James Hilder
Psi Swarm robot library version 0.9
Fork of
PsiSwarmV9
by 
Psi Swarm Robot
Diff: demo.cpp
- Revision:
- 9:dde9e21030eb
- Parent:
- 8:6c92789d5f87
- Child:
- 10:e58323951c08
--- a/demo.cpp Sun Oct 16 12:54:33 2016 +0000
+++ b/demo.cpp Sun Oct 16 14:12:49 2016 +0000
@@ -1027,10 +1027,10 @@
case 0:
if(spin_step % 2 == 0) {
motors.forward(pct);
- set_leds(0xFF,0xFF);
+ led.set_leds(0xFF,0xFF);
} else {
motors.backward(pct);
- set_leds(0,0xFF);
+ led.set_leds(0,0xFF);
}
spin_step ++;
if(spin_step > 199) {
@@ -1071,8 +1071,8 @@
if(demo_timer.read() > time_out) {
switch(state) {
case 0: //Robot is stopped
- set_leds(0,0xFF);
- set_center_led(1,1);
+ led.set_leds(0,0xFF);
+ led.set_center_led(1,1);
speed = 0.1f;
motors.brake();
time_out = 0.5;
@@ -1081,31 +1081,31 @@
break;
case 1: //Motor is turning right, accelerating
time_out = 0.1;
- set_center_led(2,1);
+ led.set_center_led(2,1);
switch(led_step) {
case 0:
- set_leds(0x01,0);
+ led.set_leds(0x01,0);
break;
case 1:
- set_leds(0x02,0);
+ led.set_leds(0x02,0);
break;
case 2:
- set_leds(0x04,0);
+ led.set_leds(0x04,0);
break;
case 3:
- set_leds(0x08,0);
+ led.set_leds(0x08,0);
break;
case 4:
- set_leds(0x10,0);
+ led.set_leds(0x10,0);
break;
case 5:
- set_leds(0x20,0);
+ led.set_leds(0x20,0);
break;
case 6:
- set_leds(0x40,0);
+ led.set_leds(0x40,0);
break;
case 7:
- set_leds(0x80,0);
+ led.set_leds(0x80,0);
break;
}
led_step ++;
@@ -1120,19 +1120,19 @@
}
break;
case 2: //Motor is turning right, full speed
- set_center_led(3,1);
+ led.set_center_led(3,1);
switch(led_step) {
case 0:
- set_leds(0x33,0x33);
+ led.set_leds(0x33,0x33);
break;
case 1:
- set_leds(0x66,0x66);
+ led.set_leds(0x66,0x66);
break;
case 2:
- set_leds(0xCC,0xCC);
+ led.set_leds(0xCC,0xCC);
break;
case 3:
- set_leds(0x99,0x99);
+ led.set_leds(0x99,0x99);
break;
}
led_step ++;
@@ -1144,31 +1144,31 @@
}
break;
case 3: //Motor is turning right, decelerating
- set_center_led(2,1);
+ led.set_center_led(2,1);
switch(led_step) {
case 0:
- set_leds(0x01,0);
+ led.set_leds(0x01,0);
break;
case 1:
- set_leds(0x02,0);
+ led.set_leds(0x02,0);
break;
case 2:
- set_leds(0x04,0);
+ led.set_leds(0x04,0);
break;
case 3:
- set_leds(0x08,0);
+ led.set_leds(0x08,0);
break;
case 4:
- set_leds(0x10,0);
+ led.set_leds(0x10,0);
break;
case 5:
- set_leds(0x20,0);
+ led.set_leds(0x20,0);
break;
case 6:
- set_leds(0x40,0);
+ led.set_leds(0x40,0);
break;
case 7:
- set_leds(0x80,0);
+ led.set_leds(0x80,0);
break;
}
if(led_step == 0) led_step =8;
@@ -1183,8 +1183,8 @@
}
break;
case 4: //Robot is stopped
- set_leds(0,0xFF);
- set_center_led(1,1);
+ led.set_leds(0,0xFF);
+ led.set_center_led(1,1);
speed = 0.1f;
motors.brake();
time_out = 0.5;
@@ -1193,31 +1193,31 @@
break;
case 5: //Motor is turning left, accelerating
time_out = 0.1;
- set_center_led(2,1);
+ led.set_center_led(2,1);
switch(led_step) {
case 0:
- set_leds(0x01,0);
+ led.set_leds(0x01,0);
break;
case 1:
- set_leds(0x02,0);
+ led.set_leds(0x02,0);
break;
case 2:
- set_leds(0x04,0);
+ led.set_leds(0x04,0);
break;
case 3:
- set_leds(0x08,0);
+ led.set_leds(0x08,0);
break;
case 4:
- set_leds(0x10,0);
+ led.set_leds(0x10,0);
break;
case 5:
- set_leds(0x20,0);
+ led.set_leds(0x20,0);
break;
case 6:
- set_leds(0x40,0);
+ led.set_leds(0x40,0);
break;
case 7:
- set_leds(0x80,0);
+ led.set_leds(0x80,0);
break;
}
if(led_step == 0) led_step =8;
@@ -1232,19 +1232,19 @@
}
break;
case 6: //Motor is turning left, full speed
- set_center_led(3,1);
+ led.set_center_led(3,1);
switch(led_step) {
case 0:
- set_leds(0x33,0x33);
+ led.set_leds(0x33,0x33);
break;
case 1:
- set_leds(0x66,0x66);
+ led.set_leds(0x66,0x66);
break;
case 2:
- set_leds(0xCC,0xCC);
+ led.set_leds(0xCC,0xCC);
break;
case 3:
- set_leds(0x99,0x99);
+ led.set_leds(0x99,0x99);
break;
}
if(led_step == 0) led_step = 4;
@@ -1256,31 +1256,31 @@
}
break;
case 7: //Motor is turning left, decelerating
- set_center_led(2,1);
+ led.set_center_led(2,1);
switch(led_step) {
case 0:
- set_leds(0x01,0);
+ led.set_leds(0x01,0);
break;
case 1:
- set_leds(0x02,0);
+ led.set_leds(0x02,0);
break;
case 2:
- set_leds(0x04,0);
+ led.set_leds(0x04,0);
break;
case 3:
- set_leds(0x08,0);
+ led.set_leds(0x08,0);
break;
case 4:
- set_leds(0x10,0);
+ led.set_leds(0x10,0);
break;
case 5:
- set_leds(0x20,0);
+ led.set_leds(0x20,0);
break;
case 6:
- set_leds(0x40,0);
+ led.set_leds(0x40,0);
break;
case 7:
- set_leds(0x80,0);
+ led.set_leds(0x80,0);
break;
}
led_step ++;
@@ -1309,8 +1309,8 @@
if(demo_timer.read() > time_out) {
switch(state) {
case 0: //Robot is stopped
- set_leds(0,0xFF);
- set_center_led(1,0.4);
+ led.set_leds(0,0xFF);
+ led.set_center_led(1,0.4);
speed = 0.3f;
motors.forward(speed);
time_out = 0.05;
@@ -1332,22 +1332,22 @@
}
switch(led_step) {
case 0:
- set_leds(0x01,0);
+ led.set_leds(0x01,0);
break;
case 1:
- set_leds(0x38,0);
+ led.set_leds(0x38,0);
break;
case 2:
- set_leds(0x6C,0);
+ led.set_leds(0x6C,0);
break;
case 3:
- set_leds(0xC6,0);
+ led.set_leds(0xC6,0);
break;
case 4:
- set_leds(0x83,0);
+ led.set_leds(0x83,0);
break;
}
- set_center_led(2, 0.6);
+ led.set_center_led(2, 0.6);
led_step ++;
if(led_step == 5) led_step = 0;
}
@@ -1358,16 +1358,16 @@
motors.set_right_motor_speed(-0.85);
time_out = 0.4;
state = 0;
- set_leds(0x0E,0x0E);
- set_center_led(3,0.5);
+ led.set_leds(0x0E,0x0E);
+ led.set_center_led(3,0.5);
break;
case 3: //Turn left
motors.set_left_motor_speed(-0.85);
motors.set_right_motor_speed(0.85);
time_out = 0.4;
state = 0;
- set_leds(0xE0,0xE0);
- set_center_led(3,0.5);
+ led.set_leds(0xE0,0xE0);
+ led.set_center_led(3,0.5);
break;
}
demo_timer.reset();
@@ -1387,8 +1387,8 @@
if(led_state[i]==1 || led_state[i]==3) red+=(1<<i);
if(led_state[i]==2 || led_state[i]==3) green+=(1<<i);
}
- set_leds(green,red);
+ led.set_leds(green,red);
float brightness_f = brightness / 100.0f;
- set_center_led(led_state[8], brightness_f);
- set_base_led(base_led_state);
+ led.set_center_led(led_state[8], brightness_f);
+ led.set_base_led(base_led_state);
}
\ No newline at end of file