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ft. button press reset
Fork of BeaconDemo_RobotCode by
main.cpp
- Committer:
- jah128
- Date:
- 2015-10-22
- Revision:
- 7:ef9ab01b9e26
- Parent:
- 6:ff3c66f7372b
- Child:
- 8:00558287a4ef
File content as of revision 7:ef9ab01b9e26:
/*********************************************************************** ** ██████╗ ███████╗██╗███████╗██╗ ██╗ █████╗ ██████╗ ███╗ ███╗ ** ** ██╔══██╗██╔════╝██║██╔════╝██║ ██║██╔══██╗██╔══██╗████╗ ████║ ** ** ██████╔╝███████╗██║███████╗██║ █╗ ██║███████║██████╔╝██╔████╔██║ ** ** ██╔═══╝ ╚════██║██║╚════██║██║███╗██║██╔══██║██╔══██╗██║╚██╔╝██║ ** ** ██║ ███████║██║███████║╚███╔███╔╝██║ ██║██║ ██║██║ ╚═╝ ██║ ** ** ╚═╝ ╚══════╝╚═╝╚══════╝ ╚══╝╚══╝ ╚═╝ ╚═╝╚═╝ ╚═╝╚═╝ ╚═╝ ** ************************************************************************ **(C) Dr James Hilder - York Robotics Laboratory - University of York ** ***********************************************************************/ /// PsiSwarm Beautiful Meme Project Source Code /// Version 0.1 /// James Hilder, Alan Millard, Homero Elizondo, Jon Timmis /// University of York /// Include psiswarm.h - this includes all the other necessary core files #include "psiswarm.h" // IMPORTANT!!! // Do not call the IR functions at all as they will interfere with the correct operation of this program // Instead, use the values held in the variables below; they are updated every 500ms char beacon_found = 0; // This will be a 1 when a beacon was detected during the previous 500ms window int beacon_heading = 0; // This is the heading from the last time a beacon was detected char robots_found[8]; // These will be a 1 when the respective robot [excluding self] was detected during the previous 500ms window int robots_heading[8]; // These are the headings from the last time the respective robots were detected unsigned short robots_distance[8]; // This is the maximum sensor value from the last time the respective robot was detected unsigned short reflected_sensor_data[8]; // The reflected IR values when this robots emitters are on unsigned short background_sensor_data[8];// The raw IR values when no robot (or beacon) should have its IR on char * program_name = "B-Meme"; char * author_name = "YRL"; char * version_name = "1.0"; char user_code_debug = 1; // Set to 1 to show terminal messages from "out" function [specific to this code] ///Place user code here that should be run after initialisation but before the main loop void user_code_setup() { out("------------------------------------------------------\n"); out("Beautiful Meme Project Demo Code \n"); out("------------------------------------------------------\n"); locate_beacon(); while(beacon_found == 0) { locate_beacon(); } start_infrared_timers(); } ///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) //pc.printf("User loop code block\n"); wait(0.5); } /// 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 /// NB For maximum compatability it is recommended to minimise reliance on center button press //pc.printf("User switch code block: %d\n",switch_state); } /// 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(5); } } /// Verbose output void out(const char* format, ...) { char buffer[256]; if (debug_mode) { va_list vl; va_start(vl, format); vsprintf(buffer,format,vl); if(user_code_debug == 1) pc.printf("%s", buffer); va_end(vl); } }