![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
ft. button press reset
Fork of BeaconDemo_RobotCode by
main.cpp
- Committer:
- jah128
- Date:
- 2015-10-03
- Revision:
- 0:8a5497a2e366
- Child:
- 1:f6356cf1cefc
File content as of revision 0:8a5497a2e366:
/*********************************************************************** ** ██████╗ ███████╗██╗███████╗██╗ ██╗ █████╗ ██████╗ ███╗ ███╗ ** ** ██╔══██╗██╔════╝██║██╔════╝██║ ██║██╔══██╗██╔══██╗████╗ ████║ ** ** ██████╔╝███████╗██║███████╗██║ █╗ ██║███████║██████╔╝██╔████╔██║ ** ** ██╔═══╝ ╚════██║██║╚════██║██║███╗██║██╔══██║██╔══██╗██║╚██╔╝██║ ** ** ██║ ███████║██║███████║╚███╔███╔╝██║ ██║██║ ██║██║ ╚═╝ ██║ ** ** ╚═╝ ╚══════╝╚═╝╚══════╝ ╚══╝╚══╝ ╚═╝ ╚═╝╚═╝ ╚═╝╚═╝ ╚═╝ ** ************************************************************************ **(C) Dr James Hilder - York Robotics Laboratory - University of York ** ***********************************************************************/ // PsiSwarm Example Main File // Include psiswarm.h - this includes all the other necessary core files #include "psiswarm.h" // Use these variables to store the name for the program and the author // NB: Keep the strings as short as possible (ie 12 chars or less) to ensure reliable comms char * program_name = "Example"; char * author_name = "JAH-YRL"; // Place user variables here char green = 3; char red = 48; int re =0 ; int le =0; //Place user code here that should be run after initialisation but before the main loop void user_code_setup(){ /* wait(2); calibrate_base_ir_sensors(); wait(2); */ } //This function is the loop where user code should be placed void user_code_loop(){ //Do not place code within a loop, but consider this function to be a loop that is always run //unless the user code is externally paused (such as by debug or recharging system) /* store_base_ir_values(); bt.printf("OFF: %d %d %d %d %d\n ON: %d %d %d %d %d\n\n", get_background_base_ir_value(0), get_background_base_ir_value(1), get_background_base_ir_value(2), get_background_base_ir_value(3), get_background_base_ir_value(4), get_illuminated_base_ir_value(0), get_illuminated_base_ir_value(1), get_illuminated_base_ir_value(2), get_illuminated_base_ir_value(3), get_illuminated_base_ir_value(4)); set_leds(green,red); switch(green){ case 192: green = 129; break; case 129: green = 3; break; default: green = green << 1; break; } switch(red){ case 192: red = 129; break; case 129: red = 3; break; default: red = red << 1; break; } if(re != right_encoder){ re = right_encoder; pc.printf("Right:%d\n",re); } if(le != left_encoder){ le = left_encoder; pc.printf("Left:%d\n",le); } wait(0.3); */ } // Code goes here to handle what should happen when the user switch is pressed void handle_switch_event(char switch_state) { // Switch_state = 1 if up is pressed, 2 if down is pressed, 4 if left is pressed, 8 if right is pressed and 16 if the center button is pressed } // The main routine: it is recommended to leave this function alone and add user code to the above functions int main() { //init() in psiswarm.cpp sets up the robot init(); user_code_setup(); user_code_running = 1; while(1) { if(user_code_running)user_code_loop(); if(demo_on) demo_mode(); wait_us(250); } }