Psi Swarm robot library version 0.9
Fork of PsiSwarmV8_CPP by
demo.cpp@15:66be5ec52c3b, 2017-06-01 (annotated)
- Committer:
- jah128
- Date:
- Thu Jun 01 21:58:14 2017 +0000
- Revision:
- 15:66be5ec52c3b
- Parent:
- 14:2f1ad77d281e
Added colour detection code
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 | 14:2f1ad77d281e | 18 | * Version 0.9 : TODO:Added colour sensor functions |
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 | 0:d6269d17c8cf | 85 | if(use_flash_basic == 1) top_menu = 7; |
jah128 | 0:d6269d17c8cf | 86 | demo_on = 1; |
jah128 | 0:d6269d17c8cf | 87 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:d6269d17c8cf | 88 | display.clear_display(); |
jah128 | 0:d6269d17c8cf | 89 | display.write_string("PSI SWARM SYSTEM"); |
jah128 | 0:d6269d17c8cf | 90 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 91 | display.write_string(" DEMO MODE"); |
jah128 | 0:d6269d17c8cf | 92 | wait(0.5); |
jah128 | 0:d6269d17c8cf | 93 | display.clear_display(); |
jah128 | 0:d6269d17c8cf | 94 | display.write_string("Use cursor to"); |
jah128 | 0:d6269d17c8cf | 95 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 96 | display.write_string("navigate menus"); |
jah128 | 0:d6269d17c8cf | 97 | char step = 0; |
jah128 | 0:d6269d17c8cf | 98 | while(demo_on) { |
jah128 | 0:d6269d17c8cf | 99 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 100 | switch(step) { |
jah128 | 0:d6269d17c8cf | 101 | case 0: |
jah128 | 0:d6269d17c8cf | 102 | mbed_led1 = 1; |
jah128 | 0:d6269d17c8cf | 103 | mbed_led2 = 0; |
jah128 | 0:d6269d17c8cf | 104 | break; |
jah128 | 0:d6269d17c8cf | 105 | case 1: |
jah128 | 0:d6269d17c8cf | 106 | mbed_led2 = 1; |
jah128 | 0:d6269d17c8cf | 107 | mbed_led1 = 0; |
jah128 | 0:d6269d17c8cf | 108 | break; |
jah128 | 0:d6269d17c8cf | 109 | } |
jah128 | 0:d6269d17c8cf | 110 | step++; |
jah128 | 0:d6269d17c8cf | 111 | if(step==2)step=0; |
jah128 | 0:d6269d17c8cf | 112 | } else { |
jah128 | 0:d6269d17c8cf | 113 | mbed_led1 = 0; |
jah128 | 0:d6269d17c8cf | 114 | mbed_led2 = 0; |
jah128 | 0:d6269d17c8cf | 115 | mbed_led3 = 0; |
jah128 | 0:d6269d17c8cf | 116 | mbed_led4 = 0; |
jah128 | 0:d6269d17c8cf | 117 | } |
jah128 | 0:d6269d17c8cf | 118 | wait(0.5); |
jah128 | 0:d6269d17c8cf | 119 | } |
jah128 | 12:878c6e9d9e60 | 120 | psi.debug("- Demo mode ended\n"); |
jah128 | 0:d6269d17c8cf | 121 | } |
jah128 | 0:d6269d17c8cf | 122 | |
jah128 | 11:312663037b8c | 123 | void Demo::demo_handle_switch_event(char switch_pressed) |
jah128 | 0:d6269d17c8cf | 124 | { |
jah128 | 0:d6269d17c8cf | 125 | if(!handling_event) { |
jah128 | 0:d6269d17c8cf | 126 | handling_event = 1; |
jah128 | 0:d6269d17c8cf | 127 | last_switch_pressed = switch_pressed; |
jah128 | 11:312663037b8c | 128 | demo_event.attach_us(this,&Demo::demo_event_thread, 1000); |
jah128 | 0:d6269d17c8cf | 129 | } |
jah128 | 0:d6269d17c8cf | 130 | } |
jah128 | 0:d6269d17c8cf | 131 | |
jah128 | 11:312663037b8c | 132 | void Demo::demo_event_thread() |
jah128 | 0:d6269d17c8cf | 133 | { |
jah128 | 0:d6269d17c8cf | 134 | handling_event = 0; |
jah128 | 0:d6269d17c8cf | 135 | if(started == 1) { |
jah128 | 0:d6269d17c8cf | 136 | switch(last_switch_pressed) { |
jah128 | 0:d6269d17c8cf | 137 | case 1: //Up pressed |
jah128 | 0:d6269d17c8cf | 138 | switch(level) { |
jah128 | 0:d6269d17c8cf | 139 | case 0: |
jah128 | 15:66be5ec52c3b | 140 | if(top_menu != 9 && top_menu!= 0) { |
jah128 | 0:d6269d17c8cf | 141 | level++; |
jah128 | 0:d6269d17c8cf | 142 | sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 143 | } else { |
jah128 | 15:66be5ec52c3b | 144 | if(top_menu == 0) { |
jah128 | 15:66be5ec52c3b | 145 | toggle_quick_test(); |
jah128 | 15:66be5ec52c3b | 146 | } else { |
jah128 | 15:66be5ec52c3b | 147 | demo_on = 0; |
jah128 | 15:66be5ec52c3b | 148 | user_code_running = user_code_restore_mode; |
jah128 | 15:66be5ec52c3b | 149 | } |
jah128 | 0:d6269d17c8cf | 150 | } |
jah128 | 0:d6269d17c8cf | 151 | break; |
jah128 | 0:d6269d17c8cf | 152 | case 1: |
jah128 | 0:d6269d17c8cf | 153 | switch(top_menu) { |
jah128 | 15:66be5ec52c3b | 154 | case 8: // PsiBasic Menu |
jah128 | 0:d6269d17c8cf | 155 | if(sub_menu == psi_basic_file_count) level = 0; |
jah128 | 0:d6269d17c8cf | 156 | break; |
jah128 | 15:66be5ec52c3b | 157 | case 7: //LED Menu |
jah128 | 0:d6269d17c8cf | 158 | if(sub_menu < 9) { |
jah128 | 0:d6269d17c8cf | 159 | if(led_state[sub_menu] == 0) led_state[sub_menu] = 3; |
jah128 | 0:d6269d17c8cf | 160 | else led_state[sub_menu]--; |
jah128 | 0:d6269d17c8cf | 161 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 162 | } |
jah128 | 0:d6269d17c8cf | 163 | if(sub_menu == 9) { |
jah128 | 0:d6269d17c8cf | 164 | if(all_led_state == 0) all_led_state = 3; |
jah128 | 0:d6269d17c8cf | 165 | else all_led_state--; |
jah128 | 0:d6269d17c8cf | 166 | for(int i=0; i<9; i++) { |
jah128 | 0:d6269d17c8cf | 167 | led_state[i]=all_led_state; |
jah128 | 0:d6269d17c8cf | 168 | } |
jah128 | 0:d6269d17c8cf | 169 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 170 | } |
jah128 | 0:d6269d17c8cf | 171 | if(sub_menu == 10) { |
jah128 | 0:d6269d17c8cf | 172 | base_led_state = 1 - base_led_state; |
jah128 | 0:d6269d17c8cf | 173 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 174 | } |
jah128 | 0:d6269d17c8cf | 175 | if(sub_menu == 11) { |
jah128 | 0:d6269d17c8cf | 176 | switch(brightness) { |
jah128 | 0:d6269d17c8cf | 177 | case 100: |
jah128 | 0:d6269d17c8cf | 178 | brightness = 50; |
jah128 | 0:d6269d17c8cf | 179 | break; |
jah128 | 0:d6269d17c8cf | 180 | case 2: |
jah128 | 0:d6269d17c8cf | 181 | brightness = 1; |
jah128 | 0:d6269d17c8cf | 182 | break; |
jah128 | 0:d6269d17c8cf | 183 | case 5: |
jah128 | 0:d6269d17c8cf | 184 | brightness = 2; |
jah128 | 0:d6269d17c8cf | 185 | break; |
jah128 | 0:d6269d17c8cf | 186 | case 10: |
jah128 | 0:d6269d17c8cf | 187 | brightness = 5; |
jah128 | 0:d6269d17c8cf | 188 | break; |
jah128 | 0:d6269d17c8cf | 189 | case 20: |
jah128 | 0:d6269d17c8cf | 190 | brightness = 10; |
jah128 | 0:d6269d17c8cf | 191 | break; |
jah128 | 0:d6269d17c8cf | 192 | case 50: |
jah128 | 0:d6269d17c8cf | 193 | brightness = 20; |
jah128 | 0:d6269d17c8cf | 194 | break; |
jah128 | 0:d6269d17c8cf | 195 | } |
jah128 | 0:d6269d17c8cf | 196 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 197 | } |
jah128 | 0:d6269d17c8cf | 198 | if(sub_menu == 12) { |
jah128 | 0:d6269d17c8cf | 199 | if(bl_brightness > 0) bl_brightness-=10; |
jah128 | 0:d6269d17c8cf | 200 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:d6269d17c8cf | 201 | } |
jah128 | 0:d6269d17c8cf | 202 | if(sub_menu == 13) level = 0; |
jah128 | 0:d6269d17c8cf | 203 | break; |
jah128 | 15:66be5ec52c3b | 204 | case 2: // Sensors Menu |
jah128 | 0:d6269d17c8cf | 205 | if(sub_menu == 4 || sub_menu == 5) { |
jah128 | 0:d6269d17c8cf | 206 | if(base_ir_index == 0) base_ir_index = 4; |
jah128 | 0:d6269d17c8cf | 207 | else base_ir_index --; |
jah128 | 0:d6269d17c8cf | 208 | } |
jah128 | 0:d6269d17c8cf | 209 | if(sub_menu > 5 && sub_menu < 9) { |
jah128 | 0:d6269d17c8cf | 210 | if(side_ir_index == 0) side_ir_index = 7; |
jah128 | 0:d6269d17c8cf | 211 | else side_ir_index --; |
jah128 | 0:d6269d17c8cf | 212 | } |
jah128 | 0:d6269d17c8cf | 213 | if(sub_menu == 11) level = 0; |
jah128 | 0:d6269d17c8cf | 214 | break; |
jah128 | 15:66be5ec52c3b | 215 | case 3: // Motor Menu |
jah128 | 0:d6269d17c8cf | 216 | if(sub_menu == 0) { |
jah128 | 0:d6269d17c8cf | 217 | left_speed += 5; |
jah128 | 0:d6269d17c8cf | 218 | if(left_speed > 100) left_speed = 100; |
jah128 | 8:6c92789d5f87 | 219 | motors.set_left_motor_speed(left_speed / 100.0f); |
jah128 | 0:d6269d17c8cf | 220 | } |
jah128 | 0:d6269d17c8cf | 221 | if(sub_menu == 1) { |
jah128 | 0:d6269d17c8cf | 222 | right_speed += 5; |
jah128 | 0:d6269d17c8cf | 223 | if(right_speed > 100) right_speed = 100; |
jah128 | 8:6c92789d5f87 | 224 | motors.set_right_motor_speed(right_speed / 100.0f); |
jah128 | 0:d6269d17c8cf | 225 | } |
jah128 | 0:d6269d17c8cf | 226 | if(sub_menu == 2) { |
jah128 | 0:d6269d17c8cf | 227 | if(both_motor_mode == 0) both_motor_mode=5; |
jah128 | 0:d6269d17c8cf | 228 | else both_motor_mode--; |
jah128 | 0:d6269d17c8cf | 229 | switch(both_motor_mode) { |
jah128 | 0:d6269d17c8cf | 230 | case 0: |
jah128 | 8:6c92789d5f87 | 231 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 232 | break; |
jah128 | 0:d6269d17c8cf | 233 | case 1: |
jah128 | 8:6c92789d5f87 | 234 | motors.brake(); |
jah128 | 0:d6269d17c8cf | 235 | break; |
jah128 | 0:d6269d17c8cf | 236 | case 2: |
jah128 | 8:6c92789d5f87 | 237 | motors.forward(0.5); |
jah128 | 0:d6269d17c8cf | 238 | break; |
jah128 | 0:d6269d17c8cf | 239 | case 3: |
jah128 | 8:6c92789d5f87 | 240 | motors.forward(1); |
jah128 | 0:d6269d17c8cf | 241 | break; |
jah128 | 0:d6269d17c8cf | 242 | case 4: |
jah128 | 8:6c92789d5f87 | 243 | motors.backward(0.5); |
jah128 | 0:d6269d17c8cf | 244 | break; |
jah128 | 0:d6269d17c8cf | 245 | case 5: |
jah128 | 8:6c92789d5f87 | 246 | motors.backward(1.0); |
jah128 | 0:d6269d17c8cf | 247 | break; |
jah128 | 0:d6269d17c8cf | 248 | } |
jah128 | 0:d6269d17c8cf | 249 | } |
jah128 | 0:d6269d17c8cf | 250 | if(sub_menu == 3) { |
jah128 | 0:d6269d17c8cf | 251 | level = 0; |
jah128 | 0:d6269d17c8cf | 252 | } |
jah128 | 0:d6269d17c8cf | 253 | break; |
jah128 | 15:66be5ec52c3b | 254 | case 4: // Radio Menu |
jah128 | 0:d6269d17c8cf | 255 | if(sub_menu == 0) level = 0; |
jah128 | 0:d6269d17c8cf | 256 | break; |
jah128 | 15:66be5ec52c3b | 257 | case 5: // Info Menu |
jah128 | 0:d6269d17c8cf | 258 | if(sub_menu == 6) level = 0; |
jah128 | 0:d6269d17c8cf | 259 | break; |
jah128 | 15:66be5ec52c3b | 260 | case 6: // Demo Menu |
jah128 | 0:d6269d17c8cf | 261 | if(sub_menu == 0) { |
jah128 | 0:d6269d17c8cf | 262 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 263 | start_line_demo(); |
jah128 | 0:d6269d17c8cf | 264 | } else { |
jah128 | 0:d6269d17c8cf | 265 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 266 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 267 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 268 | } |
jah128 | 0:d6269d17c8cf | 269 | } |
jah128 | 0:d6269d17c8cf | 270 | if(sub_menu == 1) { |
jah128 | 0:d6269d17c8cf | 271 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 272 | start_obstacle_demo(); |
jah128 | 0:d6269d17c8cf | 273 | } else { |
jah128 | 0:d6269d17c8cf | 274 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 275 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 276 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 277 | } |
jah128 | 0:d6269d17c8cf | 278 | } |
jah128 | 0:d6269d17c8cf | 279 | if(sub_menu == 2) { |
jah128 | 0:d6269d17c8cf | 280 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 281 | start_spinning_demo(); |
jah128 | 0:d6269d17c8cf | 282 | } else { |
jah128 | 0:d6269d17c8cf | 283 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 284 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 285 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 286 | } |
jah128 | 0:d6269d17c8cf | 287 | } |
jah128 | 0:d6269d17c8cf | 288 | if(sub_menu == 3) { |
jah128 | 0:d6269d17c8cf | 289 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 290 | start_stress_demo(); |
jah128 | 0:d6269d17c8cf | 291 | } else { |
jah128 | 0:d6269d17c8cf | 292 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 293 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 294 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 295 | } |
jah128 | 0:d6269d17c8cf | 296 | } |
jah128 | 0:d6269d17c8cf | 297 | if(sub_menu == 4) level = 0; |
jah128 | 0:d6269d17c8cf | 298 | break; |
jah128 | 0:d6269d17c8cf | 299 | } |
jah128 | 0:d6269d17c8cf | 300 | break; |
jah128 | 0:d6269d17c8cf | 301 | } |
jah128 | 0:d6269d17c8cf | 302 | break; |
jah128 | 0:d6269d17c8cf | 303 | case 2: //Down pressed |
jah128 | 0:d6269d17c8cf | 304 | switch(level) { |
jah128 | 0:d6269d17c8cf | 305 | case 0: |
jah128 | 15:66be5ec52c3b | 306 | if(top_menu != 9 && top_menu != 0) { |
jah128 | 0:d6269d17c8cf | 307 | level++; |
jah128 | 0:d6269d17c8cf | 308 | sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 309 | } else { |
jah128 | 15:66be5ec52c3b | 310 | if(top_menu == 0) { |
jah128 | 15:66be5ec52c3b | 311 | toggle_quick_test(); |
jah128 | 15:66be5ec52c3b | 312 | } else { |
jah128 | 15:66be5ec52c3b | 313 | demo_on = 0; |
jah128 | 15:66be5ec52c3b | 314 | user_code_running = user_code_restore_mode; |
jah128 | 15:66be5ec52c3b | 315 | } |
jah128 | 0:d6269d17c8cf | 316 | } |
jah128 | 0:d6269d17c8cf | 317 | break; |
jah128 | 0:d6269d17c8cf | 318 | case 1: |
jah128 | 0:d6269d17c8cf | 319 | switch(top_menu) { |
jah128 | 15:66be5ec52c3b | 320 | case 8: // PsiBasic Menu |
jah128 | 0:d6269d17c8cf | 321 | if(sub_menu == psi_basic_file_count) level = 0; |
jah128 | 0:d6269d17c8cf | 322 | break; |
jah128 | 15:66be5ec52c3b | 323 | case 1: //LED Menu |
jah128 | 0:d6269d17c8cf | 324 | if(sub_menu < 9) { |
jah128 | 0:d6269d17c8cf | 325 | led_state[sub_menu]++; |
jah128 | 0:d6269d17c8cf | 326 | if(led_state[sub_menu] == 4) led_state[sub_menu] = 0; |
jah128 | 0:d6269d17c8cf | 327 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 328 | } |
jah128 | 0:d6269d17c8cf | 329 | if(sub_menu == 9) { |
jah128 | 0:d6269d17c8cf | 330 | all_led_state++; |
jah128 | 0:d6269d17c8cf | 331 | if(all_led_state == 4) all_led_state = 0; |
jah128 | 0:d6269d17c8cf | 332 | for(int i=0; i<9; i++) { |
jah128 | 0:d6269d17c8cf | 333 | led_state[i]=all_led_state; |
jah128 | 0:d6269d17c8cf | 334 | } |
jah128 | 0:d6269d17c8cf | 335 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 336 | } |
jah128 | 0:d6269d17c8cf | 337 | if(sub_menu == 10) { |
jah128 | 0:d6269d17c8cf | 338 | base_led_state = 1 - base_led_state; |
jah128 | 0:d6269d17c8cf | 339 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 340 | } |
jah128 | 0:d6269d17c8cf | 341 | if(sub_menu == 11) { |
jah128 | 0:d6269d17c8cf | 342 | switch(brightness) { |
jah128 | 0:d6269d17c8cf | 343 | case 1: |
jah128 | 0:d6269d17c8cf | 344 | brightness = 2; |
jah128 | 0:d6269d17c8cf | 345 | break; |
jah128 | 0:d6269d17c8cf | 346 | case 2: |
jah128 | 0:d6269d17c8cf | 347 | brightness = 5; |
jah128 | 0:d6269d17c8cf | 348 | break; |
jah128 | 0:d6269d17c8cf | 349 | case 5: |
jah128 | 0:d6269d17c8cf | 350 | brightness = 10; |
jah128 | 0:d6269d17c8cf | 351 | break; |
jah128 | 0:d6269d17c8cf | 352 | case 10: |
jah128 | 0:d6269d17c8cf | 353 | brightness = 20; |
jah128 | 0:d6269d17c8cf | 354 | break; |
jah128 | 0:d6269d17c8cf | 355 | case 20: |
jah128 | 0:d6269d17c8cf | 356 | brightness = 50; |
jah128 | 0:d6269d17c8cf | 357 | break; |
jah128 | 0:d6269d17c8cf | 358 | case 50: |
jah128 | 0:d6269d17c8cf | 359 | brightness = 100; |
jah128 | 0:d6269d17c8cf | 360 | break; |
jah128 | 0:d6269d17c8cf | 361 | } |
jah128 | 0:d6269d17c8cf | 362 | demo_update_leds(); |
jah128 | 0:d6269d17c8cf | 363 | } |
jah128 | 0:d6269d17c8cf | 364 | |
jah128 | 0:d6269d17c8cf | 365 | if(sub_menu == 12) { |
jah128 | 0:d6269d17c8cf | 366 | if(bl_brightness < 100) bl_brightness+=10; |
jah128 | 0:d6269d17c8cf | 367 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:d6269d17c8cf | 368 | } |
jah128 | 0:d6269d17c8cf | 369 | if(sub_menu == 13) level = 0; |
jah128 | 0:d6269d17c8cf | 370 | |
jah128 | 0:d6269d17c8cf | 371 | break; |
jah128 | 15:66be5ec52c3b | 372 | case 2: // Sensors Menu |
jah128 | 0:d6269d17c8cf | 373 | if(sub_menu == 4 || sub_menu == 5) { |
jah128 | 0:d6269d17c8cf | 374 | if(base_ir_index == 4) base_ir_index = 0; |
jah128 | 0:d6269d17c8cf | 375 | else base_ir_index ++; |
jah128 | 0:d6269d17c8cf | 376 | } |
jah128 | 0:d6269d17c8cf | 377 | if(sub_menu > 5 && sub_menu < 9) { |
jah128 | 0:d6269d17c8cf | 378 | if(side_ir_index == 7) side_ir_index = 0; |
jah128 | 0:d6269d17c8cf | 379 | else side_ir_index ++; |
jah128 | 0:d6269d17c8cf | 380 | } |
jah128 | 0:d6269d17c8cf | 381 | if(sub_menu == 11) level = 0; |
jah128 | 0:d6269d17c8cf | 382 | break; |
jah128 | 15:66be5ec52c3b | 383 | case 3: // Motor Menu |
jah128 | 0:d6269d17c8cf | 384 | if(sub_menu == 0) { |
jah128 | 0:d6269d17c8cf | 385 | left_speed -= 5; |
jah128 | 0:d6269d17c8cf | 386 | if(left_speed < -100) left_speed = -100; |
jah128 | 8:6c92789d5f87 | 387 | motors.set_left_motor_speed(left_speed / 100.0f); |
jah128 | 0:d6269d17c8cf | 388 | } |
jah128 | 0:d6269d17c8cf | 389 | if(sub_menu == 1) { |
jah128 | 0:d6269d17c8cf | 390 | right_speed -= 5; |
jah128 | 0:d6269d17c8cf | 391 | if(right_speed < -100) right_speed = -100; |
jah128 | 8:6c92789d5f87 | 392 | motors.set_right_motor_speed(right_speed / 100.0f); |
jah128 | 0:d6269d17c8cf | 393 | } |
jah128 | 0:d6269d17c8cf | 394 | if(sub_menu == 2) { |
jah128 | 0:d6269d17c8cf | 395 | both_motor_mode++; |
jah128 | 0:d6269d17c8cf | 396 | if(both_motor_mode == 6) both_motor_mode=0; |
jah128 | 0:d6269d17c8cf | 397 | switch(both_motor_mode) { |
jah128 | 0:d6269d17c8cf | 398 | case 0: |
jah128 | 8:6c92789d5f87 | 399 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 400 | break; |
jah128 | 0:d6269d17c8cf | 401 | case 1: |
jah128 | 8:6c92789d5f87 | 402 | motors.brake(); |
jah128 | 0:d6269d17c8cf | 403 | break; |
jah128 | 0:d6269d17c8cf | 404 | case 2: |
jah128 | 8:6c92789d5f87 | 405 | motors.forward(0.5); |
jah128 | 0:d6269d17c8cf | 406 | break; |
jah128 | 0:d6269d17c8cf | 407 | case 3: |
jah128 | 8:6c92789d5f87 | 408 | motors.forward(1); |
jah128 | 0:d6269d17c8cf | 409 | break; |
jah128 | 0:d6269d17c8cf | 410 | case 4: |
jah128 | 8:6c92789d5f87 | 411 | motors.backward(0.5); |
jah128 | 0:d6269d17c8cf | 412 | break; |
jah128 | 0:d6269d17c8cf | 413 | case 5: |
jah128 | 8:6c92789d5f87 | 414 | motors.backward(1.0); |
jah128 | 0:d6269d17c8cf | 415 | break; |
jah128 | 0:d6269d17c8cf | 416 | } |
jah128 | 0:d6269d17c8cf | 417 | } |
jah128 | 0:d6269d17c8cf | 418 | if(sub_menu == 3) { |
jah128 | 0:d6269d17c8cf | 419 | level = 0; |
jah128 | 0:d6269d17c8cf | 420 | } |
jah128 | 0:d6269d17c8cf | 421 | break; |
jah128 | 15:66be5ec52c3b | 422 | case 4: // Radio Menu |
jah128 | 0:d6269d17c8cf | 423 | if(sub_menu == 0) level = 0; |
jah128 | 0:d6269d17c8cf | 424 | break; |
jah128 | 15:66be5ec52c3b | 425 | case 5: // Info Menu |
jah128 | 0:d6269d17c8cf | 426 | if(sub_menu == 6) level = 0; |
jah128 | 0:d6269d17c8cf | 427 | break; |
jah128 | 15:66be5ec52c3b | 428 | case 6: // Demo Menu |
jah128 | 0:d6269d17c8cf | 429 | if(sub_menu == 0) { |
jah128 | 0:d6269d17c8cf | 430 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 431 | start_line_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 | 8:6c92789d5f87 | 435 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 436 | } |
jah128 | 0:d6269d17c8cf | 437 | } |
jah128 | 0:d6269d17c8cf | 438 | if(sub_menu == 1) { |
jah128 | 0:d6269d17c8cf | 439 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 440 | start_obstacle_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 | 8:6c92789d5f87 | 444 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 445 | |
jah128 | 0:d6269d17c8cf | 446 | } |
jah128 | 0:d6269d17c8cf | 447 | } |
jah128 | 0:d6269d17c8cf | 448 | if(sub_menu == 2) { |
jah128 | 0:d6269d17c8cf | 449 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 450 | start_spinning_demo(); |
jah128 | 0:d6269d17c8cf | 451 | } else { |
jah128 | 0:d6269d17c8cf | 452 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 453 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 454 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 455 | } |
jah128 | 0:d6269d17c8cf | 456 | } |
jah128 | 0:d6269d17c8cf | 457 | if(sub_menu == 3) { |
jah128 | 0:d6269d17c8cf | 458 | if(demo_running == 0) { |
jah128 | 0:d6269d17c8cf | 459 | start_stress_demo(); |
jah128 | 0:d6269d17c8cf | 460 | } else { |
jah128 | 0:d6269d17c8cf | 461 | demo_running = 0; |
jah128 | 0:d6269d17c8cf | 462 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 8:6c92789d5f87 | 463 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 464 | } |
jah128 | 0:d6269d17c8cf | 465 | } |
jah128 | 0:d6269d17c8cf | 466 | if(sub_menu == 4) level = 0; |
jah128 | 0:d6269d17c8cf | 467 | break; |
jah128 | 0:d6269d17c8cf | 468 | } |
jah128 | 0:d6269d17c8cf | 469 | break; |
jah128 | 0:d6269d17c8cf | 470 | } |
jah128 | 0:d6269d17c8cf | 471 | break; |
jah128 | 0:d6269d17c8cf | 472 | case 4: //Left pressed |
jah128 | 0:d6269d17c8cf | 473 | switch(level) { |
jah128 | 0:d6269d17c8cf | 474 | case 0: |
jah128 | 0:d6269d17c8cf | 475 | if(top_menu == 0) { |
jah128 | 15:66be5ec52c3b | 476 | top_menu = 9; |
jah128 | 15:66be5ec52c3b | 477 | } else { |
jah128 | 15:66be5ec52c3b | 478 | if(use_flash_basic == 0 && top_menu == 8) top_menu = 7; |
jah128 | 4:1c621cb8cf0d | 479 | top_menu --; |
jah128 | 4:1c621cb8cf0d | 480 | } |
jah128 | 0:d6269d17c8cf | 481 | break; |
jah128 | 0:d6269d17c8cf | 482 | case 1: |
jah128 | 0:d6269d17c8cf | 483 | switch(top_menu) { |
jah128 | 15:66be5ec52c3b | 484 | case 1: //LED Menu |
jah128 | 0:d6269d17c8cf | 485 | if(sub_menu == 0) sub_menu = 13; |
jah128 | 0:d6269d17c8cf | 486 | else sub_menu --; |
jah128 | 0:d6269d17c8cf | 487 | break; |
jah128 | 15:66be5ec52c3b | 488 | case 2: //Sensors Menu |
jah128 | 0:d6269d17c8cf | 489 | if(sub_menu == 0) sub_menu = 11; |
jah128 | 0:d6269d17c8cf | 490 | else sub_menu --; |
jah128 | 0:d6269d17c8cf | 491 | break; |
jah128 | 0:d6269d17c8cf | 492 | |
jah128 | 15:66be5ec52c3b | 493 | case 3: //Motor Menu |
jah128 | 0:d6269d17c8cf | 494 | if(sub_menu == 0) sub_menu = 3; |
jah128 | 0:d6269d17c8cf | 495 | else sub_menu --; |
jah128 | 0:d6269d17c8cf | 496 | break; |
jah128 | 15:66be5ec52c3b | 497 | case 5: //Info Menu |
jah128 | 0:d6269d17c8cf | 498 | if(sub_menu == 0) sub_menu = 6; |
jah128 | 0:d6269d17c8cf | 499 | else sub_menu --; |
jah128 | 0:d6269d17c8cf | 500 | break; |
jah128 | 15:66be5ec52c3b | 501 | case 6: //Demo Menu |
jah128 | 0:d6269d17c8cf | 502 | if(sub_menu == 0) sub_menu = 4; |
jah128 | 0:d6269d17c8cf | 503 | else sub_menu --; |
jah128 | 0:d6269d17c8cf | 504 | break; |
jah128 | 15:66be5ec52c3b | 505 | case 7: //Calibrate Menu |
jah128 | 4:1c621cb8cf0d | 506 | if(sub_menu == 0) sub_menu = 2; |
jah128 | 4:1c621cb8cf0d | 507 | else sub_menu --; |
jah128 | 4:1c621cb8cf0d | 508 | break; |
jah128 | 15:66be5ec52c3b | 509 | case 8: //PsiBasic Menu |
jah128 | 0:d6269d17c8cf | 510 | if(sub_menu == 0) sub_menu = psi_basic_file_count; |
jah128 | 0:d6269d17c8cf | 511 | else sub_menu --; |
jah128 | 0:d6269d17c8cf | 512 | } |
jah128 | 0:d6269d17c8cf | 513 | break; |
jah128 | 0:d6269d17c8cf | 514 | |
jah128 | 0:d6269d17c8cf | 515 | } |
jah128 | 0:d6269d17c8cf | 516 | break; |
jah128 | 0:d6269d17c8cf | 517 | case 8: //Right pressed |
jah128 | 0:d6269d17c8cf | 518 | switch(level) { |
jah128 | 0:d6269d17c8cf | 519 | case 0: |
jah128 | 0:d6269d17c8cf | 520 | top_menu ++; |
jah128 | 4:1c621cb8cf0d | 521 | if((top_menu - use_flash_basic) > 7) top_menu = 0; |
jah128 | 0:d6269d17c8cf | 522 | break; |
jah128 | 0:d6269d17c8cf | 523 | case 1: |
jah128 | 0:d6269d17c8cf | 524 | switch(top_menu) { |
jah128 | 15:66be5ec52c3b | 525 | case 1: //LED Menu |
jah128 | 0:d6269d17c8cf | 526 | if(sub_menu == 13) sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 527 | else sub_menu ++; |
jah128 | 0:d6269d17c8cf | 528 | break; |
jah128 | 15:66be5ec52c3b | 529 | case 2: //Sensors Menu |
jah128 | 0:d6269d17c8cf | 530 | if(sub_menu == 11) sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 531 | else sub_menu ++; |
jah128 | 0:d6269d17c8cf | 532 | break; |
jah128 | 15:66be5ec52c3b | 533 | case 3: //Motor Menu |
jah128 | 0:d6269d17c8cf | 534 | if(sub_menu == 3) sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 535 | else sub_menu ++; |
jah128 | 0:d6269d17c8cf | 536 | break; |
jah128 | 15:66be5ec52c3b | 537 | case 5: //Info Menu |
jah128 | 0:d6269d17c8cf | 538 | if(sub_menu == 6) sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 539 | else sub_menu ++; |
jah128 | 0:d6269d17c8cf | 540 | break; |
jah128 | 15:66be5ec52c3b | 541 | case 6: //Demo Menu |
jah128 | 0:d6269d17c8cf | 542 | if(sub_menu == 4) sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 543 | else sub_menu ++; |
jah128 | 0:d6269d17c8cf | 544 | break; |
jah128 | 15:66be5ec52c3b | 545 | case 7: //Calibrate Menu |
jah128 | 4:1c621cb8cf0d | 546 | if(sub_menu == 2) sub_menu = 0; |
jah128 | 4:1c621cb8cf0d | 547 | else sub_menu ++; |
jah128 | 4:1c621cb8cf0d | 548 | break; |
jah128 | 15:66be5ec52c3b | 549 | case 8: //PsiBasic Menu |
jah128 | 0:d6269d17c8cf | 550 | if(sub_menu == psi_basic_file_count) sub_menu = 0; |
jah128 | 0:d6269d17c8cf | 551 | else sub_menu ++; |
jah128 | 0:d6269d17c8cf | 552 | } |
jah128 | 0:d6269d17c8cf | 553 | break; |
jah128 | 0:d6269d17c8cf | 554 | } |
jah128 | 0:d6269d17c8cf | 555 | break; |
jah128 | 0:d6269d17c8cf | 556 | } |
jah128 | 0:d6269d17c8cf | 557 | } else started = 1; |
jah128 | 0:d6269d17c8cf | 558 | display.clear_display(); |
jah128 | 0:d6269d17c8cf | 559 | switch(level) { |
jah128 | 0:d6269d17c8cf | 560 | case 0: |
jah128 | 0:d6269d17c8cf | 561 | //Top level menu |
jah128 | 0:d6269d17c8cf | 562 | switch(top_menu) { |
jah128 | 0:d6269d17c8cf | 563 | case 0: |
jah128 | 15:66be5ec52c3b | 564 | strcpy(topline,"---QUICK TEST---"); |
jah128 | 15:66be5ec52c3b | 565 | break; |
jah128 | 15:66be5ec52c3b | 566 | case 1: |
jah128 | 0:d6269d17c8cf | 567 | strcpy(topline,"---TEST LEDS----"); |
jah128 | 0:d6269d17c8cf | 568 | break; |
jah128 | 15:66be5ec52c3b | 569 | case 2: |
jah128 | 0:d6269d17c8cf | 570 | strcpy(topline,"--TEST SENSORS--"); |
jah128 | 0:d6269d17c8cf | 571 | break; |
jah128 | 15:66be5ec52c3b | 572 | case 3: |
jah128 | 0:d6269d17c8cf | 573 | strcpy(topline,"--TEST MOTORS---"); |
jah128 | 0:d6269d17c8cf | 574 | break; |
jah128 | 0:d6269d17c8cf | 575 | case 4: |
jah128 | 15:66be5ec52c3b | 576 | strcpy(topline,"---TEST RADIO---"); |
jah128 | 0:d6269d17c8cf | 577 | break; |
jah128 | 0:d6269d17c8cf | 578 | case 5: |
jah128 | 15:66be5ec52c3b | 579 | strcpy(topline,"------INFO------"); |
jah128 | 0:d6269d17c8cf | 580 | break; |
jah128 | 0:d6269d17c8cf | 581 | case 6: |
jah128 | 15:66be5ec52c3b | 582 | strcpy(topline,"---CODE DEMOS---"); |
jah128 | 0:d6269d17c8cf | 583 | break; |
jah128 | 0:d6269d17c8cf | 584 | case 7: |
jah128 | 15:66be5ec52c3b | 585 | strcpy(topline,"-MOTOR CALIBRATE"); |
jah128 | 15:66be5ec52c3b | 586 | break; |
jah128 | 15:66be5ec52c3b | 587 | case 8: |
jah128 | 0:d6269d17c8cf | 588 | strcpy(topline,"---PSI BASIC----"); |
jah128 | 0:d6269d17c8cf | 589 | break; |
jah128 | 15:66be5ec52c3b | 590 | case 9: |
jah128 | 4:1c621cb8cf0d | 591 | strcpy(topline,"------EXIT------"); |
jah128 | 4:1c621cb8cf0d | 592 | break; |
jah128 | 0:d6269d17c8cf | 593 | } |
jah128 | 0:d6269d17c8cf | 594 | strcpy(bottomline,""); |
jah128 | 0:d6269d17c8cf | 595 | break; |
jah128 | 0:d6269d17c8cf | 596 | case 1: |
jah128 | 0:d6269d17c8cf | 597 | //Sub level menu |
jah128 | 0:d6269d17c8cf | 598 | switch(top_menu) { |
jah128 | 15:66be5ec52c3b | 599 | case 8: |
jah128 | 0:d6269d17c8cf | 600 | strcpy(topline,"-PSI BASIC MENU-"); |
jah128 | 0:d6269d17c8cf | 601 | if(sub_menu == psi_basic_file_count) strcpy(bottomline,"EXIT"); |
jah128 | 0:d6269d17c8cf | 602 | else strcpy(bottomline,basic_filenames.at(sub_menu).c_str()); |
jah128 | 0:d6269d17c8cf | 603 | break; |
jah128 | 15:66be5ec52c3b | 604 | case 1: |
jah128 | 0:d6269d17c8cf | 605 | strcpy(topline,"----LED MENU----"); |
jah128 | 0:d6269d17c8cf | 606 | char led_status[7]; |
jah128 | 0:d6269d17c8cf | 607 | if(sub_menu<9) { |
jah128 | 0:d6269d17c8cf | 608 | switch(led_state[sub_menu]) { |
jah128 | 0:d6269d17c8cf | 609 | case 0: |
jah128 | 0:d6269d17c8cf | 610 | strcpy(led_status,"OFF"); |
jah128 | 0:d6269d17c8cf | 611 | break; |
jah128 | 0:d6269d17c8cf | 612 | case 1: |
jah128 | 0:d6269d17c8cf | 613 | strcpy(led_status,"RED"); |
jah128 | 0:d6269d17c8cf | 614 | break; |
jah128 | 0:d6269d17c8cf | 615 | case 2: |
jah128 | 0:d6269d17c8cf | 616 | strcpy(led_status,"GREEN"); |
jah128 | 0:d6269d17c8cf | 617 | break; |
jah128 | 0:d6269d17c8cf | 618 | case 3: |
jah128 | 0:d6269d17c8cf | 619 | strcpy(led_status,"YELLOW"); |
jah128 | 0:d6269d17c8cf | 620 | break; |
jah128 | 0:d6269d17c8cf | 621 | } |
jah128 | 0:d6269d17c8cf | 622 | } |
jah128 | 0:d6269d17c8cf | 623 | if(sub_menu < 8) sprintf(bottomline,"OUTER %d: %s",(sub_menu + 1),led_status); |
jah128 | 0:d6269d17c8cf | 624 | if(sub_menu == 8) sprintf(bottomline,"CENTER: %s",led_status); |
jah128 | 0:d6269d17c8cf | 625 | if(sub_menu == 9) { |
jah128 | 0:d6269d17c8cf | 626 | switch(all_led_state) { |
jah128 | 0:d6269d17c8cf | 627 | case 0: |
jah128 | 0:d6269d17c8cf | 628 | strcpy(led_status,"OFF"); |
jah128 | 0:d6269d17c8cf | 629 | break; |
jah128 | 0:d6269d17c8cf | 630 | case 1: |
jah128 | 0:d6269d17c8cf | 631 | strcpy(led_status,"RED"); |
jah128 | 0:d6269d17c8cf | 632 | break; |
jah128 | 0:d6269d17c8cf | 633 | case 2: |
jah128 | 0:d6269d17c8cf | 634 | strcpy(led_status,"GREEN"); |
jah128 | 0:d6269d17c8cf | 635 | break; |
jah128 | 0:d6269d17c8cf | 636 | case 3: |
jah128 | 0:d6269d17c8cf | 637 | strcpy(led_status,"YELLOW"); |
jah128 | 0:d6269d17c8cf | 638 | break; |
jah128 | 0:d6269d17c8cf | 639 | } |
jah128 | 0:d6269d17c8cf | 640 | sprintf(bottomline,"SET ALL %s", led_status); |
jah128 | 0:d6269d17c8cf | 641 | } |
jah128 | 0:d6269d17c8cf | 642 | if(sub_menu == 10) { |
jah128 | 0:d6269d17c8cf | 643 | if(base_led_state == 0) strcpy(led_status,"OFF"); |
jah128 | 0:d6269d17c8cf | 644 | else strcpy(led_status,"ON"); |
jah128 | 0:d6269d17c8cf | 645 | sprintf(bottomline,"BASE: %s",led_status); |
jah128 | 0:d6269d17c8cf | 646 | } |
jah128 | 0:d6269d17c8cf | 647 | if(sub_menu == 11) sprintf(bottomline,"CLED BNESS %d%%", brightness); |
jah128 | 0:d6269d17c8cf | 648 | if(sub_menu == 12) sprintf(bottomline,"DISP BNESS %d%%", bl_brightness); |
jah128 | 0:d6269d17c8cf | 649 | if(sub_menu == 13) strcpy(bottomline,"EXIT"); |
jah128 | 0:d6269d17c8cf | 650 | break; |
jah128 | 0:d6269d17c8cf | 651 | |
jah128 | 15:66be5ec52c3b | 652 | case 2: |
jah128 | 0:d6269d17c8cf | 653 | strcpy(topline,"--SENSORS MENU--"); |
jah128 | 0:d6269d17c8cf | 654 | switch(sub_menu) { |
jah128 | 0:d6269d17c8cf | 655 | case 0: { |
jah128 | 10:e58323951c08 | 656 | float battery = sensors.get_battery_voltage (); |
jah128 | 0:d6269d17c8cf | 657 | sprintf(bottomline,"BATTERY: %1.3fV",battery); |
jah128 | 0:d6269d17c8cf | 658 | break; |
jah128 | 0:d6269d17c8cf | 659 | } |
jah128 | 0:d6269d17c8cf | 660 | case 1: { |
jah128 | 10:e58323951c08 | 661 | float dc = sensors.get_dc_voltage (); |
jah128 | 0:d6269d17c8cf | 662 | sprintf(bottomline,"DC: %1.3fV",dc); |
jah128 | 0:d6269d17c8cf | 663 | break; |
jah128 | 0:d6269d17c8cf | 664 | } |
jah128 | 0:d6269d17c8cf | 665 | case 2: { |
jah128 | 10:e58323951c08 | 666 | float current = sensors.get_current (); |
jah128 | 0:d6269d17c8cf | 667 | sprintf(bottomline,"CURRENT: %1.3fA",current); |
jah128 | 0:d6269d17c8cf | 668 | break; |
jah128 | 0:d6269d17c8cf | 669 | } |
jah128 | 0:d6269d17c8cf | 670 | case 3: { |
jah128 | 10:e58323951c08 | 671 | float temperature = sensors.get_temperature(); |
jah128 | 0:d6269d17c8cf | 672 | sprintf(bottomline,"TEMP: %3.2fC", temperature); |
jah128 | 0:d6269d17c8cf | 673 | break; |
jah128 | 0:d6269d17c8cf | 674 | } |
jah128 | 0:d6269d17c8cf | 675 | case 4: |
jah128 | 10:e58323951c08 | 676 | sensors.store_background_base_ir_values(); |
jah128 | 10:e58323951c08 | 677 | sprintf(bottomline,"BIR%dB:%d",base_ir_index+1,sensors.get_background_base_ir_value(base_ir_index)); |
jah128 | 0:d6269d17c8cf | 678 | break; |
jah128 | 0:d6269d17c8cf | 679 | case 5: |
jah128 | 10:e58323951c08 | 680 | sensors.store_illuminated_base_ir_values(); |
jah128 | 10:e58323951c08 | 681 | sprintf(bottomline,"BIR%dR:%d",base_ir_index+1,sensors.get_illuminated_base_ir_value(base_ir_index)); |
jah128 | 0:d6269d17c8cf | 682 | break; |
jah128 | 0:d6269d17c8cf | 683 | case 6: |
jah128 | 10:e58323951c08 | 684 | sensors.store_background_raw_ir_values(); |
jah128 | 10:e58323951c08 | 685 | sprintf(bottomline,"SIR%dB:%d",side_ir_index+1,sensors.get_background_raw_ir_value(side_ir_index)); |
jah128 | 0:d6269d17c8cf | 686 | break; |
jah128 | 0:d6269d17c8cf | 687 | case 7: |
jah128 | 10:e58323951c08 | 688 | sensors.store_illuminated_raw_ir_values(); |
jah128 | 10:e58323951c08 | 689 | sprintf(bottomline,"SIR%dR:%d",side_ir_index+1,sensors.get_illuminated_raw_ir_value(side_ir_index)); |
jah128 | 0:d6269d17c8cf | 690 | break; |
jah128 | 0:d6269d17c8cf | 691 | case 8: |
jah128 | 0:d6269d17c8cf | 692 | sprintf(bottomline,"SIR%dD:%3.1f",side_ir_index+1,0.0); |
jah128 | 0:d6269d17c8cf | 693 | break; |
jah128 | 0:d6269d17c8cf | 694 | case 9: |
jah128 | 0:d6269d17c8cf | 695 | if(ultrasonic_distance_updated == 1) { |
jah128 | 0:d6269d17c8cf | 696 | sprintf(bottomline,"USONIC:%3dcm",ultrasonic_distance); |
jah128 | 0:d6269d17c8cf | 697 | } else sprintf(bottomline,"USONIC:---------"); |
jah128 | 10:e58323951c08 | 698 | sensors.update_ultrasonic_measure(); |
jah128 | 0:d6269d17c8cf | 699 | break; |
jah128 | 0:d6269d17c8cf | 700 | case 10: |
jah128 | 10:e58323951c08 | 701 | sensors.store_line_position(); |
jah128 | 0:d6269d17c8cf | 702 | if(line_found == 1)sprintf(bottomline,"LINE:%1.3f",line_position); |
jah128 | 0:d6269d17c8cf | 703 | else sprintf(bottomline,"LINE:---------"); |
jah128 | 0:d6269d17c8cf | 704 | break; |
jah128 | 0:d6269d17c8cf | 705 | case 11: |
jah128 | 0:d6269d17c8cf | 706 | sprintf(bottomline,"EXIT"); |
jah128 | 0:d6269d17c8cf | 707 | break; |
jah128 | 0:d6269d17c8cf | 708 | } |
jah128 | 0:d6269d17c8cf | 709 | break; |
jah128 | 15:66be5ec52c3b | 710 | case 3: |
jah128 | 0:d6269d17c8cf | 711 | strcpy(topline,"--MOTORS MENU---"); |
jah128 | 0:d6269d17c8cf | 712 | switch(sub_menu) { |
jah128 | 0:d6269d17c8cf | 713 | case 0: |
jah128 | 0:d6269d17c8cf | 714 | sprintf(bottomline,"LEFT: %d%%", left_speed); |
jah128 | 0:d6269d17c8cf | 715 | break; |
jah128 | 0:d6269d17c8cf | 716 | case 1: |
jah128 | 0:d6269d17c8cf | 717 | sprintf(bottomline,"RIGHT: %d%%", right_speed); |
jah128 | 0:d6269d17c8cf | 718 | break; |
jah128 | 0:d6269d17c8cf | 719 | case 2: |
jah128 | 0:d6269d17c8cf | 720 | char both_mode_string[16]; |
jah128 | 0:d6269d17c8cf | 721 | switch(both_motor_mode) { |
jah128 | 0:d6269d17c8cf | 722 | case 0: |
jah128 | 0:d6269d17c8cf | 723 | strcpy(both_mode_string,"OFF"); |
jah128 | 0:d6269d17c8cf | 724 | break; |
jah128 | 0:d6269d17c8cf | 725 | case 1: |
jah128 | 0:d6269d17c8cf | 726 | strcpy(both_mode_string,"BRAKE"); |
jah128 | 0:d6269d17c8cf | 727 | break; |
jah128 | 0:d6269d17c8cf | 728 | case 2: |
jah128 | 0:d6269d17c8cf | 729 | strcpy(both_mode_string,"+50%"); |
jah128 | 0:d6269d17c8cf | 730 | break; |
jah128 | 0:d6269d17c8cf | 731 | case 3: |
jah128 | 0:d6269d17c8cf | 732 | strcpy(both_mode_string,"+100%"); |
jah128 | 0:d6269d17c8cf | 733 | break; |
jah128 | 0:d6269d17c8cf | 734 | case 4: |
jah128 | 0:d6269d17c8cf | 735 | strcpy(both_mode_string,"-50%"); |
jah128 | 0:d6269d17c8cf | 736 | break; |
jah128 | 0:d6269d17c8cf | 737 | case 5: |
jah128 | 0:d6269d17c8cf | 738 | strcpy(both_mode_string,"-100%"); |
jah128 | 0:d6269d17c8cf | 739 | break; |
jah128 | 0:d6269d17c8cf | 740 | } |
jah128 | 0:d6269d17c8cf | 741 | sprintf(bottomline,"BOTH TO %s",both_mode_string); |
jah128 | 0:d6269d17c8cf | 742 | break; |
jah128 | 0:d6269d17c8cf | 743 | case 3: |
jah128 | 0:d6269d17c8cf | 744 | sprintf(bottomline,"EXIT"); |
jah128 | 0:d6269d17c8cf | 745 | break; |
jah128 | 0:d6269d17c8cf | 746 | } |
jah128 | 0:d6269d17c8cf | 747 | break; |
jah128 | 15:66be5ec52c3b | 748 | case 4: |
jah128 | 0:d6269d17c8cf | 749 | strcpy(topline,"---RADIO MENU---"); |
jah128 | 0:d6269d17c8cf | 750 | switch(sub_menu) { |
jah128 | 0:d6269d17c8cf | 751 | |
jah128 | 0:d6269d17c8cf | 752 | case 0: |
jah128 | 0:d6269d17c8cf | 753 | sprintf(bottomline,"EXIT"); |
jah128 | 0:d6269d17c8cf | 754 | break; |
jah128 | 0:d6269d17c8cf | 755 | } |
jah128 | 0:d6269d17c8cf | 756 | break; |
jah128 | 15:66be5ec52c3b | 757 | case 5: |
jah128 | 0:d6269d17c8cf | 758 | strcpy(topline,"---INFO MENU----"); |
jah128 | 0:d6269d17c8cf | 759 | switch(sub_menu) { |
jah128 | 0:d6269d17c8cf | 760 | case 0: |
jah128 | 0:d6269d17c8cf | 761 | sprintf(bottomline,"ROBOT ID: %d",robot_id); |
jah128 | 0:d6269d17c8cf | 762 | break; |
jah128 | 0:d6269d17c8cf | 763 | case 1: |
jah128 | 0:d6269d17c8cf | 764 | sprintf(bottomline,"SOFTWARE: %1.2f",SOFTWARE_VERSION_CODE); |
jah128 | 0:d6269d17c8cf | 765 | break; |
jah128 | 0:d6269d17c8cf | 766 | case 2: |
jah128 | 0:d6269d17c8cf | 767 | if(firmware_version > 0) sprintf(bottomline,"FIRMWARE: %1.2f",firmware_version); |
jah128 | 0:d6269d17c8cf | 768 | else sprintf(bottomline,"FIRMWARE: ?????"); |
jah128 | 0:d6269d17c8cf | 769 | break; |
jah128 | 0:d6269d17c8cf | 770 | case 3: |
jah128 | 0:d6269d17c8cf | 771 | sprintf(bottomline,"PROG:%s",program_name); |
jah128 | 0:d6269d17c8cf | 772 | break; |
jah128 | 0:d6269d17c8cf | 773 | case 4: |
jah128 | 0:d6269d17c8cf | 774 | sprintf(bottomline,"AUTH:%s",author_name); |
jah128 | 0:d6269d17c8cf | 775 | break; |
jah128 | 0:d6269d17c8cf | 776 | case 5: |
jah128 | 0:d6269d17c8cf | 777 | sprintf(bottomline,"VER:%s",version_name); |
jah128 | 0:d6269d17c8cf | 778 | break; |
jah128 | 0:d6269d17c8cf | 779 | case 6: |
jah128 | 0:d6269d17c8cf | 780 | sprintf(bottomline,"EXIT"); |
jah128 | 0:d6269d17c8cf | 781 | break; |
jah128 | 0:d6269d17c8cf | 782 | } |
jah128 | 0:d6269d17c8cf | 783 | break; |
jah128 | 15:66be5ec52c3b | 784 | case 6: |
jah128 | 0:d6269d17c8cf | 785 | strcpy(topline,"---CODE DEMOS---"); |
jah128 | 0:d6269d17c8cf | 786 | switch(sub_menu) { |
jah128 | 0:d6269d17c8cf | 787 | case 0: |
jah128 | 0:d6269d17c8cf | 788 | sprintf(bottomline,"LINE FOLLOW"); |
jah128 | 0:d6269d17c8cf | 789 | break; |
jah128 | 0:d6269d17c8cf | 790 | case 1: |
jah128 | 0:d6269d17c8cf | 791 | sprintf(bottomline,"OBST. AVOID"); |
jah128 | 0:d6269d17c8cf | 792 | break; |
jah128 | 0:d6269d17c8cf | 793 | case 2: |
jah128 | 0:d6269d17c8cf | 794 | sprintf(bottomline,"COLOUR SPIN"); |
jah128 | 0:d6269d17c8cf | 795 | break; |
jah128 | 0:d6269d17c8cf | 796 | case 3: |
jah128 | 0:d6269d17c8cf | 797 | sprintf(bottomline,"STRESS TEST"); |
jah128 | 0:d6269d17c8cf | 798 | break; |
jah128 | 0:d6269d17c8cf | 799 | case 4: |
jah128 | 0:d6269d17c8cf | 800 | sprintf(bottomline,"EXIT"); |
jah128 | 0:d6269d17c8cf | 801 | break; |
jah128 | 0:d6269d17c8cf | 802 | } |
jah128 | 0:d6269d17c8cf | 803 | break; |
jah128 | 15:66be5ec52c3b | 804 | case 7: |
jah128 | 4:1c621cb8cf0d | 805 | strcpy(topline,"-MOTOR CALIBRATE"); |
jah128 | 4:1c621cb8cf0d | 806 | switch(sub_menu) { |
jah128 | 4:1c621cb8cf0d | 807 | case 0: |
jah128 | 4:1c621cb8cf0d | 808 | sprintf(bottomline,"RUN A3 TEST"); |
jah128 | 4:1c621cb8cf0d | 809 | break; |
jah128 | 4:1c621cb8cf0d | 810 | case 1: |
jah128 | 4:1c621cb8cf0d | 811 | sprintf(bottomline,"ENTER VALUE"); |
jah128 | 15:66be5ec52c3b | 812 | break; |
jah128 | 4:1c621cb8cf0d | 813 | case 2: |
jah128 | 4:1c621cb8cf0d | 814 | sprintf(bottomline,"EXIT"); |
jah128 | 4:1c621cb8cf0d | 815 | break; |
jah128 | 4:1c621cb8cf0d | 816 | } |
jah128 | 0:d6269d17c8cf | 817 | break; |
jah128 | 0:d6269d17c8cf | 818 | } |
jah128 | 0:d6269d17c8cf | 819 | break; |
jah128 | 0:d6269d17c8cf | 820 | } |
jah128 | 0:d6269d17c8cf | 821 | display.write_string(topline); |
jah128 | 0:d6269d17c8cf | 822 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 823 | display.write_string(bottomline); |
jah128 | 0:d6269d17c8cf | 824 | if(top_menu == 1 && level == 1) { |
jah128 | 11:312663037b8c | 825 | demo_event.attach(this,&Demo::demo_event_thread, 0.25); |
jah128 | 0:d6269d17c8cf | 826 | } |
jah128 | 0:d6269d17c8cf | 827 | } |
jah128 | 0:d6269d17c8cf | 828 | |
jah128 | 15:66be5ec52c3b | 829 | char test_step = 0; |
jah128 | 15:66be5ec52c3b | 830 | char test_substep = 0; |
jah128 | 15:66be5ec52c3b | 831 | char test_warnings = 0; |
jah128 | 15:66be5ec52c3b | 832 | |
jah128 | 15:66be5ec52c3b | 833 | |
jah128 | 15:66be5ec52c3b | 834 | void Demo::quick_test_cycle() |
jah128 | 15:66be5ec52c3b | 835 | { |
jah128 | 15:66be5ec52c3b | 836 | char next_step [] = {4,5,8,3}; |
jah128 | 15:66be5ec52c3b | 837 | char test_message [17]; |
jah128 | 15:66be5ec52c3b | 838 | int wait_period = SELF_TEST_PERIOD * 10; |
jah128 | 15:66be5ec52c3b | 839 | |
jah128 | 15:66be5ec52c3b | 840 | if(test_substep == 0) { |
jah128 | 15:66be5ec52c3b | 841 | display.clear_display(); |
jah128 | 15:66be5ec52c3b | 842 | switch(test_step) { |
jah128 | 15:66be5ec52c3b | 843 | case 0: |
jah128 | 15:66be5ec52c3b | 844 | display.write_string("01 - Power "); |
jah128 | 15:66be5ec52c3b | 845 | pc.printf("\nTest 01: Power quick tests [%f]\n",psi.get_uptime()); |
jah128 | 15:66be5ec52c3b | 846 | break; |
jah128 | 15:66be5ec52c3b | 847 | case 1: |
jah128 | 15:66be5ec52c3b | 848 | display.write_string("02 - Base IR "); |
jah128 | 15:66be5ec52c3b | 849 | pc.printf("\nTest 02: Base infrared tests [%f]\n",psi.get_uptime()); |
jah128 | 15:66be5ec52c3b | 850 | break; |
jah128 | 15:66be5ec52c3b | 851 | case 2: |
jah128 | 15:66be5ec52c3b | 852 | display.write_string("03 - Side IR "); |
jah128 | 15:66be5ec52c3b | 853 | pc.printf("\nTest 03: Side infrared tests [%f]\n",psi.get_uptime()); |
jah128 | 15:66be5ec52c3b | 854 | break; |
jah128 | 15:66be5ec52c3b | 855 | case 3: |
jah128 | 15:66be5ec52c3b | 856 | display.write_string("04 - LEDs "); |
jah128 | 15:66be5ec52c3b | 857 | pc.printf("\nTest 04: LED quick tests [%f]\n",psi.get_uptime()); |
jah128 | 15:66be5ec52c3b | 858 | break; |
jah128 | 15:66be5ec52c3b | 859 | } |
jah128 | 15:66be5ec52c3b | 860 | } |
jah128 | 15:66be5ec52c3b | 861 | if(test_step == 0) { |
jah128 | 15:66be5ec52c3b | 862 | // Power self-test |
jah128 | 15:66be5ec52c3b | 863 | switch(test_substep) { |
jah128 | 15:66be5ec52c3b | 864 | case 0: { // Battery Voltage |
jah128 | 15:66be5ec52c3b | 865 | float battery_voltages [SAMPLE_SIZE]; |
jah128 | 15:66be5ec52c3b | 866 | float mean_battery_voltage = 0; |
jah128 | 15:66be5ec52c3b | 867 | float sd_battery_voltage = 0; |
jah128 | 15:66be5ec52c3b | 868 | for(int i=0; i<SAMPLE_SIZE; i++) { |
jah128 | 15:66be5ec52c3b | 869 | battery_voltages[i]=sensors.get_battery_voltage (); |
jah128 | 15:66be5ec52c3b | 870 | mean_battery_voltage += battery_voltages[i]; |
jah128 | 15:66be5ec52c3b | 871 | wait_us(SELF_TEST_PERIOD); |
jah128 | 15:66be5ec52c3b | 872 | } |
jah128 | 15:66be5ec52c3b | 873 | mean_battery_voltage /= SAMPLE_SIZE; |
jah128 | 15:66be5ec52c3b | 874 | for(int i=0; i<SAMPLE_SIZE; ++i) sd_battery_voltage += pow(battery_voltages[i] - mean_battery_voltage, 2); |
jah128 | 15:66be5ec52c3b | 875 | sd_battery_voltage = sqrt(sd_battery_voltage/SAMPLE_SIZE); |
jah128 | 15:66be5ec52c3b | 876 | |
jah128 | 15:66be5ec52c3b | 877 | sprintf(test_message,"BATTERY: %1.3fV",mean_battery_voltage); |
jah128 | 15:66be5ec52c3b | 878 | pc.printf(" - Battery Voltage : %1.4fV [SD = % 1.4f]\n",mean_battery_voltage,sd_battery_voltage); |
jah128 | 15:66be5ec52c3b | 879 | if(mean_battery_voltage < 3.6) { |
jah128 | 15:66be5ec52c3b | 880 | pc.printf(" - WARNING : Battery voltage low\n"); |
jah128 | 15:66be5ec52c3b | 881 | test_warnings++; |
jah128 | 15:66be5ec52c3b | 882 | } |
jah128 | 15:66be5ec52c3b | 883 | break; |
jah128 | 15:66be5ec52c3b | 884 | } |
jah128 | 15:66be5ec52c3b | 885 | case 1: {// DC Voltage |
jah128 | 15:66be5ec52c3b | 886 | float dc_voltages [SAMPLE_SIZE]; |
jah128 | 15:66be5ec52c3b | 887 | float mean_dc_voltage = 0; |
jah128 | 15:66be5ec52c3b | 888 | float sd_dc_voltage = 0; |
jah128 | 15:66be5ec52c3b | 889 | for(int i=0; i<SAMPLE_SIZE; i++) { |
jah128 | 15:66be5ec52c3b | 890 | dc_voltages[i]=sensors.get_dc_voltage (); |
jah128 | 15:66be5ec52c3b | 891 | mean_dc_voltage += dc_voltages[i]; |
jah128 | 15:66be5ec52c3b | 892 | wait_us(SELF_TEST_PERIOD); |
jah128 | 15:66be5ec52c3b | 893 | } |
jah128 | 15:66be5ec52c3b | 894 | mean_dc_voltage /= SAMPLE_SIZE; |
jah128 | 15:66be5ec52c3b | 895 | for(int i=0; i<SAMPLE_SIZE; ++i) sd_dc_voltage += pow(dc_voltages[i] - mean_dc_voltage, 2); |
jah128 | 15:66be5ec52c3b | 896 | sd_dc_voltage = sqrt(sd_dc_voltage/SAMPLE_SIZE); |
jah128 | 15:66be5ec52c3b | 897 | |
jah128 | 15:66be5ec52c3b | 898 | sprintf(test_message,"DC : %1.3fV",mean_dc_voltage); |
jah128 | 15:66be5ec52c3b | 899 | pc.printf(" - DC Input Voltage : %1.4fV [SD = % 1.4f]\n",mean_dc_voltage,sd_dc_voltage); |
jah128 | 15:66be5ec52c3b | 900 | if(mean_dc_voltage < 0.5) { |
jah128 | 15:66be5ec52c3b | 901 | pc.printf(" - WARNING : DC voltage low - check charging resistor\n"); |
jah128 | 15:66be5ec52c3b | 902 | test_warnings++; |
jah128 | 15:66be5ec52c3b | 903 | } |
jah128 | 15:66be5ec52c3b | 904 | break; |
jah128 | 15:66be5ec52c3b | 905 | } |
jah128 | 15:66be5ec52c3b | 906 | |
jah128 | 15:66be5ec52c3b | 907 | |
jah128 | 15:66be5ec52c3b | 908 | case 2: { // Current |
jah128 | 15:66be5ec52c3b | 909 | float currents [SAMPLE_SIZE]; |
jah128 | 15:66be5ec52c3b | 910 | float mean_current = 0; |
jah128 | 15:66be5ec52c3b | 911 | float sd_current = 0; |
jah128 | 15:66be5ec52c3b | 912 | for(int i=0; i<SAMPLE_SIZE; i++) { |
jah128 | 15:66be5ec52c3b | 913 | currents[i]=sensors.get_current (); |
jah128 | 15:66be5ec52c3b | 914 | mean_current += currents[i]; |
jah128 | 15:66be5ec52c3b | 915 | wait_us(SELF_TEST_PERIOD); |
jah128 | 15:66be5ec52c3b | 916 | } |
jah128 | 15:66be5ec52c3b | 917 | mean_current /= SAMPLE_SIZE; |
jah128 | 15:66be5ec52c3b | 918 | for(int i=0; i<SAMPLE_SIZE; ++i) sd_current += pow(currents[i] - mean_current, 2); |
jah128 | 15:66be5ec52c3b | 919 | sd_current = sqrt(sd_current/SAMPLE_SIZE); |
jah128 | 15:66be5ec52c3b | 920 | |
jah128 | 15:66be5ec52c3b | 921 | sprintf(test_message,"CURRENT: %1.3fV",mean_current); |
jah128 | 15:66be5ec52c3b | 922 | pc.printf(" - Load Current : %1.4fA [SD = % 1.4f]\n",mean_current,sd_current); |
jah128 | 15:66be5ec52c3b | 923 | if(mean_current > 0.2) { |
jah128 | 15:66be5ec52c3b | 924 | pc.printf(" - WARNING : Higher than expected load current\n"); |
jah128 | 15:66be5ec52c3b | 925 | test_warnings++; |
jah128 | 15:66be5ec52c3b | 926 | } |
jah128 | 15:66be5ec52c3b | 927 | break; |
jah128 | 15:66be5ec52c3b | 928 | } |
jah128 | 15:66be5ec52c3b | 929 | |
jah128 | 15:66be5ec52c3b | 930 | case 3: {// System temperature |
jah128 | 15:66be5ec52c3b | 931 | float temps[SAMPLE_SIZE]; |
jah128 | 15:66be5ec52c3b | 932 | float mean_temp = 0; |
jah128 | 15:66be5ec52c3b | 933 | float sd_temp = 0; |
jah128 | 15:66be5ec52c3b | 934 | for(int i=0; i<SAMPLE_SIZE; i++) { |
jah128 | 15:66be5ec52c3b | 935 | temps[i]=sensors.get_temperature(); |
jah128 | 15:66be5ec52c3b | 936 | mean_temp += temps[i]; |
jah128 | 15:66be5ec52c3b | 937 | wait_us(SELF_TEST_PERIOD); |
jah128 | 15:66be5ec52c3b | 938 | } |
jah128 | 15:66be5ec52c3b | 939 | mean_temp /= SAMPLE_SIZE; |
jah128 | 15:66be5ec52c3b | 940 | for(int i=0; i<SAMPLE_SIZE; ++i) sd_temp += pow(temps[i] - mean_temp, 2); |
jah128 | 15:66be5ec52c3b | 941 | sd_temp = sqrt(sd_temp/SAMPLE_SIZE); |
jah128 | 15:66be5ec52c3b | 942 | |
jah128 | 15:66be5ec52c3b | 943 | sprintf(test_message,"TEMP : %3.2fC",mean_temp); |
jah128 | 15:66be5ec52c3b | 944 | pc.printf(" - System Temperature : %3.2fC [SD = % 1.4f]\n",mean_temp,sd_temp); |
jah128 | 15:66be5ec52c3b | 945 | if(mean_temp > 32) { |
jah128 | 15:66be5ec52c3b | 946 | pc.printf(" - WARNING : High system temperature detected\n"); |
jah128 | 15:66be5ec52c3b | 947 | test_warnings++; |
jah128 | 15:66be5ec52c3b | 948 | } |
jah128 | 15:66be5ec52c3b | 949 | if(mean_temp < 10) { |
jah128 | 15:66be5ec52c3b | 950 | pc.printf(" - WARNING : Low system temperature detected\n"); |
jah128 | 15:66be5ec52c3b | 951 | test_warnings++; |
jah128 | 15:66be5ec52c3b | 952 | } |
jah128 | 15:66be5ec52c3b | 953 | break; |
jah128 | 15:66be5ec52c3b | 954 | } |
jah128 | 15:66be5ec52c3b | 955 | } |
jah128 | 15:66be5ec52c3b | 956 | } |
jah128 | 15:66be5ec52c3b | 957 | |
jah128 | 15:66be5ec52c3b | 958 | display.set_position(1,0); |
jah128 | 15:66be5ec52c3b | 959 | display.write_string(" "); |
jah128 | 15:66be5ec52c3b | 960 | display.set_position(1,0); |
jah128 | 15:66be5ec52c3b | 961 | display.write_string(test_message); |
jah128 | 15:66be5ec52c3b | 962 | test_substep++; |
jah128 | 15:66be5ec52c3b | 963 | if(test_substep >= next_step[test_step]) { |
jah128 | 15:66be5ec52c3b | 964 | test_substep = 0; |
jah128 | 15:66be5ec52c3b | 965 | test_step ++; |
jah128 | 15:66be5ec52c3b | 966 | if(test_step == 4) test_step = 0; |
jah128 | 15:66be5ec52c3b | 967 | } |
jah128 | 15:66be5ec52c3b | 968 | |
jah128 | 15:66be5ec52c3b | 969 | demo_timeout.attach_us(this,&Demo::quick_test_cycle, wait_period); |
jah128 | 15:66be5ec52c3b | 970 | } |
jah128 | 15:66be5ec52c3b | 971 | |
jah128 | 15:66be5ec52c3b | 972 | void Demo::toggle_quick_test() |
jah128 | 15:66be5ec52c3b | 973 | { |
jah128 | 15:66be5ec52c3b | 974 | quick_test = 1 - quick_test; |
jah128 | 15:66be5ec52c3b | 975 | if(quick_test == 0) { |
jah128 | 15:66be5ec52c3b | 976 | pc.printf("________________________________________\n"); |
jah128 | 15:66be5ec52c3b | 977 | pc.printf("Self test stopped at %f with %d warnings\n\n",psi.get_uptime(),test_warnings); |
jah128 | 15:66be5ec52c3b | 978 | demo_running = 0; |
jah128 | 15:66be5ec52c3b | 979 | demo_timeout.detach(); |
jah128 | 15:66be5ec52c3b | 980 | display.set_backlight_brightness(1); |
jah128 | 15:66be5ec52c3b | 981 | display.clear_display(); |
jah128 | 15:66be5ec52c3b | 982 | display.write_string("---QUICK TEST---"); |
jah128 | 15:66be5ec52c3b | 983 | |
jah128 | 15:66be5ec52c3b | 984 | |
jah128 | 15:66be5ec52c3b | 985 | } else { |
jah128 | 15:66be5ec52c3b | 986 | // Reset all LEDs, motors, display |
jah128 | 15:66be5ec52c3b | 987 | pc.printf("\n________________________________________\n"); |
jah128 | 15:66be5ec52c3b | 988 | pc.printf("Self test started at %f\n\n",psi.get_uptime(),test_warnings); |
jah128 | 15:66be5ec52c3b | 989 | display.clear_display(); |
jah128 | 15:66be5ec52c3b | 990 | test_step = 0; |
jah128 | 15:66be5ec52c3b | 991 | test_substep = 0; |
jah128 | 15:66be5ec52c3b | 992 | demo_running = 1; |
jah128 | 15:66be5ec52c3b | 993 | demo_timeout.attach_us(this,&Demo::quick_test_cycle,1000); |
jah128 | 15:66be5ec52c3b | 994 | } |
jah128 | 15:66be5ec52c3b | 995 | } |
jah128 | 15:66be5ec52c3b | 996 | |
jah128 | 11:312663037b8c | 997 | void Demo::start_line_demo() |
jah128 | 0:d6269d17c8cf | 998 | { |
jah128 | 0:d6269d17c8cf | 999 | display.set_backlight_brightness(0); |
jah128 | 0:d6269d17c8cf | 1000 | time_out = 0.25f; |
jah128 | 0:d6269d17c8cf | 1001 | demo_timer.start(); |
jah128 | 0:d6269d17c8cf | 1002 | state = 0; |
jah128 | 0:d6269d17c8cf | 1003 | speed = 0; |
jah128 | 0:d6269d17c8cf | 1004 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1005 | demo_running = 1; |
jah128 | 11:312663037b8c | 1006 | demo_timeout.attach_us(this,&Demo::line_demo_cycle,1000); |
jah128 | 0:d6269d17c8cf | 1007 | } |
jah128 | 0:d6269d17c8cf | 1008 | |
jah128 | 11:312663037b8c | 1009 | void Demo::start_obstacle_demo() |
jah128 | 0:d6269d17c8cf | 1010 | { |
jah128 | 0:d6269d17c8cf | 1011 | display.set_backlight_brightness(0); |
jah128 | 0:d6269d17c8cf | 1012 | time_out = 0.25f; |
jah128 | 0:d6269d17c8cf | 1013 | demo_timer.start(); |
jah128 | 0:d6269d17c8cf | 1014 | state = 0; |
jah128 | 0:d6269d17c8cf | 1015 | speed = 0; |
jah128 | 0:d6269d17c8cf | 1016 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1017 | demo_running = 1; |
jah128 | 11:312663037b8c | 1018 | demo_timeout.attach_us(this,&Demo::obstacle_demo_cycle,1000); |
jah128 | 0:d6269d17c8cf | 1019 | } |
jah128 | 0:d6269d17c8cf | 1020 | |
jah128 | 11:312663037b8c | 1021 | void Demo::start_stress_demo() |
jah128 | 0:d6269d17c8cf | 1022 | { |
jah128 | 0:d6269d17c8cf | 1023 | display.set_backlight_brightness(0.25); |
jah128 | 0:d6269d17c8cf | 1024 | display.write_string("STRESS TEST"); |
jah128 | 0:d6269d17c8cf | 1025 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 1026 | display.write_string("----25%----"); |
jah128 | 0:d6269d17c8cf | 1027 | time_out = 0.04f; |
jah128 | 0:d6269d17c8cf | 1028 | demo_timer.start(); |
jah128 | 0:d6269d17c8cf | 1029 | state = 0; |
jah128 | 0:d6269d17c8cf | 1030 | speed = 0; |
jah128 | 0:d6269d17c8cf | 1031 | stress_step = 0; |
jah128 | 0:d6269d17c8cf | 1032 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 1033 | demo_running = 1; |
jah128 | 11:312663037b8c | 1034 | demo_timeout.attach_us(this,&Demo::stress_demo_cycle,1000); |
jah128 | 0:d6269d17c8cf | 1035 | } |
jah128 | 0:d6269d17c8cf | 1036 | |
jah128 | 11:312663037b8c | 1037 | void Demo::start_spinning_demo() |
jah128 | 0:d6269d17c8cf | 1038 | { |
jah128 | 0:d6269d17c8cf | 1039 | display.set_backlight_brightness(0); |
jah128 | 0:d6269d17c8cf | 1040 | time_out = 0.0f; |
jah128 | 0:d6269d17c8cf | 1041 | demo_timer.start(); |
jah128 | 0:d6269d17c8cf | 1042 | state = 0; |
jah128 | 0:d6269d17c8cf | 1043 | speed = 0; |
jah128 | 0:d6269d17c8cf | 1044 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1045 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 1046 | demo_running = 1; |
jah128 | 11:312663037b8c | 1047 | demo_timeout.attach_us(this,&Demo::spinning_demo_cycle,1000); |
jah128 | 0:d6269d17c8cf | 1048 | } |
jah128 | 0:d6269d17c8cf | 1049 | |
jah128 | 11:312663037b8c | 1050 | void Demo::line_demo_cycle() |
jah128 | 0:d6269d17c8cf | 1051 | { |
jah128 | 0:d6269d17c8cf | 1052 | if(demo_timer.read() > time_out) { |
jah128 | 10:e58323951c08 | 1053 | sensors.store_line_position(); |
jah128 | 0:d6269d17c8cf | 1054 | if(line_found) { |
jah128 | 0:d6269d17c8cf | 1055 | time_out = 0.01f; |
jah128 | 0:d6269d17c8cf | 1056 | state = 0; |
jah128 | 0:d6269d17c8cf | 1057 | // Get the position of the line. |
jah128 | 0:d6269d17c8cf | 1058 | lf_current_pos_of_line = line_position; |
jah128 | 0:d6269d17c8cf | 1059 | lf_proportional = lf_current_pos_of_line; |
jah128 | 0:d6269d17c8cf | 1060 | |
jah128 | 0:d6269d17c8cf | 1061 | // Compute the derivative |
jah128 | 0:d6269d17c8cf | 1062 | lf_derivative = lf_current_pos_of_line - lf_previous_pos_of_line; |
jah128 | 0:d6269d17c8cf | 1063 | |
jah128 | 0:d6269d17c8cf | 1064 | // Compute the integral |
jah128 | 0:d6269d17c8cf | 1065 | lf_integral += lf_proportional; |
jah128 | 0:d6269d17c8cf | 1066 | |
jah128 | 0:d6269d17c8cf | 1067 | // Remember the last position. |
jah128 | 0:d6269d17c8cf | 1068 | lf_previous_pos_of_line = lf_current_pos_of_line; |
jah128 | 0:d6269d17c8cf | 1069 | |
jah128 | 0:d6269d17c8cf | 1070 | // Compute the power |
jah128 | 0:d6269d17c8cf | 1071 | lf_power = (lf_proportional * (LF_P_TERM) ) + (lf_integral*(LF_I_TERM)) + (lf_derivative*(LF_D_TERM)) ; |
jah128 | 0:d6269d17c8cf | 1072 | |
jah128 | 0:d6269d17c8cf | 1073 | // Compute new speeds |
jah128 | 0:d6269d17c8cf | 1074 | lf_right = lf_speed-lf_power; |
jah128 | 0:d6269d17c8cf | 1075 | lf_left = lf_speed+lf_power; |
jah128 | 0:d6269d17c8cf | 1076 | |
jah128 | 0:d6269d17c8cf | 1077 | // limit checks |
jah128 | 0:d6269d17c8cf | 1078 | if (lf_right < 0) |
jah128 | 0:d6269d17c8cf | 1079 | lf_right = 0; |
jah128 | 0:d6269d17c8cf | 1080 | else if (lf_right > 1.0f) |
jah128 | 0:d6269d17c8cf | 1081 | lf_right = 1.0f; |
jah128 | 0:d6269d17c8cf | 1082 | |
jah128 | 0:d6269d17c8cf | 1083 | if (lf_left < 0) |
jah128 | 0:d6269d17c8cf | 1084 | lf_left = 0; |
jah128 | 0:d6269d17c8cf | 1085 | else if (lf_left > 1.0f) |
jah128 | 0:d6269d17c8cf | 1086 | lf_left = 1.0f; |
jah128 | 15:66be5ec52c3b | 1087 | } else { |
jah128 | 15:66be5ec52c3b | 1088 | //Cannot see line: hunt for it |
jah128 | 15:66be5ec52c3b | 1089 | if(lf_left > lf_right) { |
jah128 | 15:66be5ec52c3b | 1090 | //Currently turning left, keep turning left |
jah128 | 15:66be5ec52c3b | 1091 | state ++; |
jah128 | 15:66be5ec52c3b | 1092 | float d_step = state * 0.04; |
jah128 | 15:66be5ec52c3b | 1093 | lf_left = 0.2 + d_step; |
jah128 | 15:66be5ec52c3b | 1094 | lf_right = -0.2 - d_step; |
jah128 | 15:66be5ec52c3b | 1095 | if(state > 20) { |
jah128 | 15:66be5ec52c3b | 1096 | state = 0; |
jah128 | 15:66be5ec52c3b | 1097 | lf_right = 0.2; |
jah128 | 15:66be5ec52c3b | 1098 | lf_left = -0.2; |
jah128 | 15:66be5ec52c3b | 1099 | time_out += 0.01f; |
jah128 | 15:66be5ec52c3b | 1100 | if(time_out > 0.1f) demo_running = 0; |
jah128 | 15:66be5ec52c3b | 1101 | } |
jah128 | 15:66be5ec52c3b | 1102 | } else { |
jah128 | 15:66be5ec52c3b | 1103 | //Currently turning right, keep turning right |
jah128 | 15:66be5ec52c3b | 1104 | state ++; |
jah128 | 15:66be5ec52c3b | 1105 | float d_step = state * 0.04; |
jah128 | 15:66be5ec52c3b | 1106 | lf_left = -0.2 - d_step; |
jah128 | 15:66be5ec52c3b | 1107 | lf_right = 0.2 + d_step; |
jah128 | 15:66be5ec52c3b | 1108 | if(state > 20) { |
jah128 | 15:66be5ec52c3b | 1109 | state = 0; |
jah128 | 15:66be5ec52c3b | 1110 | lf_right = -0.2; |
jah128 | 15:66be5ec52c3b | 1111 | lf_left = 0.2; |
jah128 | 15:66be5ec52c3b | 1112 | time_out += 0.01f; |
jah128 | 15:66be5ec52c3b | 1113 | if(time_out > 0.1f) demo_running = 0; |
jah128 | 15:66be5ec52c3b | 1114 | } |
jah128 | 0:d6269d17c8cf | 1115 | } |
jah128 | 0:d6269d17c8cf | 1116 | } |
jah128 | 0:d6269d17c8cf | 1117 | // set speed |
jah128 | 8:6c92789d5f87 | 1118 | motors.set_left_motor_speed(lf_left); |
jah128 | 8:6c92789d5f87 | 1119 | motors.set_right_motor_speed(lf_right); |
jah128 | 0:d6269d17c8cf | 1120 | |
jah128 | 0:d6269d17c8cf | 1121 | |
jah128 | 0:d6269d17c8cf | 1122 | demo_timer.reset(); |
jah128 | 0:d6269d17c8cf | 1123 | } |
jah128 | 11:312663037b8c | 1124 | if(demo_running == 1)demo_timeout.attach_us(this,&Demo::line_demo_cycle,500); |
jah128 | 0:d6269d17c8cf | 1125 | else { |
jah128 | 8:6c92789d5f87 | 1126 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 1127 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:d6269d17c8cf | 1128 | } |
jah128 | 0:d6269d17c8cf | 1129 | } |
jah128 | 0:d6269d17c8cf | 1130 | |
jah128 | 11:312663037b8c | 1131 | void Demo::stress_demo_cycle() |
jah128 | 0:d6269d17c8cf | 1132 | { |
jah128 | 0:d6269d17c8cf | 1133 | if(demo_timer.read() > time_out) { |
jah128 | 0:d6269d17c8cf | 1134 | float pct = 0.25 + (0.25 * stress_step); |
jah128 | 0:d6269d17c8cf | 1135 | switch(state) { |
jah128 | 0:d6269d17c8cf | 1136 | case 0: |
jah128 | 0:d6269d17c8cf | 1137 | if(spin_step % 2 == 0) { |
jah128 | 8:6c92789d5f87 | 1138 | motors.forward(pct); |
jah128 | 9:dde9e21030eb | 1139 | led.set_leds(0xFF,0xFF); |
jah128 | 0:d6269d17c8cf | 1140 | } else { |
jah128 | 8:6c92789d5f87 | 1141 | motors.backward(pct); |
jah128 | 9:dde9e21030eb | 1142 | led.set_leds(0,0xFF); |
jah128 | 0:d6269d17c8cf | 1143 | } |
jah128 | 0:d6269d17c8cf | 1144 | spin_step ++; |
jah128 | 0:d6269d17c8cf | 1145 | if(spin_step > 199) { |
jah128 | 0:d6269d17c8cf | 1146 | state ++; |
jah128 | 0:d6269d17c8cf | 1147 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 1148 | } |
jah128 | 0:d6269d17c8cf | 1149 | break; |
jah128 | 0:d6269d17c8cf | 1150 | case 1: |
jah128 | 0:d6269d17c8cf | 1151 | if(stress_step < 3) stress_step ++; |
jah128 | 0:d6269d17c8cf | 1152 | float pct = 0.25 + (0.25 * stress_step); |
jah128 | 0:d6269d17c8cf | 1153 | display.set_backlight_brightness(pct); |
jah128 | 0:d6269d17c8cf | 1154 | display.set_position(1,0); |
jah128 | 0:d6269d17c8cf | 1155 | switch(stress_step) { |
jah128 | 0:d6269d17c8cf | 1156 | case 1: |
jah128 | 0:d6269d17c8cf | 1157 | display.write_string("----50%----"); |
jah128 | 0:d6269d17c8cf | 1158 | break; |
jah128 | 0:d6269d17c8cf | 1159 | case 2: |
jah128 | 0:d6269d17c8cf | 1160 | display.write_string("----75%----"); |
jah128 | 0:d6269d17c8cf | 1161 | break; |
jah128 | 0:d6269d17c8cf | 1162 | case 3: |
jah128 | 0:d6269d17c8cf | 1163 | display.write_string("---100%----"); |
jah128 | 0:d6269d17c8cf | 1164 | break; |
jah128 | 0:d6269d17c8cf | 1165 | } |
jah128 | 0:d6269d17c8cf | 1166 | state = 0; |
jah128 | 0:d6269d17c8cf | 1167 | break; |
jah128 | 0:d6269d17c8cf | 1168 | } |
jah128 | 0:d6269d17c8cf | 1169 | demo_timer.reset(); |
jah128 | 0:d6269d17c8cf | 1170 | } |
jah128 | 11:312663037b8c | 1171 | if(demo_running == 1)demo_timeout.attach_us(this,&Demo::stress_demo_cycle,500); |
jah128 | 0:d6269d17c8cf | 1172 | else { |
jah128 | 8:6c92789d5f87 | 1173 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 1174 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:d6269d17c8cf | 1175 | } |
jah128 | 0:d6269d17c8cf | 1176 | } |
jah128 | 0:d6269d17c8cf | 1177 | |
jah128 | 11:312663037b8c | 1178 | void Demo::spinning_demo_cycle() |
jah128 | 0:d6269d17c8cf | 1179 | { |
jah128 | 0:d6269d17c8cf | 1180 | if(demo_timer.read() > time_out) { |
jah128 | 0:d6269d17c8cf | 1181 | switch(state) { |
jah128 | 0:d6269d17c8cf | 1182 | case 0: //Robot is stopped |
jah128 | 9:dde9e21030eb | 1183 | led.set_leds(0,0xFF); |
jah128 | 9:dde9e21030eb | 1184 | led.set_center_led(1,1); |
jah128 | 0:d6269d17c8cf | 1185 | speed = 0.1f; |
jah128 | 8:6c92789d5f87 | 1186 | motors.brake(); |
jah128 | 0:d6269d17c8cf | 1187 | time_out = 0.5; |
jah128 | 0:d6269d17c8cf | 1188 | state = 1; |
jah128 | 0:d6269d17c8cf | 1189 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1190 | break; |
jah128 | 0:d6269d17c8cf | 1191 | case 1: //Motor is turning right, accelerating |
jah128 | 0:d6269d17c8cf | 1192 | time_out = 0.1; |
jah128 | 9:dde9e21030eb | 1193 | led.set_center_led(2,1); |
jah128 | 0:d6269d17c8cf | 1194 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1195 | case 0: |
jah128 | 9:dde9e21030eb | 1196 | led.set_leds(0x01,0); |
jah128 | 0:d6269d17c8cf | 1197 | break; |
jah128 | 0:d6269d17c8cf | 1198 | case 1: |
jah128 | 9:dde9e21030eb | 1199 | led.set_leds(0x02,0); |
jah128 | 0:d6269d17c8cf | 1200 | break; |
jah128 | 0:d6269d17c8cf | 1201 | case 2: |
jah128 | 9:dde9e21030eb | 1202 | led.set_leds(0x04,0); |
jah128 | 0:d6269d17c8cf | 1203 | break; |
jah128 | 0:d6269d17c8cf | 1204 | case 3: |
jah128 | 9:dde9e21030eb | 1205 | led.set_leds(0x08,0); |
jah128 | 0:d6269d17c8cf | 1206 | break; |
jah128 | 0:d6269d17c8cf | 1207 | case 4: |
jah128 | 9:dde9e21030eb | 1208 | led.set_leds(0x10,0); |
jah128 | 0:d6269d17c8cf | 1209 | break; |
jah128 | 0:d6269d17c8cf | 1210 | case 5: |
jah128 | 9:dde9e21030eb | 1211 | led.set_leds(0x20,0); |
jah128 | 0:d6269d17c8cf | 1212 | break; |
jah128 | 0:d6269d17c8cf | 1213 | case 6: |
jah128 | 9:dde9e21030eb | 1214 | led.set_leds(0x40,0); |
jah128 | 0:d6269d17c8cf | 1215 | break; |
jah128 | 0:d6269d17c8cf | 1216 | case 7: |
jah128 | 9:dde9e21030eb | 1217 | led.set_leds(0x80,0); |
jah128 | 0:d6269d17c8cf | 1218 | break; |
jah128 | 0:d6269d17c8cf | 1219 | } |
jah128 | 0:d6269d17c8cf | 1220 | led_step ++; |
jah128 | 0:d6269d17c8cf | 1221 | if(led_step == 8) led_step =0; |
jah128 | 0:d6269d17c8cf | 1222 | if(speed < 1) { |
jah128 | 0:d6269d17c8cf | 1223 | speed += 0.0125; |
jah128 | 8:6c92789d5f87 | 1224 | motors.turn(speed); |
jah128 | 0:d6269d17c8cf | 1225 | } else { |
jah128 | 0:d6269d17c8cf | 1226 | state = 2; |
jah128 | 0:d6269d17c8cf | 1227 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 1228 | led_step =0; |
jah128 | 0:d6269d17c8cf | 1229 | } |
jah128 | 0:d6269d17c8cf | 1230 | break; |
jah128 | 0:d6269d17c8cf | 1231 | case 2: //Motor is turning right, full speed |
jah128 | 9:dde9e21030eb | 1232 | led.set_center_led(3,1); |
jah128 | 0:d6269d17c8cf | 1233 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1234 | case 0: |
jah128 | 9:dde9e21030eb | 1235 | led.set_leds(0x33,0x33); |
jah128 | 0:d6269d17c8cf | 1236 | break; |
jah128 | 0:d6269d17c8cf | 1237 | case 1: |
jah128 | 9:dde9e21030eb | 1238 | led.set_leds(0x66,0x66); |
jah128 | 0:d6269d17c8cf | 1239 | break; |
jah128 | 0:d6269d17c8cf | 1240 | case 2: |
jah128 | 9:dde9e21030eb | 1241 | led.set_leds(0xCC,0xCC); |
jah128 | 0:d6269d17c8cf | 1242 | break; |
jah128 | 0:d6269d17c8cf | 1243 | case 3: |
jah128 | 9:dde9e21030eb | 1244 | led.set_leds(0x99,0x99); |
jah128 | 0:d6269d17c8cf | 1245 | break; |
jah128 | 0:d6269d17c8cf | 1246 | } |
jah128 | 0:d6269d17c8cf | 1247 | led_step ++; |
jah128 | 0:d6269d17c8cf | 1248 | if(led_step == 4) led_step = 0; |
jah128 | 0:d6269d17c8cf | 1249 | spin_step ++; |
jah128 | 0:d6269d17c8cf | 1250 | if(spin_step == 40) { |
jah128 | 0:d6269d17c8cf | 1251 | state = 3; |
jah128 | 0:d6269d17c8cf | 1252 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1253 | } |
jah128 | 0:d6269d17c8cf | 1254 | break; |
jah128 | 0:d6269d17c8cf | 1255 | case 3: //Motor is turning right, decelerating |
jah128 | 9:dde9e21030eb | 1256 | led.set_center_led(2,1); |
jah128 | 0:d6269d17c8cf | 1257 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1258 | case 0: |
jah128 | 9:dde9e21030eb | 1259 | led.set_leds(0x01,0); |
jah128 | 0:d6269d17c8cf | 1260 | break; |
jah128 | 0:d6269d17c8cf | 1261 | case 1: |
jah128 | 9:dde9e21030eb | 1262 | led.set_leds(0x02,0); |
jah128 | 0:d6269d17c8cf | 1263 | break; |
jah128 | 0:d6269d17c8cf | 1264 | case 2: |
jah128 | 9:dde9e21030eb | 1265 | led.set_leds(0x04,0); |
jah128 | 0:d6269d17c8cf | 1266 | break; |
jah128 | 0:d6269d17c8cf | 1267 | case 3: |
jah128 | 9:dde9e21030eb | 1268 | led.set_leds(0x08,0); |
jah128 | 0:d6269d17c8cf | 1269 | break; |
jah128 | 0:d6269d17c8cf | 1270 | case 4: |
jah128 | 9:dde9e21030eb | 1271 | led.set_leds(0x10,0); |
jah128 | 0:d6269d17c8cf | 1272 | break; |
jah128 | 0:d6269d17c8cf | 1273 | case 5: |
jah128 | 9:dde9e21030eb | 1274 | led.set_leds(0x20,0); |
jah128 | 0:d6269d17c8cf | 1275 | break; |
jah128 | 0:d6269d17c8cf | 1276 | case 6: |
jah128 | 9:dde9e21030eb | 1277 | led.set_leds(0x40,0); |
jah128 | 0:d6269d17c8cf | 1278 | break; |
jah128 | 0:d6269d17c8cf | 1279 | case 7: |
jah128 | 9:dde9e21030eb | 1280 | led.set_leds(0x80,0); |
jah128 | 0:d6269d17c8cf | 1281 | break; |
jah128 | 0:d6269d17c8cf | 1282 | } |
jah128 | 0:d6269d17c8cf | 1283 | if(led_step == 0) led_step =8; |
jah128 | 0:d6269d17c8cf | 1284 | led_step --; |
jah128 | 0:d6269d17c8cf | 1285 | if(speed > 0.1) { |
jah128 | 0:d6269d17c8cf | 1286 | speed -= 0.025; |
jah128 | 8:6c92789d5f87 | 1287 | motors.turn(speed); |
jah128 | 0:d6269d17c8cf | 1288 | } else { |
jah128 | 0:d6269d17c8cf | 1289 | state = 4; |
jah128 | 0:d6269d17c8cf | 1290 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 1291 | led_step =0; |
jah128 | 0:d6269d17c8cf | 1292 | } |
jah128 | 0:d6269d17c8cf | 1293 | break; |
jah128 | 0:d6269d17c8cf | 1294 | case 4: //Robot is stopped |
jah128 | 9:dde9e21030eb | 1295 | led.set_leds(0,0xFF); |
jah128 | 9:dde9e21030eb | 1296 | led.set_center_led(1,1); |
jah128 | 0:d6269d17c8cf | 1297 | speed = 0.1f; |
jah128 | 8:6c92789d5f87 | 1298 | motors.brake(); |
jah128 | 0:d6269d17c8cf | 1299 | time_out = 0.5; |
jah128 | 0:d6269d17c8cf | 1300 | led_step =0; |
jah128 | 0:d6269d17c8cf | 1301 | state = 5; |
jah128 | 0:d6269d17c8cf | 1302 | break; |
jah128 | 0:d6269d17c8cf | 1303 | case 5: //Motor is turning left, accelerating |
jah128 | 0:d6269d17c8cf | 1304 | time_out = 0.1; |
jah128 | 9:dde9e21030eb | 1305 | led.set_center_led(2,1); |
jah128 | 0:d6269d17c8cf | 1306 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1307 | case 0: |
jah128 | 9:dde9e21030eb | 1308 | led.set_leds(0x01,0); |
jah128 | 0:d6269d17c8cf | 1309 | break; |
jah128 | 0:d6269d17c8cf | 1310 | case 1: |
jah128 | 9:dde9e21030eb | 1311 | led.set_leds(0x02,0); |
jah128 | 0:d6269d17c8cf | 1312 | break; |
jah128 | 0:d6269d17c8cf | 1313 | case 2: |
jah128 | 9:dde9e21030eb | 1314 | led.set_leds(0x04,0); |
jah128 | 0:d6269d17c8cf | 1315 | break; |
jah128 | 0:d6269d17c8cf | 1316 | case 3: |
jah128 | 9:dde9e21030eb | 1317 | led.set_leds(0x08,0); |
jah128 | 0:d6269d17c8cf | 1318 | break; |
jah128 | 0:d6269d17c8cf | 1319 | case 4: |
jah128 | 9:dde9e21030eb | 1320 | led.set_leds(0x10,0); |
jah128 | 0:d6269d17c8cf | 1321 | break; |
jah128 | 0:d6269d17c8cf | 1322 | case 5: |
jah128 | 9:dde9e21030eb | 1323 | led.set_leds(0x20,0); |
jah128 | 0:d6269d17c8cf | 1324 | break; |
jah128 | 0:d6269d17c8cf | 1325 | case 6: |
jah128 | 9:dde9e21030eb | 1326 | led.set_leds(0x40,0); |
jah128 | 0:d6269d17c8cf | 1327 | break; |
jah128 | 0:d6269d17c8cf | 1328 | case 7: |
jah128 | 9:dde9e21030eb | 1329 | led.set_leds(0x80,0); |
jah128 | 0:d6269d17c8cf | 1330 | break; |
jah128 | 0:d6269d17c8cf | 1331 | } |
jah128 | 0:d6269d17c8cf | 1332 | if(led_step == 0) led_step =8; |
jah128 | 0:d6269d17c8cf | 1333 | led_step --; |
jah128 | 0:d6269d17c8cf | 1334 | if(speed < 1) { |
jah128 | 0:d6269d17c8cf | 1335 | speed += 0.0125; |
jah128 | 8:6c92789d5f87 | 1336 | motors.turn(-speed); |
jah128 | 0:d6269d17c8cf | 1337 | } else { |
jah128 | 0:d6269d17c8cf | 1338 | state = 6; |
jah128 | 0:d6269d17c8cf | 1339 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 1340 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1341 | } |
jah128 | 0:d6269d17c8cf | 1342 | break; |
jah128 | 0:d6269d17c8cf | 1343 | case 6: //Motor is turning left, full speed |
jah128 | 9:dde9e21030eb | 1344 | led.set_center_led(3,1); |
jah128 | 0:d6269d17c8cf | 1345 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1346 | case 0: |
jah128 | 9:dde9e21030eb | 1347 | led.set_leds(0x33,0x33); |
jah128 | 0:d6269d17c8cf | 1348 | break; |
jah128 | 0:d6269d17c8cf | 1349 | case 1: |
jah128 | 9:dde9e21030eb | 1350 | led.set_leds(0x66,0x66); |
jah128 | 0:d6269d17c8cf | 1351 | break; |
jah128 | 0:d6269d17c8cf | 1352 | case 2: |
jah128 | 9:dde9e21030eb | 1353 | led.set_leds(0xCC,0xCC); |
jah128 | 0:d6269d17c8cf | 1354 | break; |
jah128 | 0:d6269d17c8cf | 1355 | case 3: |
jah128 | 9:dde9e21030eb | 1356 | led.set_leds(0x99,0x99); |
jah128 | 0:d6269d17c8cf | 1357 | break; |
jah128 | 0:d6269d17c8cf | 1358 | } |
jah128 | 0:d6269d17c8cf | 1359 | if(led_step == 0) led_step = 4; |
jah128 | 0:d6269d17c8cf | 1360 | led_step --; |
jah128 | 0:d6269d17c8cf | 1361 | spin_step ++; |
jah128 | 0:d6269d17c8cf | 1362 | if(spin_step == 40) { |
jah128 | 0:d6269d17c8cf | 1363 | state = 7; |
jah128 | 0:d6269d17c8cf | 1364 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1365 | } |
jah128 | 0:d6269d17c8cf | 1366 | break; |
jah128 | 0:d6269d17c8cf | 1367 | case 7: //Motor is turning left, decelerating |
jah128 | 9:dde9e21030eb | 1368 | led.set_center_led(2,1); |
jah128 | 0:d6269d17c8cf | 1369 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1370 | case 0: |
jah128 | 9:dde9e21030eb | 1371 | led.set_leds(0x01,0); |
jah128 | 0:d6269d17c8cf | 1372 | break; |
jah128 | 0:d6269d17c8cf | 1373 | case 1: |
jah128 | 9:dde9e21030eb | 1374 | led.set_leds(0x02,0); |
jah128 | 0:d6269d17c8cf | 1375 | break; |
jah128 | 0:d6269d17c8cf | 1376 | case 2: |
jah128 | 9:dde9e21030eb | 1377 | led.set_leds(0x04,0); |
jah128 | 0:d6269d17c8cf | 1378 | break; |
jah128 | 0:d6269d17c8cf | 1379 | case 3: |
jah128 | 9:dde9e21030eb | 1380 | led.set_leds(0x08,0); |
jah128 | 0:d6269d17c8cf | 1381 | break; |
jah128 | 0:d6269d17c8cf | 1382 | case 4: |
jah128 | 9:dde9e21030eb | 1383 | led.set_leds(0x10,0); |
jah128 | 0:d6269d17c8cf | 1384 | break; |
jah128 | 0:d6269d17c8cf | 1385 | case 5: |
jah128 | 9:dde9e21030eb | 1386 | led.set_leds(0x20,0); |
jah128 | 0:d6269d17c8cf | 1387 | break; |
jah128 | 0:d6269d17c8cf | 1388 | case 6: |
jah128 | 9:dde9e21030eb | 1389 | led.set_leds(0x40,0); |
jah128 | 0:d6269d17c8cf | 1390 | break; |
jah128 | 0:d6269d17c8cf | 1391 | case 7: |
jah128 | 9:dde9e21030eb | 1392 | led.set_leds(0x80,0); |
jah128 | 0:d6269d17c8cf | 1393 | break; |
jah128 | 0:d6269d17c8cf | 1394 | } |
jah128 | 0:d6269d17c8cf | 1395 | led_step ++; |
jah128 | 0:d6269d17c8cf | 1396 | if(led_step == 8) led_step =0; |
jah128 | 0:d6269d17c8cf | 1397 | if(speed > 0.1) { |
jah128 | 0:d6269d17c8cf | 1398 | speed -= 0.025; |
jah128 | 8:6c92789d5f87 | 1399 | motors.turn(-speed); |
jah128 | 0:d6269d17c8cf | 1400 | } else { |
jah128 | 0:d6269d17c8cf | 1401 | state = 0; |
jah128 | 0:d6269d17c8cf | 1402 | spin_step = 0; |
jah128 | 0:d6269d17c8cf | 1403 | led_step = 0; |
jah128 | 0:d6269d17c8cf | 1404 | } |
jah128 | 0:d6269d17c8cf | 1405 | break; |
jah128 | 0:d6269d17c8cf | 1406 | } |
jah128 | 0:d6269d17c8cf | 1407 | demo_timer.reset(); |
jah128 | 0:d6269d17c8cf | 1408 | } |
jah128 | 11:312663037b8c | 1409 | if(demo_running == 1)demo_timeout.attach_us(this,&Demo::spinning_demo_cycle,500); |
jah128 | 0:d6269d17c8cf | 1410 | else { |
jah128 | 8:6c92789d5f87 | 1411 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 1412 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:d6269d17c8cf | 1413 | } |
jah128 | 0:d6269d17c8cf | 1414 | } |
jah128 | 0:d6269d17c8cf | 1415 | |
jah128 | 11:312663037b8c | 1416 | void Demo::obstacle_demo_cycle() |
jah128 | 0:d6269d17c8cf | 1417 | { |
jah128 | 0:d6269d17c8cf | 1418 | if(demo_timer.read() > time_out) { |
jah128 | 0:d6269d17c8cf | 1419 | switch(state) { |
jah128 | 0:d6269d17c8cf | 1420 | case 0: //Robot is stopped |
jah128 | 9:dde9e21030eb | 1421 | led.set_leds(0,0xFF); |
jah128 | 9:dde9e21030eb | 1422 | led.set_center_led(1,0.4); |
jah128 | 0:d6269d17c8cf | 1423 | speed = 0.3f; |
jah128 | 8:6c92789d5f87 | 1424 | motors.forward(speed); |
jah128 | 0:d6269d17c8cf | 1425 | time_out = 0.05; |
jah128 | 0:d6269d17c8cf | 1426 | state = 1; |
jah128 | 0:d6269d17c8cf | 1427 | break; |
jah128 | 0:d6269d17c8cf | 1428 | case 1: { //Motor is moving forward |
jah128 | 10:e58323951c08 | 1429 | sensors.store_ir_values(); |
jah128 | 10:e58323951c08 | 1430 | int front_right = sensors.read_illuminated_raw_ir_value(0); |
jah128 | 10:e58323951c08 | 1431 | int front_left = sensors.read_illuminated_raw_ir_value(7); |
jah128 | 0:d6269d17c8cf | 1432 | if(front_left > 400 || front_right > 400) { |
jah128 | 8:6c92789d5f87 | 1433 | motors.brake(); |
jah128 | 0:d6269d17c8cf | 1434 | time_out = 0.04; |
jah128 | 0:d6269d17c8cf | 1435 | if(front_left > front_right)state=2; |
jah128 | 0:d6269d17c8cf | 1436 | else state=3; |
jah128 | 0:d6269d17c8cf | 1437 | } else { |
jah128 | 0:d6269d17c8cf | 1438 | if(speed < 0.5) { |
jah128 | 0:d6269d17c8cf | 1439 | speed += 0.03; |
jah128 | 8:6c92789d5f87 | 1440 | motors.forward(speed); |
jah128 | 0:d6269d17c8cf | 1441 | } |
jah128 | 0:d6269d17c8cf | 1442 | switch(led_step) { |
jah128 | 0:d6269d17c8cf | 1443 | case 0: |
jah128 | 9:dde9e21030eb | 1444 | led.set_leds(0x01,0); |
jah128 | 0:d6269d17c8cf | 1445 | break; |
jah128 | 0:d6269d17c8cf | 1446 | case 1: |
jah128 | 9:dde9e21030eb | 1447 | led.set_leds(0x38,0); |
jah128 | 0:d6269d17c8cf | 1448 | break; |
jah128 | 0:d6269d17c8cf | 1449 | case 2: |
jah128 | 9:dde9e21030eb | 1450 | led.set_leds(0x6C,0); |
jah128 | 0:d6269d17c8cf | 1451 | break; |
jah128 | 0:d6269d17c8cf | 1452 | case 3: |
jah128 | 9:dde9e21030eb | 1453 | led.set_leds(0xC6,0); |
jah128 | 0:d6269d17c8cf | 1454 | break; |
jah128 | 0:d6269d17c8cf | 1455 | case 4: |
jah128 | 9:dde9e21030eb | 1456 | led.set_leds(0x83,0); |
jah128 | 0:d6269d17c8cf | 1457 | break; |
jah128 | 0:d6269d17c8cf | 1458 | } |
jah128 | 9:dde9e21030eb | 1459 | led.set_center_led(2, 0.6); |
jah128 | 0:d6269d17c8cf | 1460 | led_step ++; |
jah128 | 0:d6269d17c8cf | 1461 | if(led_step == 5) led_step = 0; |
jah128 | 0:d6269d17c8cf | 1462 | } |
jah128 | 0:d6269d17c8cf | 1463 | break; |
jah128 | 0:d6269d17c8cf | 1464 | } |
jah128 | 0:d6269d17c8cf | 1465 | case 2: //Turn right |
jah128 | 8:6c92789d5f87 | 1466 | motors.set_left_motor_speed(0.85); |
jah128 | 8:6c92789d5f87 | 1467 | motors.set_right_motor_speed(-0.85); |
jah128 | 0:d6269d17c8cf | 1468 | time_out = 0.4; |
jah128 | 0:d6269d17c8cf | 1469 | state = 0; |
jah128 | 9:dde9e21030eb | 1470 | led.set_leds(0x0E,0x0E); |
jah128 | 9:dde9e21030eb | 1471 | led.set_center_led(3,0.5); |
jah128 | 0:d6269d17c8cf | 1472 | break; |
jah128 | 0:d6269d17c8cf | 1473 | case 3: //Turn left |
jah128 | 8:6c92789d5f87 | 1474 | motors.set_left_motor_speed(-0.85); |
jah128 | 8:6c92789d5f87 | 1475 | motors.set_right_motor_speed(0.85); |
jah128 | 0:d6269d17c8cf | 1476 | time_out = 0.4; |
jah128 | 0:d6269d17c8cf | 1477 | state = 0; |
jah128 | 9:dde9e21030eb | 1478 | led.set_leds(0xE0,0xE0); |
jah128 | 9:dde9e21030eb | 1479 | led.set_center_led(3,0.5); |
jah128 | 0:d6269d17c8cf | 1480 | break; |
jah128 | 0:d6269d17c8cf | 1481 | } |
jah128 | 0:d6269d17c8cf | 1482 | demo_timer.reset(); |
jah128 | 0:d6269d17c8cf | 1483 | } |
jah128 | 11:312663037b8c | 1484 | if(demo_running == 1)demo_timeout.attach_us(this,&Demo::obstacle_demo_cycle,200); |
jah128 | 0:d6269d17c8cf | 1485 | else { |
jah128 | 8:6c92789d5f87 | 1486 | motors.stop(); |
jah128 | 0:d6269d17c8cf | 1487 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:d6269d17c8cf | 1488 | } |
jah128 | 0:d6269d17c8cf | 1489 | } |
jah128 | 0:d6269d17c8cf | 1490 | |
jah128 | 11:312663037b8c | 1491 | void Demo::demo_update_leds() |
jah128 | 0:d6269d17c8cf | 1492 | { |
jah128 | 0:d6269d17c8cf | 1493 | char red = 0; |
jah128 | 0:d6269d17c8cf | 1494 | char green = 0; |
jah128 | 0:d6269d17c8cf | 1495 | for(int i=0; i<8; i++) { |
jah128 | 0:d6269d17c8cf | 1496 | if(led_state[i]==1 || led_state[i]==3) red+=(1<<i); |
jah128 | 0:d6269d17c8cf | 1497 | if(led_state[i]==2 || led_state[i]==3) green+=(1<<i); |
jah128 | 0:d6269d17c8cf | 1498 | } |
jah128 | 9:dde9e21030eb | 1499 | led.set_leds(green,red); |
jah128 | 0:d6269d17c8cf | 1500 | float brightness_f = brightness / 100.0f; |
jah128 | 9:dde9e21030eb | 1501 | led.set_center_led(led_state[8], brightness_f); |
jah128 | 9:dde9e21030eb | 1502 | led.set_base_led(base_led_state); |
jah128 | 0:d6269d17c8cf | 1503 | } |