d6269d17c8cf 174 case 20:
jah128 0:d6269d17c8cf 175 brightness = 10;
jah128 0:d6269d17c8cf 176 break;
jah128 0:d6269d17c8cf 177 case 50:
jah128 0:d6269d17c8cf 178 brightness = 20;
jah128 0:d6269d17c8cf 179 break;
jah128 0:d6269d17c8cf 180 }
jah128 0:d6269d17c8cf 181 demo_update_leds();
jah128 0:d6269d17c8cf 182 }
jah128 0:d6269d17c8cf 183 if(sub_menu == 12) {
jah128 0:d6269d17c8cf 184 if(bl_brightness > 0) bl_brightness-=10;
jah128 0:d6269d17c8cf 185 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 186 }
jah128 0:d6269d17c8cf 187 if(sub_menu == 13) level = 0;
jah128 0:d6269d17c8cf 188 break;
jah128 0:d6269d17c8cf 189 case 1: // Sensors Menu
jah128 0:d6269d17c8cf 190 if(sub_menu == 4 || sub_menu == 5) {
jah128 0:d6269d17c8cf 191 if(base_ir_index == 0) base_ir_index = 4;
jah128 0:d6269d17c8cf 192 else base_ir_index --;
jah128 0:d6269d17c8cf 193 }
jah128 0:d6269d17c8cf 194 if(sub_menu > 5 && sub_menu < 9) {
jah128 0:d6269d17c8cf 195 if(side_ir_index == 0) side_ir_index = 7;
jah128 0:d6269d17c8cf 196 else side_ir_index --;
jah128 0:d6269d17c8cf 197 }
jah128 0:d6269d17c8cf 198 if(sub_menu == 11) level = 0;
jah128 0:d6269d17c8cf 199 break;
jah128 0:d6269d17c8cf 200 case 2: // Motor Menu
jah128 0:d6269d17c8cf 201 if(sub_menu == 0) {
jah128 0:d6269d17c8cf 202 left_speed += 5;
jah128 0:d6269d17c8cf 203 if(left_speed > 100) left_speed = 100;
jah128 0:d6269d17c8cf 204 set_left_motor_speed(left_speed / 100.0f);
jah128 0:d6269d17c8cf 205 }
jah128 0:d6269d17c8cf 206 if(sub_menu == 1) {
jah128 0:d6269d17c8cf 207 right_speed += 5;
jah128 0:d6269d17c8cf 208 if(right_speed > 100) right_speed = 100;
jah128 0:d6269d17c8cf 209 set_right_motor_speed(right_speed / 100.0f);
jah128 0:d6269d17c8cf 210 }
jah128 0:d6269d17c8cf 211 if(sub_menu == 2) {
jah128 0:d6269d17c8cf 212 if(both_motor_mode == 0) both_motor_mode=5;
jah128 0:d6269d17c8cf 213 else both_motor_mode--;
jah128 0:d6269d17c8cf 214 switch(both_motor_mode) {
jah128 0:d6269d17c8cf 215 case 0:
jah128 0:d6269d17c8cf 216 stop();
jah128 0:d6269d17c8cf 217 break;
jah128 0:d6269d17c8cf 218 case 1:
jah128 0:d6269d17c8cf 219 brake();
jah128 0:d6269d17c8cf 220 break;
jah128 0:d6269d17c8cf 221 case 2:
jah128 0:d6269d17c8cf 222 forward(0.5);
jah128 0:d6269d17c8cf 223 break;
jah128 0:d6269d17c8cf 224 case 3:
jah128 0:d6269d17c8cf 225 forward(1);
jah128 0:d6269d17c8cf 226 break;
jah128 0:d6269d17c8cf 227 case 4:
jah128 0:d6269d17c8cf 228 backward(0.5);
jah128 0:d6269d17c8cf 229 break;
jah128 0:d6269d17c8cf 230 case 5:
jah128 0:d6269d17c8cf 231 backward(1.0);
jah128 0:d6269d17c8cf 232 break;
jah128 0:d6269d17c8cf 233 }
jah128 0:d6269d17c8cf 234 }
jah128 0:d6269d17c8cf 235 if(sub_menu == 3) {
jah128 0:d6269d17c8cf 236 level = 0;
jah128 0:d6269d17c8cf 237 }
jah128 0:d6269d17c8cf 238 break;
jah128 0:d6269d17c8cf 239 case 3: // Radio Menu
jah128 0:d6269d17c8cf 240 if(sub_menu == 0) level = 0;
jah128 0:d6269d17c8cf 241 break;
jah128 0:d6269d17c8cf 242 case 4: // Info Menu
jah128 0:d6269d17c8cf 243 if(sub_menu == 6) level = 0;
jah128 0:d6269d17c8cf 244 break;
jah128 0:d6269d17c8cf 245 case 5: // Demo Menu
jah128 0:d6269d17c8cf 246 if(sub_menu == 0) {
jah128 0:d6269d17c8cf 247 if(demo_running == 0) {
jah128 0:d6269d17c8cf 248 start_line_demo();
jah128 0:d6269d17c8cf 249 } else {
jah128 0:d6269d17c8cf 250 demo_running = 0;
jah128 0:d6269d17c8cf 251 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 252 stop();
jah128 0:d6269d17c8cf 253 }
jah128 0:d6269d17c8cf 254 }
jah128 0:d6269d17c8cf 255 if(sub_menu == 1) {
jah128 0:d6269d17c8cf 256 if(demo_running == 0) {
jah128 0:d6269d17c8cf 257 start_obstacle_demo();
jah128 0:d6269d17c8cf 258 } else {
jah128 0:d6269d17c8cf 259 demo_running = 0;
jah128 0:d6269d17c8cf 260 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 261 stop();
jah128 0:d6269d17c8cf 262 }
jah128 0:d6269d17c8cf 263 }
jah128 0:d6269d17c8cf 264 if(sub_menu == 2) {
jah128 0:d6269d17c8cf 265 if(demo_running == 0) {
jah128 0:d6269d17c8cf 266 start_spinning_demo();
jah128 0:d6269d17c8cf 267 } else {
jah128 0:d6269d17c8cf 268 demo_running = 0;
jah128 0:d6269d17c8cf 269 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 270 stop();
jah128 0:d6269d17c8cf 271 }
jah128 0:d6269d17c8cf 272 }
jah128 0:d6269d17c8cf 273 if(sub_menu == 3) {
jah128 0:d6269d17c8cf 274 if(demo_running == 0) {
jah128 0:d6269d17c8cf 275 start_stress_demo();
jah128 0:d6269d17c8cf 276 } else {
jah128 0:d6269d17c8cf 277 demo_running = 0;
jah128 0:d6269d17c8cf 278 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 279 stop();
jah128 0:d6269d17c8cf 280 }
jah128 0:d6269d17c8cf 281 }
jah128 0:d6269d17c8cf 282 if(sub_menu == 4) level = 0;
jah128 0:d6269d17c8cf 283 break;
jah128 0:d6269d17c8cf 284 }
jah128 0:d6269d17c8cf 285 break;
jah128 0:d6269d17c8cf 286 }
jah128 0:d6269d17c8cf 287 break;
jah128 0:d6269d17c8cf 288 case 2: //Down pressed
jah128 0:d6269d17c8cf 289 switch(level) {
jah128 0:d6269d17c8cf 290 case 0:
jah128 4:1c621cb8cf0d 291 if(top_menu != 8) {
jah128 0:d6269d17c8cf 292 level++;
jah128 0:d6269d17c8cf 293 sub_menu = 0;
jah128 0:d6269d17c8cf 294 } else {
jah128 0:d6269d17c8cf 295 demo_on = 0;
jah128 0:d6269d17c8cf 296 user_code_running = user_code_restore_mode;
jah128 0:d6269d17c8cf 297 }
jah128 0:d6269d17c8cf 298 break;
jah128 0:d6269d17c8cf 299 case 1:
jah128 0:d6269d17c8cf 300 switch(top_menu) {
jah128 0:d6269d17c8cf 301 case 7: // PsiBasic Menu
jah128 0:d6269d17c8cf 302 if(sub_menu == psi_basic_file_count) level = 0;
jah128 0:d6269d17c8cf 303 break;
jah128 0:d6269d17c8cf 304 case 0: //LED Menu
jah128 0:d6269d17c8cf 305 if(sub_menu < 9) {
jah128 0:d6269d17c8cf 306 led_state[sub_menu]++;
jah128 0:d6269d17c8cf 307 if(led_state[sub_menu] == 4) led_state[sub_menu] = 0;
jah128 0:d6269d17c8cf 308 demo_update_leds();
jah128 0:d6269d17c8cf 309 }
jah128 0:d6269d17c8cf 310 if(sub_menu == 9) {
jah128 0:d6269d17c8cf 311 all_led_state++;
jah128 0:d6269d17c8cf 312 if(all_led_state == 4) all_led_state = 0;
jah128 0:d6269d17c8cf 313 for(int i=0; i<9; i++) {
jah128 0:d6269d17c8cf 314 led_state[i]=all_led_state;
jah128 0:d6269d17c8cf 315 }
jah128 0:d6269d17c8cf 316 demo_update_leds();
jah128 0:d6269d17c8cf 317 }
jah128 0:d6269d17c8cf 318 if(sub_menu == 10) {
jah128 0:d6269d17c8cf 319 base_led_state = 1 - base_led_state;
jah128 0:d6269d17c8cf 320 demo_update_leds();
jah128 0:d6269d17c8cf 321 }
jah128 0:d6269d17c8cf 322 if(sub_menu == 11) {
jah128 0:d6269d17c8cf 323 switch(brightness) {
jah128 0:d6269d17c8cf 324 case 1:
jah128 0:d6269d17c8cf 325 brightness = 2;
jah128 0:d6269d17c8cf 326 break;
jah128 0:d6269d17c8cf 327 case 2:
jah128 0:d6269d17c8cf 328 brightness = 5;
jah128 0:d6269d17c8cf 329 break;
jah128 0:d6269d17c8cf 330 case 5:
jah128 0:d6269d17c8cf 331 brightness = 10;
jah128 0:d6269d17c8cf 332 break;
jah128 0:d6269d17c8cf 333 case 10:
jah128 0:d6269d17c8cf 334 brightness = 20;
jah128 0:d6269d17c8cf 335 break;
jah128 0:d6269d17c8cf 336 case 20:
jah128 0:d6269d17c8cf 337 brightness = 50;
jah128 0:d6269d17c8cf 338 break;
jah128 0:d6269d17c8cf 339 case 50:
jah128 0:d6269d17c8cf 340 brightness = 100;
jah128 0:d6269d17c8cf 341 break;
jah128 0:d6269d17c8cf 342 }
jah128 0:d6269d17c8cf 343 demo_update_leds();
jah128 0:d6269d17c8cf 344 }
jah128 0:d6269d17c8cf 345
jah128 0:d6269d17c8cf 346 if(sub_menu == 12) {
jah128 0:d6269d17c8cf 347 if(bl_brightness < 100) bl_brightness+=10;
jah128 0:d6269d17c8cf 348 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 349 }
jah128 0:d6269d17c8cf 350 if(sub_menu == 13) level = 0;
jah128 0:d6269d17c8cf 351
jah128 0:d6269d17c8cf 352 break;
jah128 0:d6269d17c8cf 353 case 1: // Sensors Menu
jah128 0:d6269d17c8cf 354 if(sub_menu == 4 || sub_menu == 5) {
jah128 0:d6269d17c8cf 355 if(base_ir_index == 4) base_ir_index = 0;
jah128 0:d6269d17c8cf 356 else base_ir_index ++;
jah128 0:d6269d17c8cf 357 }
jah128 0:d6269d17c8cf 358 if(sub_menu > 5 && sub_menu < 9) {
jah128 0:d6269d17c8cf 359 if(side_ir_index == 7) side_ir_index = 0;
jah128 0:d6269d17c8cf 360 else side_ir_index ++;
jah128 0:d6269d17c8cf 361 }
jah128 0:d6269d17c8cf 362 if(sub_menu == 11) level = 0;
jah128 0:d6269d17c8cf 363 break;
jah128 0:d6269d17c8cf 364 case 2: // Motor Menu
jah128 0:d6269d17c8cf 365 if(sub_menu == 0) {
jah128 0:d6269d17c8cf 366 left_speed -= 5;
jah128 0:d6269d17c8cf 367 if(left_speed < -100) left_speed = -100;
jah128 0:d6269d17c8cf 368 set_left_motor_speed(left_speed / 100.0f);
jah128 0:d6269d17c8cf 369 }
jah128 0:d6269d17c8cf 370 if(sub_menu == 1) {
jah128 0:d6269d17c8cf 371 right_speed -= 5;
jah128 0:d6269d17c8cf 372 if(right_speed < -100) right_speed = -100;
jah128 0:d6269d17c8cf 373 set_right_motor_speed(right_speed / 100.0f);
jah128 0:d6269d17c8cf 374 }
jah128 0:d6269d17c8cf 375 if(sub_menu == 2) {
jah128 0:d6269d17c8cf 376 both_motor_mode++;
jah128 0:d6269d17c8cf 377 if(both_motor_mode == 6) both_motor_mode=0;
jah128 0:d6269d17c8cf 378 switch(both_motor_mode) {
jah128 0:d6269d17c8cf 379 case 0:
jah128 0:d6269d17c8cf 380 stop();
jah128 0:d6269d17c8cf 381 break;
jah128 0:d6269d17c8cf 382 case 1:
jah128 0:d6269d17c8cf 383 brake();
jah128 0:d6269d17c8cf 384 break;
jah128 0:d6269d17c8cf 385 case 2:
jah128 0:d6269d17c8cf 386 forward(0.5);
jah128 0:d6269d17c8cf 387 break;
jah128 0:d6269d17c8cf 388 case 3:
jah128 0:d6269d17c8cf 389 forward(1);
jah128 0:d6269d17c8cf 390 break;
jah128 0:d6269d17c8cf 391 case 4:
jah128 0:d6269d17c8cf 392 backward(0.5);
jah128 0:d6269d17c8cf 393 break;
jah128 0:d6269d17c8cf 394 case 5:
jah128 0:d6269d17c8cf 395 backward(1.0);
jah128 0:d6269d17c8cf 396 break;
jah128 0:d6269d17c8cf 397 }
jah128 0:d6269d17c8cf 398 }
jah128 0:d6269d17c8cf 399 if(sub_menu == 3) {
jah128 0:d6269d17c8cf 400 level = 0;
jah128 0:d6269d17c8cf 401 }
jah128 0:d6269d17c8cf 402 break;
jah128 0:d6269d17c8cf 403 case 3: // Radio Menu
jah128 0:d6269d17c8cf 404 if(sub_menu == 0) level = 0;
jah128 0:d6269d17c8cf 405 break;
jah128 0:d6269d17c8cf 406 case 4: // Info Menu
jah128 0:d6269d17c8cf 407 if(sub_menu == 6) level = 0;
jah128 0:d6269d17c8cf 408 break;
jah128 0:d6269d17c8cf 409 case 5: // Demo Menu
jah128 0:d6269d17c8cf 410 if(sub_menu == 0) {
jah128 0:d6269d17c8cf 411 if(demo_running == 0) {
jah128 0:d6269d17c8cf 412 start_line_demo();
jah128 0:d6269d17c8cf 413 } else {
jah128 0:d6269d17c8cf 414 demo_running = 0;
jah128 0:d6269d17c8cf 415 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 416 stop();
jah128 0:d6269d17c8cf 417 }
jah128 0:d6269d17c8cf 418 }
jah128 0:d6269d17c8cf 419 if(sub_menu == 1) {
jah128 0:d6269d17c8cf 420 if(demo_running == 0) {
jah128 0:d6269d17c8cf 421 start_obstacle_demo();
jah128 0:d6269d17c8cf 422 } else {
jah128 0:d6269d17c8cf 423 demo_running = 0;
jah128 0:d6269d17c8cf 424 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 425 stop();
jah128 0:d6269d17c8cf 426
jah128 0:d6269d17c8cf 427 }
jah128 0:d6269d17c8cf 428 }
jah128 0:d6269d17c8cf 429 if(sub_menu == 2) {
jah128 0:d6269d17c8cf 430 if(demo_running == 0) {
jah128 0:d6269d17c8cf 431 start_spinning_demo();
jah128 0:d6269d17c8cf 432 } else {
jah128 0:d6269d17c8cf 433 demo_running = 0;
jah128 0:d6269d17c8cf 434 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 435 stop();
jah128 0:d6269d17c8cf 436 }
jah128 0:d6269d17c8cf 437 }
jah128 0:d6269d17c8cf 438 if(sub_menu == 3) {
jah128 0:d6269d17c8cf 439 if(demo_running == 0) {
jah128 0:d6269d17c8cf 440 start_stress_demo();
jah128 0:d6269d17c8cf 441 } else {
jah128 0:d6269d17c8cf 442 demo_running = 0;
jah128 0:d6269d17c8cf 443 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 444 stop();
jah128 0:d6269d17c8cf 445 }
jah128 0:d6269d17c8cf 446 }
jah128 0:d6269d17c8cf 447 if(sub_menu == 4) level = 0;
jah128 0:d6269d17c8cf 448 break;
jah128 0:d6269d17c8cf 449 }
jah128 0:d6269d17c8cf 450 break;
jah128 0:d6269d17c8cf 451 }
jah128 0:d6269d17c8cf 452 break;
jah128 0:d6269d17c8cf 453 case 4: //Left pressed
jah128 0:d6269d17c8cf 454 switch(level) {
jah128 0:d6269d17c8cf 455 case 0:
jah128 0:d6269d17c8cf 456 if(top_menu == 0) {
jah128 4:1c621cb8cf0d 457 top_menu = 8;
jah128 0:d6269d17c8cf 458 }
jah128 4:1c621cb8cf0d 459 else {
jah128 4:1c621cb8cf0d 460 if(use_flash_basic == 0 && top_menu == 7) top_menu = 6;
jah128 4:1c621cb8cf0d 461 top_menu --;
jah128 4:1c621cb8cf0d 462 }
jah128 0:d6269d17c8cf 463 break;
jah128 0:d6269d17c8cf 464 case 1:
jah128 0:d6269d17c8cf 465 switch(top_menu) {
jah128 0:d6269d17c8cf 466 case 0: //LED Menu
jah128 0:d6269d17c8cf 467 if(sub_menu == 0) sub_menu = 13;
jah128 0:d6269d17c8cf 468 else sub_menu --;
jah128 0:d6269d17c8cf 469 break;
jah128 0:d6269d17c8cf 470 case 1: //Sensors Menu
jah128 0:d6269d17c8cf 471 if(sub_menu == 0) sub_menu = 11;
jah128 0:d6269d17c8cf 472 else sub_menu --;
jah128 0:d6269d17c8cf 473 break;
jah128 0:d6269d17c8cf 474
jah128 0:d6269d17c8cf 475 case 2: //Motor Menu
jah128 0:d6269d17c8cf 476 if(sub_menu == 0) sub_menu = 3;
jah128 0:d6269d17c8cf 477 else sub_menu --;
jah128 0:d6269d17c8cf 478 break;
jah128 0:d6269d17c8cf 479 case 4: //Info Menu
jah128 0:d6269d17c8cf 480 if(sub_menu == 0) sub_menu = 6;
jah128 0:d6269d17c8cf 481 else sub_menu --;
jah128 0:d6269d17c8cf 482 break;
jah128 0:d6269d17c8cf 483 case 5: //Demo Menu
jah128 0:d6269d17c8cf 484 if(sub_menu == 0) sub_menu = 4;
jah128 0:d6269d17c8cf 485 else sub_menu --;
jah128 0:d6269d17c8cf 486 break;
jah128 4:1c621cb8cf0d 487 case 6: //Calibrate Menu
jah128 4:1c621cb8cf0d 488 if(sub_menu == 0) sub_menu = 2;
jah128 4:1c621cb8cf0d 489 else sub_menu --;
jah128 4:1c621cb8cf0d 490 break;
jah128 0:d6269d17c8cf 491 case 7: //PsiBasic Menu
jah128 0:d6269d17c8cf 492 if(sub_menu == 0) sub_menu = psi_basic_file_count;
jah128 0:d6269d17c8cf 493 else sub_menu --;
jah128 0:d6269d17c8cf 494 }
jah128 0:d6269d17c8cf 495 break;
jah128 0:d6269d17c8cf 496
jah128 0:d6269d17c8cf 497 }
jah128 0:d6269d17c8cf 498 break;
jah128 0:d6269d17c8cf 499 case 8: //Right pressed
jah128 0:d6269d17c8cf 500 switch(level) {
jah128 0:d6269d17c8cf 501 case 0:
jah128 0:d6269d17c8cf 502 top_menu ++;
jah128 4:1c621cb8cf0d 503 if((top_menu - use_flash_basic) > 7) top_menu = 0;
jah128 0:d6269d17c8cf 504 break;
jah128 0:d6269d17c8cf 505 case 1:
jah128 0:d6269d17c8cf 506 switch(top_menu) {
jah128 0:d6269d17c8cf 507 case 0: //LED Menu
jah128 0:d6269d17c8cf 508 if(sub_menu == 13) sub_menu = 0;
jah128 0:d6269d17c8cf 509 else sub_menu ++;
jah128 0:d6269d17c8cf 510 break;
jah128 0:d6269d17c8cf 511 case 1: //Sensors Menu
jah128 0:d6269d17c8cf 512 if(sub_menu == 11) sub_menu = 0;
jah128 0:d6269d17c8cf 513 else sub_menu ++;
jah128 0:d6269d17c8cf 514 break;
jah128 0:d6269d17c8cf 515 case 2: //Motor Menu
jah128 0:d6269d17c8cf 516 if(sub_menu == 3) sub_menu = 0;
jah128 0:d6269d17c8cf 517 else sub_menu ++;
jah128 0:d6269d17c8cf 518 break;
jah128 0:d6269d17c8cf 519 case 4: //Info Menu
jah128 0:d6269d17c8cf 520 if(sub_menu == 6) sub_menu = 0;
jah128 0:d6269d17c8cf 521 else sub_menu ++;
jah128 0:d6269d17c8cf 522 break;
jah128 0:d6269d17c8cf 523 case 5: //Demo Menu
jah128 0:d6269d17c8cf 524 if(sub_menu == 4) sub_menu = 0;
jah128 0:d6269d17c8cf 525 else sub_menu ++;
jah128 0:d6269d17c8cf 526 break;
jah128 4:1c621cb8cf0d 527 case 6: //Calibrate Menu
jah128 4:1c621cb8cf0d 528 if(sub_menu == 2) sub_menu = 0;
jah128 4:1c621cb8cf0d 529 else sub_menu ++;
jah128 4:1c621cb8cf0d 530 break;
jah128 0:d6269d17c8cf 531 case 7: //PsiBasic Menu
jah128 0:d6269d17c8cf 532 if(sub_menu == psi_basic_file_count) sub_menu = 0;
jah128 0:d6269d17c8cf 533 else sub_menu ++;
jah128 0:d6269d17c8cf 534 }
jah128 0:d6269d17c8cf 535 break;
jah128 0:d6269d17c8cf 536 }
jah128 0:d6269d17c8cf 537 break;
jah128 0:d6269d17c8cf 538 case 16: //Select pressed
jah128 0:d6269d17c8cf 539 switch(level) {
jah128 0:d6269d17c8cf 540 case 0:
jah128 4:1c621cb8cf0d 541 if(top_menu != 8) {
jah128 0:d6269d17c8cf 542 level++;
jah128 0:d6269d17c8cf 543 sub_menu = 0;
jah128 0:d6269d17c8cf 544 } else {
jah128 0:d6269d17c8cf 545 demo_on = 0;
jah128 0:d6269d17c8cf 546 user_code_running = user_code_restore_mode;
jah128 0:d6269d17c8cf 547 }
jah128 0:d6269d17c8cf 548 break;
jah128 0:d6269d17c8cf 549 case 1:
jah128 0:d6269d17c8cf 550 switch(top_menu) {
jah128 0:d6269d17c8cf 551 case 0: //LED Menu
jah128 0:d6269d17c8cf 552 if(sub_menu == 9) {
jah128 0:d6269d17c8cf 553 for(int i=0; i<9; i++) {
jah128 0:d6269d17c8cf 554 led_state[i]=all_led_state;
jah128 0:d6269d17c8cf 555 }
jah128 0:d6269d17c8cf 556 demo_update_leds();
jah128 0:d6269d17c8cf 557 }
jah128 0:d6269d17c8cf 558 if(sub_menu == 13) level = 0;
jah128 0:d6269d17c8cf 559 break;
jah128 0:d6269d17c8cf 560 case 1: // Sensors Menu
jah128 0:d6269d17c8cf 561 if(sub_menu == 11) level = 0;
jah128 0:d6269d17c8cf 562 break;
jah128 0:d6269d17c8cf 563 case 2: //Motor Menu
jah128 0:d6269d17c8cf 564 if(sub_menu == 2) {
jah128 0:d6269d17c8cf 565 switch(both_motor_mode) {
jah128 0:d6269d17c8cf 566 case 0:
jah128 0:d6269d17c8cf 567 stop();
jah128 0:d6269d17c8cf 568 break;
jah128 0:d6269d17c8cf 569 case 1:
jah128 0:d6269d17c8cf 570 brake();
jah128 0:d6269d17c8cf 571 break;
jah128 0:d6269d17c8cf 572 case 2:
jah128 0:d6269d17c8cf 573 forward(0.5);
jah128 0:d6269d17c8cf 574 break;
jah128 0:d6269d17c8cf 575 case 3:
jah128 0:d6269d17c8cf 576 forward(1);
jah128 0:d6269d17c8cf 577 break;
jah128 0:d6269d17c8cf 578 case 4:
jah128 0:d6269d17c8cf 579 backward(0.5);
jah128 0:d6269d17c8cf 580 break;
jah128 0:d6269d17c8cf 581 case 5:
jah128 0:d6269d17c8cf 582 backward(1.0);
jah128 0:d6269d17c8cf 583 break;
jah128 0:d6269d17c8cf 584 }
jah128 0:d6269d17c8cf 585 }
jah128 0:d6269d17c8cf 586 if(sub_menu == 3) {
jah128 0:d6269d17c8cf 587 level = 0;
jah128 0:d6269d17c8cf 588 }
jah128 0:d6269d17c8cf 589 break;
jah128 0:d6269d17c8cf 590 case 3: // Radio Menu
jah128 0:d6269d17c8cf 591 if(sub_menu == 0) level = 0;
jah128 0:d6269d17c8cf 592 break;
jah128 0:d6269d17c8cf 593 case 4: // Info Menu
jah128 0:d6269d17c8cf 594 if(sub_menu == 6) level = 0;
jah128 0:d6269d17c8cf 595 break;
jah128 0:d6269d17c8cf 596 case 5: // Demo Menu
jah128 0:d6269d17c8cf 597 if(sub_menu == 4) level = 0;
jah128 0:d6269d17c8cf 598 break;
jah128 4:1c621cb8cf0d 599 case 6: // Calibrate Menu
jah128 4:1c621cb8cf0d 600 if(sub_menu == 2) level = 0;
jah128 4:1c621cb8cf0d 601 break;
jah128 0:d6269d17c8cf 602 case 7: // PsiBasic Menu
jah128 0:d6269d17c8cf 603 if(sub_menu == psi_basic_file_count) level = 0;
jah128 0:d6269d17c8cf 604 break;
jah128 0:d6269d17c8cf 605 }
jah128 0:d6269d17c8cf 606 break;
jah128 0:d6269d17c8cf 607 }
jah128 0:d6269d17c8cf 608 break;
jah128 0:d6269d17c8cf 609 }
jah128 0:d6269d17c8cf 610 } else started = 1;
jah128 0:d6269d17c8cf 611 display.clear_display();
jah128 0:d6269d17c8cf 612 switch(level) {
jah128 0:d6269d17c8cf 613 case 0:
jah128 0:d6269d17c8cf 614 //Top level menu
jah128 0:d6269d17c8cf 615 switch(top_menu) {
jah128 0:d6269d17c8cf 616 case 0:
jah128 0:d6269d17c8cf 617 strcpy(topline,"---TEST LEDS----");
jah128 0:d6269d17c8cf 618 break;
jah128 0:d6269d17c8cf 619 case 1:
jah128 0:d6269d17c8cf 620 strcpy(topline,"--TEST SENSORS--");
jah128 0:d6269d17c8cf 621 break;
jah128 0:d6269d17c8cf 622 case 2:
jah128 0:d6269d17c8cf 623 strcpy(topline,"--TEST MOTORS---");
jah128 0:d6269d17c8cf 624 break;
jah128 0:d6269d17c8cf 625 case 3:
jah128 0:d6269d17c8cf 626 strcpy(topline,"---TEST RADIO---");
jah128 0:d6269d17c8cf 627 break;
jah128 0:d6269d17c8cf 628 case 4:
jah128 0:d6269d17c8cf 629 strcpy(topline,"------INFO------");
jah128 0:d6269d17c8cf 630 break;
jah128 0:d6269d17c8cf 631 case 5:
jah128 0:d6269d17c8cf 632 strcpy(topline,"---CODE DEMOS---");
jah128 0:d6269d17c8cf 633 break;
jah128 0:d6269d17c8cf 634 case 6:
jah128 4:1c621cb8cf0d 635 strcpy(topline,"-MOTOR CALIBRATE");
jah128 0:d6269d17c8cf 636 break;
jah128 0:d6269d17c8cf 637 case 7:
jah128 0:d6269d17c8cf 638 strcpy(topline,"---PSI BASIC----");
jah128 0:d6269d17c8cf 639 break;
jah128 4:1c621cb8cf0d 640 case 8:
jah128 4:1c621cb8cf0d 641 strcpy(topline,"------EXIT------");
jah128 4:1c621cb8cf0d 642 break;
jah128 0:d6269d17c8cf 643 }
jah128 0:d6269d17c8cf 644 strcpy(bottomline,"");
jah128 0:d6269d17c8cf 645 break;
jah128 0:d6269d17c8cf 646 case 1:
jah128 0:d6269d17c8cf 647 //Sub level menu
jah128 0:d6269d17c8cf 648 switch(top_menu) {
jah128 0:d6269d17c8cf 649 case 7:
jah128 0:d6269d17c8cf 650 strcpy(topline,"-PSI BASIC MENU-");
jah128 0:d6269d17c8cf 651 if(sub_menu == psi_basic_file_count) strcpy(bottomline,"EXIT");
jah128 0:d6269d17c8cf 652 else strcpy(bottomline,basic_filenames.at(sub_menu).c_str());
jah128 0:d6269d17c8cf 653 break;
jah128 0:d6269d17c8cf 654 case 0:
jah128 0:d6269d17c8cf 655 strcpy(topline,"----LED MENU----");
jah128 0:d6269d17c8cf 656 char led_status[7];
jah128 0:d6269d17c8cf 657 if(sub_menu<9) {
jah128 0:d6269d17c8cf 658 switch(led_state[sub_menu]) {
jah128 0:d6269d17c8cf 659 case 0:
jah128 0:d6269d17c8cf 660 strcpy(led_status,"OFF");
jah128 0:d6269d17c8cf 661 break;
jah128 0:d6269d17c8cf 662 case 1:
jah128 0:d6269d17c8cf 663 strcpy(led_status,"RED");
jah128 0:d6269d17c8cf 664 break;
jah128 0:d6269d17c8cf 665 case 2:
jah128 0:d6269d17c8cf 666 strcpy(led_status,"GREEN");
jah128 0:d6269d17c8cf 667 break;
jah128 0:d6269d17c8cf 668 case 3:
jah128 0:d6269d17c8cf 669 strcpy(led_status,"YELLOW");
jah128 0:d6269d17c8cf 670 break;
jah128 0:d6269d17c8cf 671 }
jah128 0:d6269d17c8cf 672 }
jah128 0:d6269d17c8cf 673 if(sub_menu < 8) sprintf(bottomline,"OUTER %d: %s",(sub_menu + 1),led_status);
jah128 0:d6269d17c8cf 674 if(sub_menu == 8) sprintf(bottomline,"CENTER: %s",led_status);
jah128 0:d6269d17c8cf 675 if(sub_menu == 9) {
jah128 0:d6269d17c8cf 676 switch(all_led_state) {
jah128 0:d6269d17c8cf 677 case 0:
jah128 0:d6269d17c8cf 678 strcpy(led_status,"OFF");
jah128 0:d6269d17c8cf 679 break;
jah128 0:d6269d17c8cf 680 case 1:
jah128 0:d6269d17c8cf 681 strcpy(led_status,"RED");
jah128 0:d6269d17c8cf 682 break;
jah128 0:d6269d17c8cf 683 case 2:
jah128 0:d6269d17c8cf 684 strcpy(led_status,"GREEN");
jah128 0:d6269d17c8cf 685 break;
jah128 0:d6269d17c8cf 686 case 3:
jah128 0:d6269d17c8cf 687 strcpy(led_status,"YELLOW");
jah128 0:d6269d17c8cf 688 break;
jah128 0:d6269d17c8cf 689 }
jah128 0:d6269d17c8cf 690 sprintf(bottomline,"SET ALL %s", led_status);
jah128 0:d6269d17c8cf 691 }
jah128 0:d6269d17c8cf 692 if(sub_menu == 10) {
jah128 0:d6269d17c8cf 693 if(base_led_state == 0) strcpy(led_status,"OFF");
jah128 0:d6269d17c8cf 694 else strcpy(led_status,"ON");
jah128 0:d6269d17c8cf 695 sprintf(bottomline,"BASE: %s",led_status);
jah128 0:d6269d17c8cf 696 }
jah128 0:d6269d17c8cf 697 if(sub_menu == 11) sprintf(bottomline,"CLED BNESS %d%%", brightness);
jah128 0:d6269d17c8cf 698 if(sub_menu == 12) sprintf(bottomline,"DISP BNESS %d%%", bl_brightness);
jah128 0:d6269d17c8cf 699 if(sub_menu == 13) strcpy(bottomline,"EXIT");
jah128 0:d6269d17c8cf 700 break;
jah128 0:d6269d17c8cf 701
jah128 0:d6269d17c8cf 702 case 1:
jah128 0:d6269d17c8cf 703 strcpy(topline,"--SENSORS MENU--");
jah128 0:d6269d17c8cf 704 switch(sub_menu) {
jah128 0:d6269d17c8cf 705 case 0: {
jah128 0:d6269d17c8cf 706 float battery = get_battery_voltage ();
jah128 0:d6269d17c8cf 707 sprintf(bottomline,"BATTERY: %1.3fV",battery);
jah128 0:d6269d17c8cf 708 break;
jah128 0:d6269d17c8cf 709 }
jah128 0:d6269d17c8cf 710 case 1: {
jah128 0:d6269d17c8cf 711 float dc = get_dc_voltage ();
jah128 0:d6269d17c8cf 712 sprintf(bottomline,"DC: %1.3fV",dc);
jah128 0:d6269d17c8cf 713 break;
jah128 0:d6269d17c8cf 714 }
jah128 0:d6269d17c8cf 715 case 2: {
jah128 0:d6269d17c8cf 716 float current = get_current ();
jah128 0:d6269d17c8cf 717 sprintf(bottomline,"CURRENT: %1.3fA",current);
jah128 0:d6269d17c8cf 718 break;
jah128 0:d6269d17c8cf 719 }
jah128 0:d6269d17c8cf 720 case 3: {
jah128 0:d6269d17c8cf 721 float temperature = get_temperature();
jah128 0:d6269d17c8cf 722 sprintf(bottomline,"TEMP: %3.2fC", temperature);
jah128 0:d6269d17c8cf 723 break;
jah128 0:d6269d17c8cf 724 }
jah128 0:d6269d17c8cf 725 case 4:
jah128 0:d6269d17c8cf 726 store_background_base_ir_values();
jah128 0:d6269d17c8cf 727 sprintf(bottomline,"BIR%dB:%d",base_ir_index+1,get_background_base_ir_value(base_ir_index));
jah128 0:d6269d17c8cf 728 break;
jah128 0:d6269d17c8cf 729 case 5:
jah128 0:d6269d17c8cf 730 store_illuminated_base_ir_values();
jah128 0:d6269d17c8cf 731 sprintf(bottomline,"BIR%dR:%d",base_ir_index+1,get_illuminated_base_ir_value(base_ir_index));
jah128 0:d6269d17c8cf 732 break;
jah128 0:d6269d17c8cf 733 case 6:
jah128 0:d6269d17c8cf 734 store_background_raw_ir_values();
jah128 0:d6269d17c8cf 735 sprintf(bottomline,"SIR%dB:%d",side_ir_index+1,get_background_raw_ir_value(side_ir_index));
jah128 0:d6269d17c8cf 736 break;
jah128 0:d6269d17c8cf 737 case 7:
jah128 0:d6269d17c8cf 738 store_illuminated_raw_ir_values();
jah128 0:d6269d17c8cf 739 sprintf(bottomline,"SIR%dR:%d",side_ir_index+1,get_illuminated_raw_ir_value(side_ir_index));
jah128 0:d6269d17c8cf 740 break;
jah128 0:d6269d17c8cf 741 case 8:
jah128 0:d6269d17c8cf 742 sprintf(bottomline,"SIR%dD:%3.1f",side_ir_index+1,0.0);
jah128 0:d6269d17c8cf 743 break;
jah128 0:d6269d17c8cf 744 case 9:
jah128 0:d6269d17c8cf 745 if(ultrasonic_distance_updated == 1) {
jah128 0:d6269d17c8cf 746 sprintf(bottomline,"USONIC:%3dcm",ultrasonic_distance);
jah128 0:d6269d17c8cf 747 } else sprintf(bottomline,"USONIC:---------");
jah128 0:d6269d17c8cf 748 update_ultrasonic_measure();
jah128 0:d6269d17c8cf 749 break;
jah128 0:d6269d17c8cf 750 case 10:
jah128 0:d6269d17c8cf 751 store_line_position();
jah128 0:d6269d17c8cf 752 if(line_found == 1)sprintf(bottomline,"LINE:%1.3f",line_position);
jah128 0:d6269d17c8cf 753 else sprintf(bottomline,"LINE:---------");
jah128 0:d6269d17c8cf 754 break;
jah128 0:d6269d17c8cf 755 case 11:
jah128 0:d6269d17c8cf 756 sprintf(bottomline,"EXIT");
jah128 0:d6269d17c8cf 757 break;
jah128 0:d6269d17c8cf 758 }
jah128 0:d6269d17c8cf 759 break;
jah128 0:d6269d17c8cf 760 case 2:
jah128 0:d6269d17c8cf 761 strcpy(topline,"--MOTORS MENU---");
jah128 0:d6269d17c8cf 762 switch(sub_menu) {
jah128 0:d6269d17c8cf 763 case 0:
jah128 0:d6269d17c8cf 764 sprintf(bottomline,"LEFT: %d%%", left_speed);
jah128 0:d6269d17c8cf 765 break;
jah128 0:d6269d17c8cf 766 case 1:
jah128 0:d6269d17c8cf 767 sprintf(bottomline,"RIGHT: %d%%", right_speed);
jah128 0:d6269d17c8cf 768 break;
jah128 0:d6269d17c8cf 769 case 2:
jah128 0:d6269d17c8cf 770 char both_mode_string[16];
jah128 0:d6269d17c8cf 771 switch(both_motor_mode) {
jah128 0:d6269d17c8cf 772 case 0:
jah128 0:d6269d17c8cf 773 strcpy(both_mode_string,"OFF");
jah128 0:d6269d17c8cf 774 break;
jah128 0:d6269d17c8cf 775 case 1:
jah128 0:d6269d17c8cf 776 strcpy(both_mode_string,"BRAKE");
jah128 0:d6269d17c8cf 777 break;
jah128 0:d6269d17c8cf 778 case 2:
jah128 0:d6269d17c8cf 779 strcpy(both_mode_string,"+50%");
jah128 0:d6269d17c8cf 780 break;
jah128 0:d6269d17c8cf 781 case 3:
jah128 0:d6269d17c8cf 782 strcpy(both_mode_string,"+100%");
jah128 0:d6269d17c8cf 783 break;
jah128 0:d6269d17c8cf 784 case 4:
jah128 0:d6269d17c8cf 785 strcpy(both_mode_string,"-50%");
jah128 0:d6269d17c8cf 786 break;
jah128 0:d6269d17c8cf 787 case 5:
jah128 0:d6269d17c8cf 788 strcpy(both_mode_string,"-100%");
jah128 0:d6269d17c8cf 789 break;
jah128 0:d6269d17c8cf 790 }
jah128 0:d6269d17c8cf 791 sprintf(bottomline,"BOTH TO %s",both_mode_string);
jah128 0:d6269d17c8cf 792 break;
jah128 0:d6269d17c8cf 793 case 3:
jah128 0:d6269d17c8cf 794 sprintf(bottomline,"EXIT");
jah128 0:d6269d17c8cf 795 break;
jah128 0:d6269d17c8cf 796 }
jah128 0:d6269d17c8cf 797 break;
jah128 0:d6269d17c8cf 798 case 3:
jah128 0:d6269d17c8cf 799 strcpy(topline,"---RADIO MENU---");
jah128 0:d6269d17c8cf 800 switch(sub_menu) {
jah128 0:d6269d17c8cf 801
jah128 0:d6269d17c8cf 802 case 0:
jah128 0:d6269d17c8cf 803 sprintf(bottomline,"EXIT");
jah128 0:d6269d17c8cf 804 break;
jah128 0:d6269d17c8cf 805 }
jah128 0:d6269d17c8cf 806 break;
jah128 0:d6269d17c8cf 807 case 4:
jah128 0:d6269d17c8cf 808 strcpy(topline,"---INFO MENU----");
jah128 0:d6269d17c8cf 809 switch(sub_menu) {
jah128 0:d6269d17c8cf 810 case 0:
jah128 0:d6269d17c8cf 811 sprintf(bottomline,"ROBOT ID: %d",robot_id);
jah128 0:d6269d17c8cf 812 break;
jah128 0:d6269d17c8cf 813 case 1:
jah128 0:d6269d17c8cf 814 sprintf(bottomline,"SOFTWARE: %1.2f",SOFTWARE_VERSION_CODE);
jah128 0:d6269d17c8cf 815 break;
jah128 0:d6269d17c8cf 816 case 2:
jah128 0:d6269d17c8cf 817 if(firmware_version > 0) sprintf(bottomline,"FIRMWARE: %1.2f",firmware_version);
jah128 0:d6269d17c8cf 818 else sprintf(bottomline,"FIRMWARE: ?????");
jah128 0:d6269d17c8cf 819 break;
jah128 0:d6269d17c8cf 820 case 3:
jah128 0:d6269d17c8cf 821 sprintf(bottomline,"PROG:%s",program_name);
jah128 0:d6269d17c8cf 822 break;
jah128 0:d6269d17c8cf 823 case 4:
jah128 0:d6269d17c8cf 824 sprintf(bottomline,"AUTH:%s",author_name);
jah128 0:d6269d17c8cf 825 break;
jah128 0:d6269d17c8cf 826 case 5:
jah128 0:d6269d17c8cf 827 sprintf(bottomline,"VER:%s",version_name);
jah128 0:d6269d17c8cf 828 break;
jah128 0:d6269d17c8cf 829 case 6:
jah128 0:d6269d17c8cf 830 sprintf(bottomline,"EXIT");
jah128 0:d6269d17c8cf 831 break;
jah128 0:d6269d17c8cf 832 }
jah128 0:d6269d17c8cf 833 break;
jah128 0:d6269d17c8cf 834 case 5:
jah128 0:d6269d17c8cf 835 strcpy(topline,"---CODE DEMOS---");
jah128 0:d6269d17c8cf 836 switch(sub_menu) {
jah128 0:d6269d17c8cf 837 case 0:
jah128 0:d6269d17c8cf 838 sprintf(bottomline,"LINE FOLLOW");
jah128 0:d6269d17c8cf 839 break;
jah128 0:d6269d17c8cf 840 case 1:
jah128 0:d6269d17c8cf 841 sprintf(bottomline,"OBST. AVOID");
jah128 0:d6269d17c8cf 842 break;
jah128 0:d6269d17c8cf 843 case 2:
jah128 0:d6269d17c8cf 844 sprintf(bottomline,"COLOUR SPIN");
jah128 0:d6269d17c8cf 845 break;
jah128 0:d6269d17c8cf 846 case 3:
jah128 0:d6269d17c8cf 847 sprintf(bottomline,"STRESS TEST");
jah128 0:d6269d17c8cf 848 break;
jah128 0:d6269d17c8cf 849 case 4:
jah128 0:d6269d17c8cf 850 sprintf(bottomline,"EXIT");
jah128 0:d6269d17c8cf 851 break;
jah128 0:d6269d17c8cf 852 }
jah128 0:d6269d17c8cf 853 break;
jah128 0:d6269d17c8cf 854 case 6:
jah128 4:1c621cb8cf0d 855 strcpy(topline,"-MOTOR CALIBRATE");
jah128 4:1c621cb8cf0d 856 switch(sub_menu) {
jah128 4:1c621cb8cf0d 857 case 0:
jah128 4:1c621cb8cf0d 858 sprintf(bottomline,"RUN A3 TEST");
jah128 4:1c621cb8cf0d 859 break;
jah128 4:1c621cb8cf0d 860 case 1:
jah128 4:1c621cb8cf0d 861 sprintf(bottomline,"ENTER VALUE");
jah128 4:1c621cb8cf0d 862 break;
jah128 4:1c621cb8cf0d 863 case 2:
jah128 4:1c621cb8cf0d 864 sprintf(bottomline,"EXIT");
jah128 4:1c621cb8cf0d 865 break;
jah128 4:1c621cb8cf0d 866 }
jah128 0:d6269d17c8cf 867 break;
jah128 0:d6269d17c8cf 868 }
jah128 0:d6269d17c8cf 869 break;
jah128 0:d6269d17c8cf 870 }
jah128 0:d6269d17c8cf 871 display.write_string(topline);
jah128 0:d6269d17c8cf 872 display.set_position(1,0);
jah128 0:d6269d17c8cf 873 display.write_string(bottomline);
jah128 0:d6269d17c8cf 874 if(top_menu == 1 && level == 1) {
jah128 0:d6269d17c8cf 875 demo_event.attach(&demo_event_thread, 0.25);
jah128 0:d6269d17c8cf 876 }
jah128 0:d6269d17c8cf 877 }
jah128 0:d6269d17c8cf 878
jah128 0:d6269d17c8cf 879 void start_line_demo()
jah128 0:d6269d17c8cf 880 {
jah128 0:d6269d17c8cf 881 display.set_backlight_brightness(0);
jah128 0:d6269d17c8cf 882 time_out = 0.25f;
jah128 0:d6269d17c8cf 883 demo_timer.start();
jah128 0:d6269d17c8cf 884 state = 0;
jah128 0:d6269d17c8cf 885 speed = 0;
jah128 0:d6269d17c8cf 886 led_step = 0;
jah128 0:d6269d17c8cf 887 demo_running = 1;
jah128 0:d6269d17c8cf 888 demo_timeout.attach_us(&line_demo_cycle,1000);
jah128 0:d6269d17c8cf 889 }
jah128 0:d6269d17c8cf 890
jah128 0:d6269d17c8cf 891 void start_obstacle_demo()
jah128 0:d6269d17c8cf 892 {
jah128 0:d6269d17c8cf 893 display.set_backlight_brightness(0);
jah128 0:d6269d17c8cf 894 time_out = 0.25f;
jah128 0:d6269d17c8cf 895 demo_timer.start();
jah128 0:d6269d17c8cf 896 state = 0;
jah128 0:d6269d17c8cf 897 speed = 0;
jah128 0:d6269d17c8cf 898 led_step = 0;
jah128 0:d6269d17c8cf 899 demo_running = 1;
jah128 0:d6269d17c8cf 900 demo_timeout.attach_us(&obstacle_demo_cycle,1000);
jah128 0:d6269d17c8cf 901 }
jah128 0:d6269d17c8cf 902
jah128 0:d6269d17c8cf 903 void start_stress_demo()
jah128 0:d6269d17c8cf 904 {
jah128 0:d6269d17c8cf 905 display.set_backlight_brightness(0.25);
jah128 0:d6269d17c8cf 906 display.write_string("STRESS TEST");
jah128 0:d6269d17c8cf 907 display.set_position(1,0);
jah128 0:d6269d17c8cf 908 display.write_string("----25%----");
jah128 0:d6269d17c8cf 909 time_out = 0.04f;
jah128 0:d6269d17c8cf 910 demo_timer.start();
jah128 0:d6269d17c8cf 911 state = 0;
jah128 0:d6269d17c8cf 912 speed = 0;
jah128 0:d6269d17c8cf 913 stress_step = 0;
jah128 0:d6269d17c8cf 914 spin_step = 0;
jah128 0:d6269d17c8cf 915 demo_running = 1;
jah128 0:d6269d17c8cf 916 demo_timeout.attach_us(&stress_demo_cycle,1000);
jah128 0:d6269d17c8cf 917 }
jah128 0:d6269d17c8cf 918
jah128 0:d6269d17c8cf 919 void start_spinning_demo()
jah128 0:d6269d17c8cf 920 {
jah128 0:d6269d17c8cf 921 display.set_backlight_brightness(0);
jah128 0:d6269d17c8cf 922 time_out = 0.0f;
jah128 0:d6269d17c8cf 923 demo_timer.start();
jah128 0:d6269d17c8cf 924 state = 0;
jah128 0:d6269d17c8cf 925 speed = 0;
jah128 0:d6269d17c8cf 926 led_step = 0;
jah128 0:d6269d17c8cf 927 spin_step = 0;
jah128 0:d6269d17c8cf 928 demo_running = 1;
jah128 0:d6269d17c8cf 929 demo_timeout.attach_us(&spinning_demo_cycle,1000);
jah128 0:d6269d17c8cf 930 }
jah128 0:d6269d17c8cf 931
jah128 0:d6269d17c8cf 932 void line_demo_cycle()
jah128 0:d6269d17c8cf 933 {
jah128 0:d6269d17c8cf 934 if(demo_timer.read() > time_out) {
jah128 0:d6269d17c8cf 935 store_line_position();
jah128 0:d6269d17c8cf 936 if(line_found) {
jah128 0:d6269d17c8cf 937 time_out = 0.01f;
jah128 0:d6269d17c8cf 938 state = 0;
jah128 0:d6269d17c8cf 939 // Get the position of the line.
jah128 0:d6269d17c8cf 940 lf_current_pos_of_line = line_position;
jah128 0:d6269d17c8cf 941 lf_proportional = lf_current_pos_of_line;
jah128 0:d6269d17c8cf 942
jah128 0:d6269d17c8cf 943 // Compute the derivative
jah128 0:d6269d17c8cf 944 lf_derivative = lf_current_pos_of_line - lf_previous_pos_of_line;
jah128 0:d6269d17c8cf 945
jah128 0:d6269d17c8cf 946 // Compute the integral
jah128 0:d6269d17c8cf 947 lf_integral += lf_proportional;
jah128 0:d6269d17c8cf 948
jah128 0:d6269d17c8cf 949 // Remember the last position.
jah128 0:d6269d17c8cf 950 lf_previous_pos_of_line = lf_current_pos_of_line;
jah128 0:d6269d17c8cf 951
jah128 0:d6269d17c8cf 952 // Compute the power
jah128 0:d6269d17c8cf 953 lf_power = (lf_proportional * (LF_P_TERM) ) + (lf_integral*(LF_I_TERM)) + (lf_derivative*(LF_D_TERM)) ;
jah128 0:d6269d17c8cf 954
jah128 0:d6269d17c8cf 955 // Compute new speeds
jah128 0:d6269d17c8cf 956 lf_right = lf_speed-lf_power;
jah128 0:d6269d17c8cf 957 lf_left = lf_speed+lf_power;
jah128 0:d6269d17c8cf 958
jah128 0:d6269d17c8cf 959 // limit checks
jah128 0:d6269d17c8cf 960 if (lf_right < 0)
jah128 0:d6269d17c8cf 961 lf_right = 0;
jah128 0:d6269d17c8cf 962 else if (lf_right > 1.0f)
jah128 0:d6269d17c8cf 963 lf_right = 1.0f;
jah128 0:d6269d17c8cf 964
jah128 0:d6269d17c8cf 965 if (lf_left < 0)
jah128 0:d6269d17c8cf 966 lf_left = 0;
jah128 0:d6269d17c8cf 967 else if (lf_left > 1.0f)
jah128 0:d6269d17c8cf 968 lf_left = 1.0f;
jah128 0:d6269d17c8cf 969 }else{
jah128 0:d6269d17c8cf 970 //Cannot see line: hunt for it
jah128 0:d6269d17c8cf 971 if(lf_left > lf_right){
jah128 0:d6269d17c8cf 972 //Currently turning left, keep turning left
jah128 0:d6269d17c8cf 973 state ++;
jah128 0:d6269d17c8cf 974 float d_step = state * 0.04;
jah128 0:d6269d17c8cf 975 lf_left = 0.2 + d_step;
jah128 0:d6269d17c8cf 976 lf_right = -0.2 - d_step;
jah128 0:d6269d17c8cf 977 if(state > 20){
jah128 0:d6269d17c8cf 978 state = 0;
jah128 0:d6269d17c8cf 979 lf_right = 0.2;
jah128 0:d6269d17c8cf 980 lf_left = -0.2;
jah128 0:d6269d17c8cf 981 time_out += 0.01f;
jah128 0:d6269d17c8cf 982 if(time_out > 0.1f) demo_running = 0;
jah128 0:d6269d17c8cf 983 }
jah128 0:d6269d17c8cf 984 }else{
jah128 0:d6269d17c8cf 985 //Currently turning right, keep turning right
jah128 0:d6269d17c8cf 986 state ++;
jah128 0:d6269d17c8cf 987 float d_step = state * 0.04;
jah128 0:d6269d17c8cf 988 lf_left = -0.2 - d_step;
jah128 0:d6269d17c8cf 989 lf_right = 0.2 + d_step;
jah128 0:d6269d17c8cf 990 if(state > 20){
jah128 0:d6269d17c8cf 991 state = 0;
jah128 0:d6269d17c8cf 992 lf_right = -0.2;
jah128 0:d6269d17c8cf 993 lf_left = 0.2;
jah128 0:d6269d17c8cf 994 time_out += 0.01f;
jah128 0:d6269d17c8cf 995 if(time_out > 0.1f) demo_running = 0;
jah128 0:d6269d17c8cf 996 }
jah128 0:d6269d17c8cf 997 }
jah128 0:d6269d17c8cf 998 }
jah128 0:d6269d17c8cf 999 // set speed
jah128 0:d6269d17c8cf 1000 set_left_motor_speed(lf_left);
jah128 0:d6269d17c8cf 1001 set_right_motor_speed(lf_right);
jah128 0:d6269d17c8cf 1002
jah128 0:d6269d17c8cf 1003
jah128 0:d6269d17c8cf 1004 demo_timer.reset();
jah128 0:d6269d17c8cf 1005 }
jah128 0:d6269d17c8cf 1006 if(demo_running == 1)demo_timeout.attach_us(&line_demo_cycle,500);
jah128 0:d6269d17c8cf 1007 else {
jah128 0:d6269d17c8cf 1008 stop();
jah128 0:d6269d17c8cf 1009 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 1010 }
jah128 0:d6269d17c8cf 1011 }
jah128 0:d6269d17c8cf 1012
jah128 0:d6269d17c8cf 1013 void stress_demo_cycle()
jah128 0:d6269d17c8cf 1014 {
jah128 0:d6269d17c8cf 1015 if(demo_timer.read() > time_out) {
jah128 0:d6269d17c8cf 1016 float pct = 0.25 + (0.25 * stress_step);
jah128 0:d6269d17c8cf 1017 switch(state) {
jah128 0:d6269d17c8cf 1018 case 0:
jah128 0:d6269d17c8cf 1019 if(spin_step % 2 == 0) {
jah128 0:d6269d17c8cf 1020 forward(pct);
jah128 0:d6269d17c8cf 1021 set_leds(0xFF,0xFF);
jah128 0:d6269d17c8cf 1022 } else {
jah128 0:d6269d17c8cf 1023 backward(pct);
jah128 0:d6269d17c8cf 1024 set_leds(0,0xFF);
jah128 0:d6269d17c8cf 1025 }
jah128 0:d6269d17c8cf 1026 spin_step ++;
jah128 0:d6269d17c8cf 1027 if(spin_step > 199) {
jah128 0:d6269d17c8cf 1028 state ++;
jah128 0:d6269d17c8cf 1029 spin_step = 0;
jah128 0:d6269d17c8cf 1030 }
jah128 0:d6269d17c8cf 1031 break;
jah128 0:d6269d17c8cf 1032 case 1:
jah128 0:d6269d17c8cf 1033 if(stress_step < 3) stress_step ++;
jah128 0:d6269d17c8cf 1034 float pct = 0.25 + (0.25 * stress_step);
jah128 0:d6269d17c8cf 1035 display.set_backlight_brightness(pct);
jah128 0:d6269d17c8cf 1036 display.set_position(1,0);
jah128 0:d6269d17c8cf 1037 switch(stress_step) {
jah128 0:d6269d17c8cf 1038 case 1:
jah128 0:d6269d17c8cf 1039 display.write_string("----50%----");
jah128 0:d6269d17c8cf 1040 break;
jah128 0:d6269d17c8cf 1041 case 2:
jah128 0:d6269d17c8cf 1042 display.write_string("----75%----");
jah128 0:d6269d17c8cf 1043 break;
jah128 0:d6269d17c8cf 1044 case 3:
jah128 0:d6269d17c8cf 1045 display.write_string("---100%----");
jah128 0:d6269d17c8cf 1046 break;
jah128 0:d6269d17c8cf 1047 }
jah128 0:d6269d17c8cf 1048 state = 0;
jah128 0:d6269d17c8cf 1049 break;
jah128 0:d6269d17c8cf 1050 }
jah128 0:d6269d17c8cf 1051 demo_timer.reset();
jah128 0:d6269d17c8cf 1052 }
jah128 0:d6269d17c8cf 1053 if(demo_running == 1)demo_timeout.attach_us(&stress_demo_cycle,500);
jah128 0:d6269d17c8cf 1054 else {
jah128 0:d6269d17c8cf 1055 stop();
jah128 0:d6269d17c8cf 1056 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 1057 }
jah128 0:d6269d17c8cf 1058 }
jah128 0:d6269d17c8cf 1059
jah128 0:d6269d17c8cf 1060 void spinning_demo_cycle()
jah128 0:d6269d17c8cf 1061 {
jah128 0:d6269d17c8cf 1062 if(demo_timer.read() > time_out) {
jah128 0:d6269d17c8cf 1063 switch(state) {
jah128 0:d6269d17c8cf 1064 case 0: //Robot is stopped
jah128 0:d6269d17c8cf 1065 set_leds(0,0xFF);
jah128 0:d6269d17c8cf 1066 set_center_led(1,1);
jah128 0:d6269d17c8cf 1067 speed = 0.1f;
jah128 0:d6269d17c8cf 1068 brake();
jah128 0:d6269d17c8cf 1069 time_out = 0.5;
jah128 0:d6269d17c8cf 1070 state = 1;
jah128 0:d6269d17c8cf 1071 led_step = 0;
jah128 0:d6269d17c8cf 1072 break;
jah128 0:d6269d17c8cf 1073 case 1: //Motor is turning right, accelerating
jah128 0:d6269d17c8cf 1074 time_out = 0.1;
jah128 0:d6269d17c8cf 1075 set_center_led(2,1);
jah128 0:d6269d17c8cf 1076 switch(led_step) {
jah128 0:d6269d17c8cf 1077 case 0:
jah128 0:d6269d17c8cf 1078 set_leds(0x01,0);
jah128 0:d6269d17c8cf 1079 break;
jah128 0:d6269d17c8cf 1080 case 1:
jah128 0:d6269d17c8cf 1081 set_leds(0x02,0);
jah128 0:d6269d17c8cf 1082 break;
jah128 0:d6269d17c8cf 1083 case 2:
jah128 0:d6269d17c8cf 1084 set_leds(0x04,0);
jah128 0:d6269d17c8cf 1085 break;
jah128 0:d6269d17c8cf 1086 case 3:
jah128 0:d6269d17c8cf 1087 set_leds(0x08,0);
jah128 0:d6269d17c8cf 1088 break;
jah128 0:d6269d17c8cf 1089 case 4:
jah128 0:d6269d17c8cf 1090 set_leds(0x10,0);
jah128 0:d6269d17c8cf 1091 break;
jah128 0:d6269d17c8cf 1092 case 5:
jah128 0:d6269d17c8cf 1093 set_leds(0x20,0);
jah128 0:d6269d17c8cf 1094 break;
jah128 0:d6269d17c8cf 1095 case 6:
jah128 0:d6269d17c8cf 1096 set_leds(0x40,0);
jah128 0:d6269d17c8cf 1097 break;
jah128 0:d6269d17c8cf 1098 case 7:
jah128 0:d6269d17c8cf 1099 set_leds(0x80,0);
jah128 0:d6269d17c8cf 1100 break;
jah128 0:d6269d17c8cf 1101 }
jah128 0:d6269d17c8cf 1102 led_step ++;
jah128 0:d6269d17c8cf 1103 if(led_step == 8) led_step =0;
jah128 0:d6269d17c8cf 1104 if(speed < 1) {
jah128 0:d6269d17c8cf 1105 speed += 0.0125;
jah128 0:d6269d17c8cf 1106 turn(speed);
jah128 0:d6269d17c8cf 1107 } else {
jah128 0:d6269d17c8cf 1108 state = 2;
jah128 0:d6269d17c8cf 1109 spin_step = 0;
jah128 0:d6269d17c8cf 1110 led_step =0;
jah128 0:d6269d17c8cf 1111 }
jah128 0:d6269d17c8cf 1112 break;
jah128 0:d6269d17c8cf 1113 case 2: //Motor is turning right, full speed
jah128 0:d6269d17c8cf 1114 set_center_led(3,1);
jah128 0:d6269d17c8cf 1115 switch(led_step) {
jah128 0:d6269d17c8cf 1116 case 0:
jah128 0:d6269d17c8cf 1117 set_leds(0x33,0x33);
jah128 0:d6269d17c8cf 1118 break;
jah128 0:d6269d17c8cf 1119 case 1:
jah128 0:d6269d17c8cf 1120 set_leds(0x66,0x66);
jah128 0:d6269d17c8cf 1121 break;
jah128 0:d6269d17c8cf 1122 case 2:
jah128 0:d6269d17c8cf 1123 set_leds(0xCC,0xCC);
jah128 0:d6269d17c8cf 1124 break;
jah128 0:d6269d17c8cf 1125 case 3:
jah128 0:d6269d17c8cf 1126 set_leds(0x99,0x99);
jah128 0:d6269d17c8cf 1127 break;
jah128 0:d6269d17c8cf 1128 }
jah128 0:d6269d17c8cf 1129 led_step ++;
jah128 0:d6269d17c8cf 1130 if(led_step == 4) led_step = 0;
jah128 0:d6269d17c8cf 1131 spin_step ++;
jah128 0:d6269d17c8cf 1132 if(spin_step == 40) {
jah128 0:d6269d17c8cf 1133 state = 3;
jah128 0:d6269d17c8cf 1134 led_step = 0;
jah128 0:d6269d17c8cf 1135 }
jah128 0:d6269d17c8cf 1136 break;
jah128 0:d6269d17c8cf 1137 case 3: //Motor is turning right, decelerating
jah128 0:d6269d17c8cf 1138 set_center_led(2,1);
jah128 0:d6269d17c8cf 1139 switch(led_step) {
jah128 0:d6269d17c8cf 1140 case 0:
jah128 0:d6269d17c8cf 1141 set_leds(0x01,0);
jah128 0:d6269d17c8cf 1142 break;
jah128 0:d6269d17c8cf 1143 case 1:
jah128 0:d6269d17c8cf 1144 set_leds(0x02,0);
jah128 0:d6269d17c8cf 1145 break;
jah128 0:d6269d17c8cf 1146 case 2:
jah128 0:d6269d17c8cf 1147 set_leds(0x04,0);
jah128 0:d6269d17c8cf 1148 break;
jah128 0:d6269d17c8cf 1149 case 3:
jah128 0:d6269d17c8cf 1150 set_leds(0x08,0);
jah128 0:d6269d17c8cf 1151 break;
jah128 0:d6269d17c8cf 1152 case 4:
jah128 0:d6269d17c8cf 1153 set_leds(0x10,0);
jah128 0:d6269d17c8cf 1154 break;
jah128 0:d6269d17c8cf 1155 case 5:
jah128 0:d6269d17c8cf 1156 set_leds(0x20,0);
jah128 0:d6269d17c8cf 1157 break;
jah128 0:d6269d17c8cf 1158 case 6:
jah128 0:d6269d17c8cf 1159 set_leds(0x40,0);
jah128 0:d6269d17c8cf 1160 break;
jah128 0:d6269d17c8cf 1161 case 7:
jah128 0:d6269d17c8cf 1162 set_leds(0x80,0);
jah128 0:d6269d17c8cf 1163 break;
jah128 0:d6269d17c8cf 1164 }
jah128 0:d6269d17c8cf 1165 if(led_step == 0) led_step =8;
jah128 0:d6269d17c8cf 1166 led_step --;
jah128 0:d6269d17c8cf 1167 if(speed > 0.1) {
jah128 0:d6269d17c8cf 1168 speed -= 0.025;
jah128 0:d6269d17c8cf 1169 turn(speed);
jah128 0:d6269d17c8cf 1170 } else {
jah128 0:d6269d17c8cf 1171 state = 4;
jah128 0:d6269d17c8cf 1172 spin_step = 0;
jah128 0:d6269d17c8cf 1173 led_step =0;
jah128 0:d6269d17c8cf 1174 }
jah128 0:d6269d17c8cf 1175 break;
jah128 0:d6269d17c8cf 1176 case 4: //Robot is stopped
jah128 0:d6269d17c8cf 1177 set_leds(0,0xFF);
jah128 0:d6269d17c8cf 1178 set_center_led(1,1);
jah128 0:d6269d17c8cf 1179 speed = 0.1f;
jah128 0:d6269d17c8cf 1180 brake();
jah128 0:d6269d17c8cf 1181 time_out = 0.5;
jah128 0:d6269d17c8cf 1182 led_step =0;
jah128 0:d6269d17c8cf 1183 state = 5;
jah128 0:d6269d17c8cf 1184 break;
jah128 0:d6269d17c8cf 1185 case 5: //Motor is turning left, accelerating
jah128 0:d6269d17c8cf 1186 time_out = 0.1;
jah128 0:d6269d17c8cf 1187 set_center_led(2,1);
jah128 0:d6269d17c8cf 1188 switch(led_step) {
jah128 0:d6269d17c8cf 1189 case 0:
jah128 0:d6269d17c8cf 1190 set_leds(0x01,0);
jah128 0:d6269d17c8cf 1191 break;
jah128 0:d6269d17c8cf 1192 case 1:
jah128 0:d6269d17c8cf 1193 set_leds(0x02,0);
jah128 0:d6269d17c8cf 1194 break;
jah128 0:d6269d17c8cf 1195 case 2:
jah128 0:d6269d17c8cf 1196 set_leds(0x04,0);
jah128 0:d6269d17c8cf 1197 break;
jah128 0:d6269d17c8cf 1198 case 3:
jah128 0:d6269d17c8cf 1199 set_leds(0x08,0);
jah128 0:d6269d17c8cf 1200 break;
jah128 0:d6269d17c8cf 1201 case 4:
jah128 0:d6269d17c8cf 1202 set_leds(0x10,0);
jah128 0:d6269d17c8cf 1203 break;
jah128 0:d6269d17c8cf 1204 case 5:
jah128 0:d6269d17c8cf 1205 set_leds(0x20,0);
jah128 0:d6269d17c8cf 1206 break;
jah128 0:d6269d17c8cf 1207 case 6:
jah128 0:d6269d17c8cf 1208 set_leds(0x40,0);
jah128 0:d6269d17c8cf 1209 break;
jah128 0:d6269d17c8cf 1210 case 7:
jah128 0:d6269d17c8cf 1211 set_leds(0x80,0);
jah128 0:d6269d17c8cf 1212 break;
jah128 0:d6269d17c8cf 1213 }
jah128 0:d6269d17c8cf 1214 if(led_step == 0) led_step =8;
jah128 0:d6269d17c8cf 1215 led_step --;
jah128 0:d6269d17c8cf 1216 if(speed < 1) {
jah128 0:d6269d17c8cf 1217 speed += 0.0125;
jah128 0:d6269d17c8cf 1218 turn(-speed);
jah128 0:d6269d17c8cf 1219 } else {
jah128 0:d6269d17c8cf 1220 state = 6;
jah128 0:d6269d17c8cf 1221 spin_step = 0;
jah128 0:d6269d17c8cf 1222 led_step = 0;
jah128 0:d6269d17c8cf 1223 }
jah128 0:d6269d17c8cf 1224 break;
jah128 0:d6269d17c8cf 1225 case 6: //Motor is turning left, full speed
jah128 0:d6269d17c8cf 1226 set_center_led(3,1);
jah128 0:d6269d17c8cf 1227 switch(led_step) {
jah128 0:d6269d17c8cf 1228 case 0:
jah128 0:d6269d17c8cf 1229 set_leds(0x33,0x33);
jah128 0:d6269d17c8cf 1230 break;
jah128 0:d6269d17c8cf 1231 case 1:
jah128 0:d6269d17c8cf 1232 set_leds(0x66,0x66);
jah128 0:d6269d17c8cf 1233 break;
jah128 0:d6269d17c8cf 1234 case 2:
jah128 0:d6269d17c8cf 1235 set_leds(0xCC,0xCC);
jah128 0:d6269d17c8cf 1236 break;
jah128 0:d6269d17c8cf 1237 case 3:
jah128 0:d6269d17c8cf 1238 set_leds(0x99,0x99);
jah128 0:d6269d17c8cf 1239 break;
jah128 0:d6269d17c8cf 1240 }
jah128 0:d6269d17c8cf 1241 if(led_step == 0) led_step = 4;
jah128 0:d6269d17c8cf 1242 led_step --;
jah128 0:d6269d17c8cf 1243 spin_step ++;
jah128 0:d6269d17c8cf 1244 if(spin_step == 40) {
jah128 0:d6269d17c8cf 1245 state = 7;
jah128 0:d6269d17c8cf 1246 led_step = 0;
jah128 0:d6269d17c8cf 1247 }
jah128 0:d6269d17c8cf 1248 break;
jah128 0:d6269d17c8cf 1249 case 7: //Motor is turning left, decelerating
jah128 0:d6269d17c8cf 1250 set_center_led(2,1);
jah128 0:d6269d17c8cf 1251 switch(led_step) {
jah128 0:d6269d17c8cf 1252 case 0:
jah128 0:d6269d17c8cf 1253 set_leds(0x01,0);
jah128 0:d6269d17c8cf 1254 break;
jah128 0:d6269d17c8cf 1255 case 1:
jah128 0:d6269d17c8cf 1256 set_leds(0x02,0);
jah128 0:d6269d17c8cf 1257 break;
jah128 0:d6269d17c8cf 1258 case 2:
jah128 0:d6269d17c8cf 1259 set_leds(0x04,0);
jah128 0:d6269d17c8cf 1260 break;
jah128 0:d6269d17c8cf 1261 case 3:
jah128 0:d6269d17c8cf 1262 set_leds(0x08,0);
jah128 0:d6269d17c8cf 1263 break;
jah128 0:d6269d17c8cf 1264 case 4:
jah128 0:d6269d17c8cf 1265 set_leds(0x10,0);
jah128 0:d6269d17c8cf 1266 break;
jah128 0:d6269d17c8cf 1267 case 5:
jah128 0:d6269d17c8cf 1268 set_leds(0x20,0);
jah128 0:d6269d17c8cf 1269 break;
jah128 0:d6269d17c8cf 1270 case 6:
jah128 0:d6269d17c8cf 1271 set_leds(0x40,0);
jah128 0:d6269d17c8cf 1272 break;
jah128 0:d6269d17c8cf 1273 case 7:
jah128 0:d6269d17c8cf 1274 set_leds(0x80,0);
jah128 0:d6269d17c8cf 1275 break;
jah128 0:d6269d17c8cf 1276 }
jah128 0:d6269d17c8cf 1277 led_step ++;
jah128 0:d6269d17c8cf 1278 if(led_step == 8) led_step =0;
jah128 0:d6269d17c8cf 1279 if(speed > 0.1) {
jah128 0:d6269d17c8cf 1280 speed -= 0.025;
jah128 0:d6269d17c8cf 1281 turn(-speed);
jah128 0:d6269d17c8cf 1282 } else {
jah128 0:d6269d17c8cf 1283 state = 0;
jah128 0:d6269d17c8cf 1284 spin_step = 0;
jah128 0:d6269d17c8cf 1285 led_step = 0;
jah128 0:d6269d17c8cf 1286 }
jah128 0:d6269d17c8cf 1287 break;
jah128 0:d6269d17c8cf 1288 }
jah128 0:d6269d17c8cf 1289 demo_timer.reset();
jah128 0:d6269d17c8cf 1290 }
jah128 0:d6269d17c8cf 1291 if(demo_running == 1)demo_timeout.attach_us(&spinning_demo_cycle,500);
jah128 0:d6269d17c8cf 1292 else {
jah128 0:d6269d17c8cf 1293 stop();
jah128 0:d6269d17c8cf 1294 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 1295 }
jah128 0:d6269d17c8cf 1296 }
jah128 0:d6269d17c8cf 1297
jah128 0:d6269d17c8cf 1298 void obstacle_demo_cycle()
jah128 0:d6269d17c8cf 1299 {
jah128 0:d6269d17c8cf 1300 if(demo_timer.read() > time_out) {
jah128 0:d6269d17c8cf 1301 switch(state) {
jah128 0:d6269d17c8cf 1302 case 0: //Robot is stopped
jah128 0:d6269d17c8cf 1303 set_leds(0,0xFF);
jah128 0:d6269d17c8cf 1304 set_center_led(1,0.4);
jah128 0:d6269d17c8cf 1305 speed = 0.3f;
jah128 0:d6269d17c8cf 1306 forward(speed);
jah128 0:d6269d17c8cf 1307 time_out = 0.05;
jah128 0:d6269d17c8cf 1308 state = 1;
jah128 0:d6269d17c8cf 1309 break;
jah128 0:d6269d17c8cf 1310 case 1: { //Motor is moving forward
jah128 0:d6269d17c8cf 1311 store_ir_values();
jah128 0:d6269d17c8cf 1312 int front_right = read_illuminated_raw_ir_value(0);
jah128 0:d6269d17c8cf 1313 int front_left = read_illuminated_raw_ir_value(7);
jah128 0:d6269d17c8cf 1314 if(front_left > 400 || front_right > 400) {
jah128 0:d6269d17c8cf 1315 brake();
jah128 0:d6269d17c8cf 1316 time_out = 0.04;
jah128 0:d6269d17c8cf 1317 if(front_left > front_right)state=2;
jah128 0:d6269d17c8cf 1318 else state=3;
jah128 0:d6269d17c8cf 1319 } else {
jah128 0:d6269d17c8cf 1320 if(speed < 0.5) {
jah128 0:d6269d17c8cf 1321 speed += 0.03;
jah128 0:d6269d17c8cf 1322 forward(speed);
jah128 0:d6269d17c8cf 1323 }
jah128 0:d6269d17c8cf 1324 switch(led_step) {
jah128 0:d6269d17c8cf 1325 case 0:
jah128 0:d6269d17c8cf 1326 set_leds(0x01,0);
jah128 0:d6269d17c8cf 1327 break;
jah128 0:d6269d17c8cf 1328 case 1:
jah128 0:d6269d17c8cf 1329 set_leds(0x38,0);
jah128 0:d6269d17c8cf 1330 break;
jah128 0:d6269d17c8cf 1331 case 2:
jah128 0:d6269d17c8cf 1332 set_leds(0x6C,0);
jah128 0:d6269d17c8cf 1333 break;
jah128 0:d6269d17c8cf 1334 case 3:
jah128 0:d6269d17c8cf 1335 set_leds(0xC6,0);
jah128 0:d6269d17c8cf 1336 break;
jah128 0:d6269d17c8cf 1337 case 4:
jah128 0:d6269d17c8cf 1338 set_leds(0x83,0);
jah128 0:d6269d17c8cf 1339 break;
jah128 0:d6269d17c8cf 1340 }
jah128 0:d6269d17c8cf 1341 set_center_led(2, 0.6);
jah128 0:d6269d17c8cf 1342 led_step ++;
jah128 0:d6269d17c8cf 1343 if(led_step == 5) led_step = 0;
jah128 0:d6269d17c8cf 1344 }
jah128 0:d6269d17c8cf 1345 break;
jah128 0:d6269d17c8cf 1346 }
jah128 0:d6269d17c8cf 1347 case 2: //Turn right
jah128 0:d6269d17c8cf 1348 set_left_motor_speed(0.85);
jah128 0:d6269d17c8cf 1349 set_right_motor_speed(-0.85);
jah128 0:d6269d17c8cf 1350 time_out = 0.4;
jah128 0:d6269d17c8cf 1351 state = 0;
jah128 0:d6269d17c8cf 1352 set_leds(0x0E,0x0E);
jah128 0:d6269d17c8cf 1353 set_center_led(3,0.5);
jah128 0:d6269d17c8cf 1354 break;
jah128 0:d6269d17c8cf 1355 case 3: //Turn left
jah128 0:d6269d17c8cf 1356 set_left_motor_speed(-0.85);
jah128 0:d6269d17c8cf 1357 set_right_motor_speed(0.85);
jah128 0:d6269d17c8cf 1358 time_out = 0.4;
jah128 0:d6269d17c8cf 1359 state = 0;
jah128 0:d6269d17c8cf 1360 set_leds(0xE0,0xE0);
jah128 0:d6269d17c8cf 1361 set_center_led(3,0.5);
jah128 0:d6269d17c8cf 1362 break;
jah128 0:d6269d17c8cf 1363 }
jah128 0:d6269d17c8cf 1364 demo_timer.reset();
jah128 0:d6269d17c8cf 1365 }
jah128 0:d6269d17c8cf 1366 if(demo_running == 1)demo_timeout.attach_us(&obstacle_demo_cycle,200);
jah128 0:d6269d17c8cf 1367 else {
jah128 0:d6269d17c8cf 1368 stop();
jah128 0:d6269d17c8cf 1369 display.set_backlight_brightness(bl_brightness * 0.01f);
jah128 0:d6269d17c8cf 1370 }
jah128 0:d6269d17c8cf 1371 }
jah128 0:d6269d17c8cf 1372
jah128 0:d6269d17c8cf 1373 void demo_update_leds()
jah128 0:d6269d17c8cf 1374 {
jah128 0:d6269d17c8cf 1375 char red = 0;
jah128 0:d6269d17c8cf 1376 char green = 0;
jah128 0:d6269d17c8cf 1377 for(int i=0; i<8; i++) {
jah128 0:d6269d17c8cf 1378 if(led_state[i]==1 || led_state[i]==3) red+=(1<<i);
jah128 0:d6269d17c8cf 1379 if(led_state[i]==2 || led_state[i]==3) green+=(1<<i);
jah128 0:d6269d17c8cf 1380 }
jah128 0:d6269d17c8cf 1381 set_leds(green,red);
jah128 0:d6269d17c8cf 1382 float brightness_f = brightness / 100.0f;
jah128 0:d6269d17c8cf 1383 set_center_led(led_state[8], brightness_f);
jah128 0:d6269d17c8cf 1384 set_base_led(base_led_state);
jah128 0:d6269d17c8cf 1385 }