James O'Keeffe
/
BeaconDemo_RobotCodeNew
ft. button press reset
Fork of BeaconDemo_RobotCode by
PsiSwarm/demo.cpp@0:8a5497a2e366, 2015-10-03 (annotated)
- Committer:
- jah128
- Date:
- Sat Oct 03 22:48:50 2015 +0000
- Revision:
- 0:8a5497a2e366
- Child:
- 1:f6356cf1cefc
Initial commit of PsiSwarm API and example code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jah128 | 0:8a5497a2e366 | 1 | /* University of York Robotics Laboratory PsiSwarm Library: Demo Mode Source File |
jah128 | 0:8a5497a2e366 | 2 | * |
jah128 | 0:8a5497a2e366 | 3 | * File: demo.cpp |
jah128 | 0:8a5497a2e366 | 4 | * |
jah128 | 0:8a5497a2e366 | 5 | * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York |
jah128 | 0:8a5497a2e366 | 6 | * |
jah128 | 0:8a5497a2e366 | 7 | * PsiSwarm Library Version: 0.2 |
jah128 | 0:8a5497a2e366 | 8 | * |
jah128 | 0:8a5497a2e366 | 9 | * Version 0.2 : Remove most the functionality from center-button push to allow all operations to be accessable from |
jah128 | 0:8a5497a2e366 | 10 | * four directions alone. |
jah128 | 0:8a5497a2e366 | 11 | * |
jah128 | 0:8a5497a2e366 | 12 | * September 2015 |
jah128 | 0:8a5497a2e366 | 13 | * |
jah128 | 0:8a5497a2e366 | 14 | */ |
jah128 | 0:8a5497a2e366 | 15 | |
jah128 | 0:8a5497a2e366 | 16 | |
jah128 | 0:8a5497a2e366 | 17 | #include "psiswarm.h" |
jah128 | 0:8a5497a2e366 | 18 | |
jah128 | 0:8a5497a2e366 | 19 | char top_menu = 0; |
jah128 | 0:8a5497a2e366 | 20 | char sub_menu = 0; |
jah128 | 0:8a5497a2e366 | 21 | char level = 0; |
jah128 | 0:8a5497a2e366 | 22 | char started = 0; |
jah128 | 0:8a5497a2e366 | 23 | char topline[17]; |
jah128 | 0:8a5497a2e366 | 24 | char bottomline[17]; |
jah128 | 0:8a5497a2e366 | 25 | char led_state[9]; |
jah128 | 0:8a5497a2e366 | 26 | char all_led_state = 0; |
jah128 | 0:8a5497a2e366 | 27 | char base_led_state = 0; |
jah128 | 0:8a5497a2e366 | 28 | char brightness = 20; |
jah128 | 0:8a5497a2e366 | 29 | char bl_brightness = 100; |
jah128 | 0:8a5497a2e366 | 30 | char base_ir_index = 0; |
jah128 | 0:8a5497a2e366 | 31 | char side_ir_index = 0; |
jah128 | 0:8a5497a2e366 | 32 | signed short left_speed = 0; |
jah128 | 0:8a5497a2e366 | 33 | signed short right_speed = 0; |
jah128 | 0:8a5497a2e366 | 34 | char both_motor_mode = 0; |
jah128 | 0:8a5497a2e366 | 35 | char last_switch_pressed; |
jah128 | 0:8a5497a2e366 | 36 | Timeout demo_event; |
jah128 | 0:8a5497a2e366 | 37 | char handling_event = 0; |
jah128 | 0:8a5497a2e366 | 38 | |
jah128 | 0:8a5497a2e366 | 39 | Timeout demo_timeout; |
jah128 | 0:8a5497a2e366 | 40 | char demo_running = 0; |
jah128 | 0:8a5497a2e366 | 41 | Timer demo_timer; |
jah128 | 0:8a5497a2e366 | 42 | float time_out; |
jah128 | 0:8a5497a2e366 | 43 | float speed; |
jah128 | 0:8a5497a2e366 | 44 | char state; |
jah128 | 0:8a5497a2e366 | 45 | char led_step = 0; |
jah128 | 0:8a5497a2e366 | 46 | char spin_step = 0; |
jah128 | 0:8a5497a2e366 | 47 | char stress_step = 0; |
jah128 | 0:8a5497a2e366 | 48 | |
jah128 | 0:8a5497a2e366 | 49 | |
jah128 | 0:8a5497a2e366 | 50 | |
jah128 | 0:8a5497a2e366 | 51 | void demo_mode() |
jah128 | 0:8a5497a2e366 | 52 | { |
jah128 | 0:8a5497a2e366 | 53 | debug("- Starting Demo Mode\n"); |
jah128 | 0:8a5497a2e366 | 54 | demo_on = 1; |
jah128 | 0:8a5497a2e366 | 55 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:8a5497a2e366 | 56 | display.clear_display(); |
jah128 | 0:8a5497a2e366 | 57 | display.write_string("PSI SWARM SYSTEM"); |
jah128 | 0:8a5497a2e366 | 58 | display.set_position(1,0); |
jah128 | 0:8a5497a2e366 | 59 | display.write_string(" DEMO MODE"); |
jah128 | 0:8a5497a2e366 | 60 | wait(0.5); |
jah128 | 0:8a5497a2e366 | 61 | display.clear_display(); |
jah128 | 0:8a5497a2e366 | 62 | display.write_string("Use cursor to"); |
jah128 | 0:8a5497a2e366 | 63 | display.set_position(1,0); |
jah128 | 0:8a5497a2e366 | 64 | display.write_string("navigate menus"); |
jah128 | 0:8a5497a2e366 | 65 | char step = 0; |
jah128 | 0:8a5497a2e366 | 66 | while(demo_on) { |
jah128 | 0:8a5497a2e366 | 67 | if(demo_running == 0) { |
jah128 | 0:8a5497a2e366 | 68 | switch(step) { |
jah128 | 0:8a5497a2e366 | 69 | case 0: |
jah128 | 0:8a5497a2e366 | 70 | mbed_led1 = 1; |
jah128 | 0:8a5497a2e366 | 71 | mbed_led4 = 0; |
jah128 | 0:8a5497a2e366 | 72 | break; |
jah128 | 0:8a5497a2e366 | 73 | case 1: |
jah128 | 0:8a5497a2e366 | 74 | mbed_led2 = 1; |
jah128 | 0:8a5497a2e366 | 75 | mbed_led1 = 0; |
jah128 | 0:8a5497a2e366 | 76 | break; |
jah128 | 0:8a5497a2e366 | 77 | case 2: |
jah128 | 0:8a5497a2e366 | 78 | mbed_led3 = 1; |
jah128 | 0:8a5497a2e366 | 79 | mbed_led2 = 0; |
jah128 | 0:8a5497a2e366 | 80 | break; |
jah128 | 0:8a5497a2e366 | 81 | case 3: |
jah128 | 0:8a5497a2e366 | 82 | mbed_led4 = 1; |
jah128 | 0:8a5497a2e366 | 83 | mbed_led3 = 0; |
jah128 | 0:8a5497a2e366 | 84 | break; |
jah128 | 0:8a5497a2e366 | 85 | } |
jah128 | 0:8a5497a2e366 | 86 | step++; |
jah128 | 0:8a5497a2e366 | 87 | if(step==4)step=0; |
jah128 | 0:8a5497a2e366 | 88 | } else { |
jah128 | 0:8a5497a2e366 | 89 | mbed_led1 = 0; |
jah128 | 0:8a5497a2e366 | 90 | mbed_led2 = 0; |
jah128 | 0:8a5497a2e366 | 91 | mbed_led3 = 0; |
jah128 | 0:8a5497a2e366 | 92 | mbed_led4 = 0; |
jah128 | 0:8a5497a2e366 | 93 | } |
jah128 | 0:8a5497a2e366 | 94 | wait(0.5); |
jah128 | 0:8a5497a2e366 | 95 | } |
jah128 | 0:8a5497a2e366 | 96 | debug("- Demo mode ended\n"); |
jah128 | 0:8a5497a2e366 | 97 | } |
jah128 | 0:8a5497a2e366 | 98 | |
jah128 | 0:8a5497a2e366 | 99 | void demo_handle_switch_event(char switch_pressed) |
jah128 | 0:8a5497a2e366 | 100 | { |
jah128 | 0:8a5497a2e366 | 101 | if(!handling_event) { |
jah128 | 0:8a5497a2e366 | 102 | handling_event = 1; |
jah128 | 0:8a5497a2e366 | 103 | last_switch_pressed = switch_pressed; |
jah128 | 0:8a5497a2e366 | 104 | demo_event.attach_us(&demo_event_thread, 1000); |
jah128 | 0:8a5497a2e366 | 105 | } |
jah128 | 0:8a5497a2e366 | 106 | } |
jah128 | 0:8a5497a2e366 | 107 | |
jah128 | 0:8a5497a2e366 | 108 | void demo_event_thread() |
jah128 | 0:8a5497a2e366 | 109 | { |
jah128 | 0:8a5497a2e366 | 110 | handling_event = 0; |
jah128 | 0:8a5497a2e366 | 111 | if(started == 1) { |
jah128 | 0:8a5497a2e366 | 112 | switch(last_switch_pressed) { |
jah128 | 0:8a5497a2e366 | 113 | case 1: //Up pressed |
jah128 | 0:8a5497a2e366 | 114 | switch(level) { |
jah128 | 0:8a5497a2e366 | 115 | case 0: |
jah128 | 0:8a5497a2e366 | 116 | if(top_menu < 6) { |
jah128 | 0:8a5497a2e366 | 117 | level++; |
jah128 | 0:8a5497a2e366 | 118 | sub_menu = 0; |
jah128 | 0:8a5497a2e366 | 119 | } else { |
jah128 | 0:8a5497a2e366 | 120 | demo_on = 0; |
jah128 | 0:8a5497a2e366 | 121 | user_code_running = user_code_restore_mode; |
jah128 | 0:8a5497a2e366 | 122 | } |
jah128 | 0:8a5497a2e366 | 123 | break; |
jah128 | 0:8a5497a2e366 | 124 | case 1: |
jah128 | 0:8a5497a2e366 | 125 | switch(top_menu) { |
jah128 | 0:8a5497a2e366 | 126 | case 0: //LED Menu |
jah128 | 0:8a5497a2e366 | 127 | if(sub_menu < 9) { |
jah128 | 0:8a5497a2e366 | 128 | if(led_state[sub_menu] == 0) led_state[sub_menu] = 3; |
jah128 | 0:8a5497a2e366 | 129 | else led_state[sub_menu]--; |
jah128 | 0:8a5497a2e366 | 130 | demo_update_leds(); |
jah128 | 0:8a5497a2e366 | 131 | } |
jah128 | 0:8a5497a2e366 | 132 | if(sub_menu == 9) { |
jah128 | 0:8a5497a2e366 | 133 | if(all_led_state == 0) all_led_state = 3; |
jah128 | 0:8a5497a2e366 | 134 | else all_led_state--; |
jah128 | 0:8a5497a2e366 | 135 | for(int i=0; i<9; i++) { |
jah128 | 0:8a5497a2e366 | 136 | led_state[i]=all_led_state; |
jah128 | 0:8a5497a2e366 | 137 | } |
jah128 | 0:8a5497a2e366 | 138 | demo_update_leds(); |
jah128 | 0:8a5497a2e366 | 139 | } |
jah128 | 0:8a5497a2e366 | 140 | if(sub_menu == 10) { |
jah128 | 0:8a5497a2e366 | 141 | base_led_state = 1 - base_led_state; |
jah128 | 0:8a5497a2e366 | 142 | demo_update_leds(); |
jah128 | 0:8a5497a2e366 | 143 | } |
jah128 | 0:8a5497a2e366 | 144 | if(sub_menu == 11) { |
jah128 | 0:8a5497a2e366 | 145 | switch(brightness) { |
jah128 | 0:8a5497a2e366 | 146 | case 100: |
jah128 | 0:8a5497a2e366 | 147 | brightness = 50; |
jah128 | 0:8a5497a2e366 | 148 | break; |
jah128 | 0:8a5497a2e366 | 149 | case 2: |
jah128 | 0:8a5497a2e366 | 150 | brightness = 1; |
jah128 | 0:8a5497a2e366 | 151 | break; |
jah128 | 0:8a5497a2e366 | 152 | case 5: |
jah128 | 0:8a5497a2e366 | 153 | brightness = 2; |
jah128 | 0:8a5497a2e366 | 154 | break; |
jah128 | 0:8a5497a2e366 | 155 | case 10: |
jah128 | 0:8a5497a2e366 | 156 | brightness = 5; |
jah128 | 0:8a5497a2e366 | 157 | break; |
jah128 | 0:8a5497a2e366 | 158 | case 20: |
jah128 | 0:8a5497a2e366 | 159 | brightness = 10; |
jah128 | 0:8a5497a2e366 | 160 | break; |
jah128 | 0:8a5497a2e366 | 161 | case 50: |
jah128 | 0:8a5497a2e366 | 162 | brightness = 20; |
jah128 | 0:8a5497a2e366 | 163 | break; |
jah128 | 0:8a5497a2e366 | 164 | } |
jah128 | 0:8a5497a2e366 | 165 | demo_update_leds(); |
jah128 | 0:8a5497a2e366 | 166 | } |
jah128 | 0:8a5497a2e366 | 167 | if(sub_menu == 12) { |
jah128 | 0:8a5497a2e366 | 168 | if(bl_brightness > 0) bl_brightness-=10; |
jah128 | 0:8a5497a2e366 | 169 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:8a5497a2e366 | 170 | } |
jah128 | 0:8a5497a2e366 | 171 | if(sub_menu == 13) level = 0; |
jah128 | 0:8a5497a2e366 | 172 | break; |
jah128 | 0:8a5497a2e366 | 173 | case 1: // Sensors Menu |
jah128 | 0:8a5497a2e366 | 174 | if(sub_menu == 4 || sub_menu == 5) { |
jah128 | 0:8a5497a2e366 | 175 | if(base_ir_index == 0) base_ir_index = 4; |
jah128 | 0:8a5497a2e366 | 176 | else base_ir_index --; |
jah128 | 0:8a5497a2e366 | 177 | } |
jah128 | 0:8a5497a2e366 | 178 | if(sub_menu > 5 && sub_menu < 9) { |
jah128 | 0:8a5497a2e366 | 179 | if(side_ir_index == 0) side_ir_index = 7; |
jah128 | 0:8a5497a2e366 | 180 | else side_ir_index --; |
jah128 | 0:8a5497a2e366 | 181 | } |
jah128 | 0:8a5497a2e366 | 182 | if(sub_menu == 10) level = 0; |
jah128 | 0:8a5497a2e366 | 183 | break; |
jah128 | 0:8a5497a2e366 | 184 | case 2: // Motor Menu |
jah128 | 0:8a5497a2e366 | 185 | if(sub_menu == 0) { |
jah128 | 0:8a5497a2e366 | 186 | left_speed += 5; |
jah128 | 0:8a5497a2e366 | 187 | if(left_speed > 100) left_speed = 100; |
jah128 | 0:8a5497a2e366 | 188 | set_left_motor_speed(left_speed / 100.0f); |
jah128 | 0:8a5497a2e366 | 189 | } |
jah128 | 0:8a5497a2e366 | 190 | if(sub_menu == 1) { |
jah128 | 0:8a5497a2e366 | 191 | right_speed += 5; |
jah128 | 0:8a5497a2e366 | 192 | if(right_speed > 100) right_speed = 100; |
jah128 | 0:8a5497a2e366 | 193 | set_right_motor_speed(right_speed / 100.0f); |
jah128 | 0:8a5497a2e366 | 194 | } |
jah128 | 0:8a5497a2e366 | 195 | if(sub_menu == 2) { |
jah128 | 0:8a5497a2e366 | 196 | if(both_motor_mode == 0) both_motor_mode=5; |
jah128 | 0:8a5497a2e366 | 197 | else both_motor_mode--; |
jah128 | 0:8a5497a2e366 | 198 | switch(both_motor_mode) { |
jah128 | 0:8a5497a2e366 | 199 | case 0: |
jah128 | 0:8a5497a2e366 | 200 | stop(); |
jah128 | 0:8a5497a2e366 | 201 | break; |
jah128 | 0:8a5497a2e366 | 202 | case 1: |
jah128 | 0:8a5497a2e366 | 203 | brake(); |
jah128 | 0:8a5497a2e366 | 204 | break; |
jah128 | 0:8a5497a2e366 | 205 | case 2: |
jah128 | 0:8a5497a2e366 | 206 | forward(0.5); |
jah128 | 0:8a5497a2e366 | 207 | break; |
jah128 | 0:8a5497a2e366 | 208 | case 3: |
jah128 | 0:8a5497a2e366 | 209 | forward(1); |
jah128 | 0:8a5497a2e366 | 210 | break; |
jah128 | 0:8a5497a2e366 | 211 | case 4: |
jah128 | 0:8a5497a2e366 | 212 | backward(0.5); |
jah128 | 0:8a5497a2e366 | 213 | break; |
jah128 | 0:8a5497a2e366 | 214 | case 5: |
jah128 | 0:8a5497a2e366 | 215 | backward(1.0); |
jah128 | 0:8a5497a2e366 | 216 | break; |
jah128 | 0:8a5497a2e366 | 217 | } |
jah128 | 0:8a5497a2e366 | 218 | } |
jah128 | 0:8a5497a2e366 | 219 | if(sub_menu == 3) { |
jah128 | 0:8a5497a2e366 | 220 | level = 0; |
jah128 | 0:8a5497a2e366 | 221 | } |
jah128 | 0:8a5497a2e366 | 222 | break; |
jah128 | 0:8a5497a2e366 | 223 | case 3: // Radio Menu |
jah128 | 0:8a5497a2e366 | 224 | if(sub_menu == 0) level = 0; |
jah128 | 0:8a5497a2e366 | 225 | break; |
jah128 | 0:8a5497a2e366 | 226 | case 4: // Info Menu |
jah128 | 0:8a5497a2e366 | 227 | if(sub_menu == 3) level = 0; |
jah128 | 0:8a5497a2e366 | 228 | break; |
jah128 | 0:8a5497a2e366 | 229 | case 5: // Demo Menu |
jah128 | 0:8a5497a2e366 | 230 | if(sub_menu == 1) { |
jah128 | 0:8a5497a2e366 | 231 | if(demo_running == 0) { |
jah128 | 0:8a5497a2e366 | 232 | start_obstacle_demo(); |
jah128 | 0:8a5497a2e366 | 233 | } else { |
jah128 | 0:8a5497a2e366 | 234 | demo_running = 0; |
jah128 | 0:8a5497a2e366 | 235 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:8a5497a2e366 | 236 | stop(); |
jah128 | 0:8a5497a2e366 | 237 | } |
jah128 | 0:8a5497a2e366 | 238 | } |
jah128 | 0:8a5497a2e366 | 239 | if(sub_menu == 2) { |
jah128 | 0:8a5497a2e366 | 240 | if(demo_running == 0) { |
jah128 | 0:8a5497a2e366 | 241 | start_spinning_demo(); |
jah128 | 0:8a5497a2e366 | 242 | } else { |
jah128 | 0:8a5497a2e366 | 243 | demo_running = 0; |
jah128 | 0:8a5497a2e366 | 244 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:8a5497a2e366 | 245 | stop(); |
jah128 | 0:8a5497a2e366 | 246 | } |
jah128 | 0:8a5497a2e366 | 247 | } |
jah128 | 0:8a5497a2e366 | 248 | if(sub_menu == 3) { |
jah128 | 0:8a5497a2e366 | 249 | if(demo_running == 0) { |
jah128 | 0:8a5497a2e366 | 250 | start_stress_demo(); |
jah128 | 0:8a5497a2e366 | 251 | } else { |
jah128 | 0:8a5497a2e366 | 252 | demo_running = 0; |
jah128 | 0:8a5497a2e366 | 253 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:8a5497a2e366 | 254 | stop(); |
jah128 | 0:8a5497a2e366 | 255 | } |
jah128 | 0:8a5497a2e366 | 256 | } |
jah128 | 0:8a5497a2e366 | 257 | if(sub_menu == 4) level = 0; |
jah128 | 0:8a5497a2e366 | 258 | break; |
jah128 | 0:8a5497a2e366 | 259 | } |
jah128 | 0:8a5497a2e366 | 260 | break; |
jah128 | 0:8a5497a2e366 | 261 | } |
jah128 | 0:8a5497a2e366 | 262 | break; |
jah128 | 0:8a5497a2e366 | 263 | case 2: //Down pressed |
jah128 | 0:8a5497a2e366 | 264 | switch(level) { |
jah128 | 0:8a5497a2e366 | 265 | case 0: |
jah128 | 0:8a5497a2e366 | 266 | if(top_menu < 6) { |
jah128 | 0:8a5497a2e366 | 267 | level++; |
jah128 | 0:8a5497a2e366 | 268 | sub_menu = 0; |
jah128 | 0:8a5497a2e366 | 269 | } else { |
jah128 | 0:8a5497a2e366 | 270 | demo_on = 0; |
jah128 | 0:8a5497a2e366 | 271 | user_code_running = user_code_restore_mode; |
jah128 | 0:8a5497a2e366 | 272 | } |
jah128 | 0:8a5497a2e366 | 273 | break; |
jah128 | 0:8a5497a2e366 | 274 | case 1: |
jah128 | 0:8a5497a2e366 | 275 | switch(top_menu) { |
jah128 | 0:8a5497a2e366 | 276 | case 0: //LED Menu |
jah128 | 0:8a5497a2e366 | 277 | if(sub_menu < 9) { |
jah128 | 0:8a5497a2e366 | 278 | led_state[sub_menu]++; |
jah128 | 0:8a5497a2e366 | 279 | if(led_state[sub_menu] == 4) led_state[sub_menu] = 0; |
jah128 | 0:8a5497a2e366 | 280 | demo_update_leds(); |
jah128 | 0:8a5497a2e366 | 281 | } |
jah128 | 0:8a5497a2e366 | 282 | if(sub_menu == 9) { |
jah128 | 0:8a5497a2e366 | 283 | all_led_state++; |
jah128 | 0:8a5497a2e366 | 284 | if(all_led_state == 4) all_led_state = 0; |
jah128 | 0:8a5497a2e366 | 285 | for(int i=0; i<9; i++) { |
jah128 | 0:8a5497a2e366 | 286 | led_state[i]=all_led_state; |
jah128 | 0:8a5497a2e366 | 287 | } |
jah128 | 0:8a5497a2e366 | 288 | demo_update_leds(); |
jah128 | 0:8a5497a2e366 | 289 | } |
jah128 | 0:8a5497a2e366 | 290 | if(sub_menu == 10) { |
jah128 | 0:8a5497a2e366 | 291 | base_led_state = 1 - base_led_state; |
jah128 | 0:8a5497a2e366 | 292 | demo_update_leds(); |
jah128 | 0:8a5497a2e366 | 293 | } |
jah128 | 0:8a5497a2e366 | 294 | if(sub_menu == 11) { |
jah128 | 0:8a5497a2e366 | 295 | switch(brightness) { |
jah128 | 0:8a5497a2e366 | 296 | case 1: |
jah128 | 0:8a5497a2e366 | 297 | brightness = 2; |
jah128 | 0:8a5497a2e366 | 298 | break; |
jah128 | 0:8a5497a2e366 | 299 | case 2: |
jah128 | 0:8a5497a2e366 | 300 | brightness = 5; |
jah128 | 0:8a5497a2e366 | 301 | break; |
jah128 | 0:8a5497a2e366 | 302 | case 5: |
jah128 | 0:8a5497a2e366 | 303 | brightness = 10; |
jah128 | 0:8a5497a2e366 | 304 | break; |
jah128 | 0:8a5497a2e366 | 305 | case 10: |
jah128 | 0:8a5497a2e366 | 306 | brightness = 20; |
jah128 | 0:8a5497a2e366 | 307 | break; |
jah128 | 0:8a5497a2e366 | 308 | case 20: |
jah128 | 0:8a5497a2e366 | 309 | brightness = 50; |
jah128 | 0:8a5497a2e366 | 310 | break; |
jah128 | 0:8a5497a2e366 | 311 | case 50: |
jah128 | 0:8a5497a2e366 | 312 | brightness = 100; |
jah128 | 0:8a5497a2e366 | 313 | break; |
jah128 | 0:8a5497a2e366 | 314 | } |
jah128 | 0:8a5497a2e366 | 315 | demo_update_leds(); |
jah128 | 0:8a5497a2e366 | 316 | } |
jah128 | 0:8a5497a2e366 | 317 | |
jah128 | 0:8a5497a2e366 | 318 | if(sub_menu == 12) { |
jah128 | 0:8a5497a2e366 | 319 | if(bl_brightness < 100) bl_brightness+=10; |
jah128 | 0:8a5497a2e366 | 320 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:8a5497a2e366 | 321 | } |
jah128 | 0:8a5497a2e366 | 322 | if(sub_menu == 13) level = 0; |
jah128 | 0:8a5497a2e366 | 323 | |
jah128 | 0:8a5497a2e366 | 324 | break; |
jah128 | 0:8a5497a2e366 | 325 | case 1: // Sensors Menu |
jah128 | 0:8a5497a2e366 | 326 | if(sub_menu == 4 || sub_menu == 5) { |
jah128 | 0:8a5497a2e366 | 327 | if(base_ir_index == 4) base_ir_index = 0; |
jah128 | 0:8a5497a2e366 | 328 | else base_ir_index ++; |
jah128 | 0:8a5497a2e366 | 329 | } |
jah128 | 0:8a5497a2e366 | 330 | if(sub_menu > 5 && sub_menu < 9) { |
jah128 | 0:8a5497a2e366 | 331 | if(side_ir_index == 7) side_ir_index = 0; |
jah128 | 0:8a5497a2e366 | 332 | else side_ir_index ++; |
jah128 | 0:8a5497a2e366 | 333 | } |
jah128 | 0:8a5497a2e366 | 334 | if(sub_menu == 10) level = 0; |
jah128 | 0:8a5497a2e366 | 335 | break; |
jah128 | 0:8a5497a2e366 | 336 | case 2: // Motor Menu |
jah128 | 0:8a5497a2e366 | 337 | if(sub_menu == 0) { |
jah128 | 0:8a5497a2e366 | 338 | left_speed -= 5; |
jah128 | 0:8a5497a2e366 | 339 | if(left_speed < -100) left_speed = -100; |
jah128 | 0:8a5497a2e366 | 340 | set_left_motor_speed(left_speed / 100.0f); |
jah128 | 0:8a5497a2e366 | 341 | } |
jah128 | 0:8a5497a2e366 | 342 | if(sub_menu == 1) { |
jah128 | 0:8a5497a2e366 | 343 | right_speed -= 5; |
jah128 | 0:8a5497a2e366 | 344 | if(right_speed < -100) right_speed = -100; |
jah128 | 0:8a5497a2e366 | 345 | set_right_motor_speed(right_speed / 100.0f); |
jah128 | 0:8a5497a2e366 | 346 | } |
jah128 | 0:8a5497a2e366 | 347 | if(sub_menu == 2) { |
jah128 | 0:8a5497a2e366 | 348 | both_motor_mode++; |
jah128 | 0:8a5497a2e366 | 349 | if(both_motor_mode == 6) both_motor_mode=0; |
jah128 | 0:8a5497a2e366 | 350 | switch(both_motor_mode) { |
jah128 | 0:8a5497a2e366 | 351 | case 0: |
jah128 | 0:8a5497a2e366 | 352 | stop(); |
jah128 | 0:8a5497a2e366 | 353 | break; |
jah128 | 0:8a5497a2e366 | 354 | case 1: |
jah128 | 0:8a5497a2e366 | 355 | brake(); |
jah128 | 0:8a5497a2e366 | 356 | break; |
jah128 | 0:8a5497a2e366 | 357 | case 2: |
jah128 | 0:8a5497a2e366 | 358 | forward(0.5); |
jah128 | 0:8a5497a2e366 | 359 | break; |
jah128 | 0:8a5497a2e366 | 360 | case 3: |
jah128 | 0:8a5497a2e366 | 361 | forward(1); |
jah128 | 0:8a5497a2e366 | 362 | break; |
jah128 | 0:8a5497a2e366 | 363 | case 4: |
jah128 | 0:8a5497a2e366 | 364 | backward(0.5); |
jah128 | 0:8a5497a2e366 | 365 | break; |
jah128 | 0:8a5497a2e366 | 366 | case 5: |
jah128 | 0:8a5497a2e366 | 367 | backward(1.0); |
jah128 | 0:8a5497a2e366 | 368 | break; |
jah128 | 0:8a5497a2e366 | 369 | } |
jah128 | 0:8a5497a2e366 | 370 | } |
jah128 | 0:8a5497a2e366 | 371 | if(sub_menu == 3) { |
jah128 | 0:8a5497a2e366 | 372 | level = 0; |
jah128 | 0:8a5497a2e366 | 373 | } |
jah128 | 0:8a5497a2e366 | 374 | break; |
jah128 | 0:8a5497a2e366 | 375 | case 3: // Radio Menu |
jah128 | 0:8a5497a2e366 | 376 | if(sub_menu == 0) level = 0; |
jah128 | 0:8a5497a2e366 | 377 | break; |
jah128 | 0:8a5497a2e366 | 378 | case 4: // Info Menu |
jah128 | 0:8a5497a2e366 | 379 | if(sub_menu == 3) level = 0; |
jah128 | 0:8a5497a2e366 | 380 | break; |
jah128 | 0:8a5497a2e366 | 381 | case 5: // Demo Menu |
jah128 | 0:8a5497a2e366 | 382 | if(sub_menu == 1) { |
jah128 | 0:8a5497a2e366 | 383 | if(demo_running == 0) { |
jah128 | 0:8a5497a2e366 | 384 | start_obstacle_demo(); |
jah128 | 0:8a5497a2e366 | 385 | } else { |
jah128 | 0:8a5497a2e366 | 386 | demo_running = 0; |
jah128 | 0:8a5497a2e366 | 387 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:8a5497a2e366 | 388 | stop(); |
jah128 | 0:8a5497a2e366 | 389 | |
jah128 | 0:8a5497a2e366 | 390 | } |
jah128 | 0:8a5497a2e366 | 391 | } |
jah128 | 0:8a5497a2e366 | 392 | if(sub_menu == 2) { |
jah128 | 0:8a5497a2e366 | 393 | if(demo_running == 0) { |
jah128 | 0:8a5497a2e366 | 394 | start_spinning_demo(); |
jah128 | 0:8a5497a2e366 | 395 | } else { |
jah128 | 0:8a5497a2e366 | 396 | demo_running = 0; |
jah128 | 0:8a5497a2e366 | 397 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:8a5497a2e366 | 398 | stop(); |
jah128 | 0:8a5497a2e366 | 399 | } |
jah128 | 0:8a5497a2e366 | 400 | } |
jah128 | 0:8a5497a2e366 | 401 | if(sub_menu == 3) { |
jah128 | 0:8a5497a2e366 | 402 | if(demo_running == 0) { |
jah128 | 0:8a5497a2e366 | 403 | start_stress_demo(); |
jah128 | 0:8a5497a2e366 | 404 | } else { |
jah128 | 0:8a5497a2e366 | 405 | demo_running = 0; |
jah128 | 0:8a5497a2e366 | 406 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:8a5497a2e366 | 407 | stop(); |
jah128 | 0:8a5497a2e366 | 408 | } |
jah128 | 0:8a5497a2e366 | 409 | } |
jah128 | 0:8a5497a2e366 | 410 | if(sub_menu == 4) level = 0; |
jah128 | 0:8a5497a2e366 | 411 | break; |
jah128 | 0:8a5497a2e366 | 412 | } |
jah128 | 0:8a5497a2e366 | 413 | break; |
jah128 | 0:8a5497a2e366 | 414 | } |
jah128 | 0:8a5497a2e366 | 415 | break; |
jah128 | 0:8a5497a2e366 | 416 | case 4: //Left pressed |
jah128 | 0:8a5497a2e366 | 417 | switch(level) { |
jah128 | 0:8a5497a2e366 | 418 | case 0: |
jah128 | 0:8a5497a2e366 | 419 | if(top_menu == 0) top_menu = 6; |
jah128 | 0:8a5497a2e366 | 420 | else top_menu --; |
jah128 | 0:8a5497a2e366 | 421 | break; |
jah128 | 0:8a5497a2e366 | 422 | case 1: |
jah128 | 0:8a5497a2e366 | 423 | switch(top_menu) { |
jah128 | 0:8a5497a2e366 | 424 | case 0: //LED Menu |
jah128 | 0:8a5497a2e366 | 425 | if(sub_menu == 0) sub_menu = 13; |
jah128 | 0:8a5497a2e366 | 426 | else sub_menu --; |
jah128 | 0:8a5497a2e366 | 427 | break; |
jah128 | 0:8a5497a2e366 | 428 | case 1: //Sensors Menu |
jah128 | 0:8a5497a2e366 | 429 | if(sub_menu == 0) sub_menu = 10; |
jah128 | 0:8a5497a2e366 | 430 | else sub_menu --; |
jah128 | 0:8a5497a2e366 | 431 | break; |
jah128 | 0:8a5497a2e366 | 432 | |
jah128 | 0:8a5497a2e366 | 433 | case 2: //Motor Menu |
jah128 | 0:8a5497a2e366 | 434 | if(sub_menu == 0) sub_menu = 3; |
jah128 | 0:8a5497a2e366 | 435 | else sub_menu --; |
jah128 | 0:8a5497a2e366 | 436 | break; |
jah128 | 0:8a5497a2e366 | 437 | case 4: //Info Menu |
jah128 | 0:8a5497a2e366 | 438 | if(sub_menu == 0) sub_menu = 3; |
jah128 | 0:8a5497a2e366 | 439 | else sub_menu --; |
jah128 | 0:8a5497a2e366 | 440 | break; |
jah128 | 0:8a5497a2e366 | 441 | case 5: //Demo Menu |
jah128 | 0:8a5497a2e366 | 442 | if(sub_menu == 0) sub_menu = 4; |
jah128 | 0:8a5497a2e366 | 443 | else sub_menu --; |
jah128 | 0:8a5497a2e366 | 444 | break; |
jah128 | 0:8a5497a2e366 | 445 | } |
jah128 | 0:8a5497a2e366 | 446 | break; |
jah128 | 0:8a5497a2e366 | 447 | |
jah128 | 0:8a5497a2e366 | 448 | } |
jah128 | 0:8a5497a2e366 | 449 | break; |
jah128 | 0:8a5497a2e366 | 450 | case 8: //Right pressed |
jah128 | 0:8a5497a2e366 | 451 | switch(level) { |
jah128 | 0:8a5497a2e366 | 452 | case 0: |
jah128 | 0:8a5497a2e366 | 453 | top_menu ++; |
jah128 | 0:8a5497a2e366 | 454 | if(top_menu > 6) top_menu = 0; |
jah128 | 0:8a5497a2e366 | 455 | break; |
jah128 | 0:8a5497a2e366 | 456 | case 1: |
jah128 | 0:8a5497a2e366 | 457 | switch(top_menu) { |
jah128 | 0:8a5497a2e366 | 458 | case 0: //LED Menu |
jah128 | 0:8a5497a2e366 | 459 | if(sub_menu == 13) sub_menu = 0; |
jah128 | 0:8a5497a2e366 | 460 | else sub_menu ++; |
jah128 | 0:8a5497a2e366 | 461 | break; |
jah128 | 0:8a5497a2e366 | 462 | case 1: //Sensors Menu |
jah128 | 0:8a5497a2e366 | 463 | if(sub_menu == 10) sub_menu = 0; |
jah128 | 0:8a5497a2e366 | 464 | else sub_menu ++; |
jah128 | 0:8a5497a2e366 | 465 | break; |
jah128 | 0:8a5497a2e366 | 466 | case 2: //Motor Menu |
jah128 | 0:8a5497a2e366 | 467 | if(sub_menu == 3) sub_menu = 0; |
jah128 | 0:8a5497a2e366 | 468 | else sub_menu ++; |
jah128 | 0:8a5497a2e366 | 469 | break; |
jah128 | 0:8a5497a2e366 | 470 | case 4: //Info Menu |
jah128 | 0:8a5497a2e366 | 471 | if(sub_menu == 3) sub_menu = 0; |
jah128 | 0:8a5497a2e366 | 472 | else sub_menu ++; |
jah128 | 0:8a5497a2e366 | 473 | break; |
jah128 | 0:8a5497a2e366 | 474 | case 5: //Demo Menu |
jah128 | 0:8a5497a2e366 | 475 | if(sub_menu == 4) sub_menu = 0; |
jah128 | 0:8a5497a2e366 | 476 | else sub_menu ++; |
jah128 | 0:8a5497a2e366 | 477 | break; |
jah128 | 0:8a5497a2e366 | 478 | } |
jah128 | 0:8a5497a2e366 | 479 | break; |
jah128 | 0:8a5497a2e366 | 480 | } |
jah128 | 0:8a5497a2e366 | 481 | break; |
jah128 | 0:8a5497a2e366 | 482 | case 16: //Select pressed |
jah128 | 0:8a5497a2e366 | 483 | switch(level) { |
jah128 | 0:8a5497a2e366 | 484 | case 0: |
jah128 | 0:8a5497a2e366 | 485 | if(top_menu < 6) { |
jah128 | 0:8a5497a2e366 | 486 | level++; |
jah128 | 0:8a5497a2e366 | 487 | sub_menu = 0; |
jah128 | 0:8a5497a2e366 | 488 | } else { |
jah128 | 0:8a5497a2e366 | 489 | demo_on = 0; |
jah128 | 0:8a5497a2e366 | 490 | user_code_running = user_code_restore_mode; |
jah128 | 0:8a5497a2e366 | 491 | } |
jah128 | 0:8a5497a2e366 | 492 | break; |
jah128 | 0:8a5497a2e366 | 493 | case 1: |
jah128 | 0:8a5497a2e366 | 494 | switch(top_menu) { |
jah128 | 0:8a5497a2e366 | 495 | case 0: //LED Menu |
jah128 | 0:8a5497a2e366 | 496 | if(sub_menu == 9) { |
jah128 | 0:8a5497a2e366 | 497 | for(int i=0; i<9; i++) { |
jah128 | 0:8a5497a2e366 | 498 | led_state[i]=all_led_state; |
jah128 | 0:8a5497a2e366 | 499 | } |
jah128 | 0:8a5497a2e366 | 500 | demo_update_leds(); |
jah128 | 0:8a5497a2e366 | 501 | } |
jah128 | 0:8a5497a2e366 | 502 | if(sub_menu == 13) level = 0; |
jah128 | 0:8a5497a2e366 | 503 | break; |
jah128 | 0:8a5497a2e366 | 504 | case 1: // Sensors Menu |
jah128 | 0:8a5497a2e366 | 505 | if(sub_menu == 10) level = 0; |
jah128 | 0:8a5497a2e366 | 506 | break; |
jah128 | 0:8a5497a2e366 | 507 | case 2: //Motor Menu |
jah128 | 0:8a5497a2e366 | 508 | if(sub_menu == 2) { |
jah128 | 0:8a5497a2e366 | 509 | switch(both_motor_mode) { |
jah128 | 0:8a5497a2e366 | 510 | case 0: |
jah128 | 0:8a5497a2e366 | 511 | stop(); |
jah128 | 0:8a5497a2e366 | 512 | break; |
jah128 | 0:8a5497a2e366 | 513 | case 1: |
jah128 | 0:8a5497a2e366 | 514 | brake(); |
jah128 | 0:8a5497a2e366 | 515 | break; |
jah128 | 0:8a5497a2e366 | 516 | case 2: |
jah128 | 0:8a5497a2e366 | 517 | forward(0.5); |
jah128 | 0:8a5497a2e366 | 518 | break; |
jah128 | 0:8a5497a2e366 | 519 | case 3: |
jah128 | 0:8a5497a2e366 | 520 | forward(1); |
jah128 | 0:8a5497a2e366 | 521 | break; |
jah128 | 0:8a5497a2e366 | 522 | case 4: |
jah128 | 0:8a5497a2e366 | 523 | backward(0.5); |
jah128 | 0:8a5497a2e366 | 524 | break; |
jah128 | 0:8a5497a2e366 | 525 | case 5: |
jah128 | 0:8a5497a2e366 | 526 | backward(1.0); |
jah128 | 0:8a5497a2e366 | 527 | break; |
jah128 | 0:8a5497a2e366 | 528 | } |
jah128 | 0:8a5497a2e366 | 529 | } |
jah128 | 0:8a5497a2e366 | 530 | if(sub_menu == 3) { |
jah128 | 0:8a5497a2e366 | 531 | level = 0; |
jah128 | 0:8a5497a2e366 | 532 | } |
jah128 | 0:8a5497a2e366 | 533 | break; |
jah128 | 0:8a5497a2e366 | 534 | case 3: // Radio Menu |
jah128 | 0:8a5497a2e366 | 535 | if(sub_menu == 0) level = 0; |
jah128 | 0:8a5497a2e366 | 536 | break; |
jah128 | 0:8a5497a2e366 | 537 | case 4: // Info Menu |
jah128 | 0:8a5497a2e366 | 538 | if(sub_menu == 3) level = 0; |
jah128 | 0:8a5497a2e366 | 539 | break; |
jah128 | 0:8a5497a2e366 | 540 | case 5: // Demo Menu |
jah128 | 0:8a5497a2e366 | 541 | if(sub_menu == 4) level = 0; |
jah128 | 0:8a5497a2e366 | 542 | break; |
jah128 | 0:8a5497a2e366 | 543 | } |
jah128 | 0:8a5497a2e366 | 544 | break; |
jah128 | 0:8a5497a2e366 | 545 | } |
jah128 | 0:8a5497a2e366 | 546 | break; |
jah128 | 0:8a5497a2e366 | 547 | } |
jah128 | 0:8a5497a2e366 | 548 | } else started = 1; |
jah128 | 0:8a5497a2e366 | 549 | display.clear_display(); |
jah128 | 0:8a5497a2e366 | 550 | switch(level) { |
jah128 | 0:8a5497a2e366 | 551 | case 0: |
jah128 | 0:8a5497a2e366 | 552 | //Top level menu |
jah128 | 0:8a5497a2e366 | 553 | switch(top_menu) { |
jah128 | 0:8a5497a2e366 | 554 | case 0: |
jah128 | 0:8a5497a2e366 | 555 | strcpy(topline,"---TEST LEDS----"); |
jah128 | 0:8a5497a2e366 | 556 | break; |
jah128 | 0:8a5497a2e366 | 557 | case 1: |
jah128 | 0:8a5497a2e366 | 558 | strcpy(topline,"--TEST SENSORS--"); |
jah128 | 0:8a5497a2e366 | 559 | break; |
jah128 | 0:8a5497a2e366 | 560 | case 2: |
jah128 | 0:8a5497a2e366 | 561 | strcpy(topline,"--TEST MOTORS---"); |
jah128 | 0:8a5497a2e366 | 562 | break; |
jah128 | 0:8a5497a2e366 | 563 | case 3: |
jah128 | 0:8a5497a2e366 | 564 | strcpy(topline,"---TEST RADIO---"); |
jah128 | 0:8a5497a2e366 | 565 | break; |
jah128 | 0:8a5497a2e366 | 566 | case 4: |
jah128 | 0:8a5497a2e366 | 567 | strcpy(topline,"------INFO------"); |
jah128 | 0:8a5497a2e366 | 568 | break; |
jah128 | 0:8a5497a2e366 | 569 | case 5: |
jah128 | 0:8a5497a2e366 | 570 | strcpy(topline,"---CODE DEMOS---"); |
jah128 | 0:8a5497a2e366 | 571 | break; |
jah128 | 0:8a5497a2e366 | 572 | case 6: |
jah128 | 0:8a5497a2e366 | 573 | strcpy(topline,"------EXIT------"); |
jah128 | 0:8a5497a2e366 | 574 | break; |
jah128 | 0:8a5497a2e366 | 575 | } |
jah128 | 0:8a5497a2e366 | 576 | strcpy(bottomline,""); |
jah128 | 0:8a5497a2e366 | 577 | break; |
jah128 | 0:8a5497a2e366 | 578 | case 1: |
jah128 | 0:8a5497a2e366 | 579 | //Sub level menu |
jah128 | 0:8a5497a2e366 | 580 | switch(top_menu) { |
jah128 | 0:8a5497a2e366 | 581 | case 0: |
jah128 | 0:8a5497a2e366 | 582 | strcpy(topline,"----LED MENU----"); |
jah128 | 0:8a5497a2e366 | 583 | char led_status[7]; |
jah128 | 0:8a5497a2e366 | 584 | if(sub_menu<9) { |
jah128 | 0:8a5497a2e366 | 585 | switch(led_state[sub_menu]) { |
jah128 | 0:8a5497a2e366 | 586 | case 0: |
jah128 | 0:8a5497a2e366 | 587 | strcpy(led_status,"OFF"); |
jah128 | 0:8a5497a2e366 | 588 | break; |
jah128 | 0:8a5497a2e366 | 589 | case 1: |
jah128 | 0:8a5497a2e366 | 590 | strcpy(led_status,"RED"); |
jah128 | 0:8a5497a2e366 | 591 | break; |
jah128 | 0:8a5497a2e366 | 592 | case 2: |
jah128 | 0:8a5497a2e366 | 593 | strcpy(led_status,"GREEN"); |
jah128 | 0:8a5497a2e366 | 594 | break; |
jah128 | 0:8a5497a2e366 | 595 | case 3: |
jah128 | 0:8a5497a2e366 | 596 | strcpy(led_status,"YELLOW"); |
jah128 | 0:8a5497a2e366 | 597 | break; |
jah128 | 0:8a5497a2e366 | 598 | } |
jah128 | 0:8a5497a2e366 | 599 | } |
jah128 | 0:8a5497a2e366 | 600 | if(sub_menu < 8) sprintf(bottomline,"OUTER %d: %s",(sub_menu + 1),led_status); |
jah128 | 0:8a5497a2e366 | 601 | if(sub_menu == 8) sprintf(bottomline,"CENTER: %s",led_status); |
jah128 | 0:8a5497a2e366 | 602 | if(sub_menu == 9) { |
jah128 | 0:8a5497a2e366 | 603 | switch(all_led_state) { |
jah128 | 0:8a5497a2e366 | 604 | case 0: |
jah128 | 0:8a5497a2e366 | 605 | strcpy(led_status,"OFF"); |
jah128 | 0:8a5497a2e366 | 606 | break; |
jah128 | 0:8a5497a2e366 | 607 | case 1: |
jah128 | 0:8a5497a2e366 | 608 | strcpy(led_status,"RED"); |
jah128 | 0:8a5497a2e366 | 609 | break; |
jah128 | 0:8a5497a2e366 | 610 | case 2: |
jah128 | 0:8a5497a2e366 | 611 | strcpy(led_status,"GREEN"); |
jah128 | 0:8a5497a2e366 | 612 | break; |
jah128 | 0:8a5497a2e366 | 613 | case 3: |
jah128 | 0:8a5497a2e366 | 614 | strcpy(led_status,"YELLOW"); |
jah128 | 0:8a5497a2e366 | 615 | break; |
jah128 | 0:8a5497a2e366 | 616 | } |
jah128 | 0:8a5497a2e366 | 617 | sprintf(bottomline,"SET ALL %s", led_status); |
jah128 | 0:8a5497a2e366 | 618 | } |
jah128 | 0:8a5497a2e366 | 619 | if(sub_menu == 10) { |
jah128 | 0:8a5497a2e366 | 620 | if(base_led_state == 0) strcpy(led_status,"OFF"); |
jah128 | 0:8a5497a2e366 | 621 | else strcpy(led_status,"ON"); |
jah128 | 0:8a5497a2e366 | 622 | sprintf(bottomline,"BASE: %s",led_status); |
jah128 | 0:8a5497a2e366 | 623 | } |
jah128 | 0:8a5497a2e366 | 624 | if(sub_menu == 11) sprintf(bottomline,"CLED BNESS %d%%", brightness); |
jah128 | 0:8a5497a2e366 | 625 | if(sub_menu == 12) sprintf(bottomline,"DISP BNESS %d%%", bl_brightness); |
jah128 | 0:8a5497a2e366 | 626 | if(sub_menu == 13) strcpy(bottomline,"EXIT"); |
jah128 | 0:8a5497a2e366 | 627 | break; |
jah128 | 0:8a5497a2e366 | 628 | |
jah128 | 0:8a5497a2e366 | 629 | case 1: |
jah128 | 0:8a5497a2e366 | 630 | strcpy(topline,"--SENSORS MENU--"); |
jah128 | 0:8a5497a2e366 | 631 | switch(sub_menu) { |
jah128 | 0:8a5497a2e366 | 632 | case 0: { |
jah128 | 0:8a5497a2e366 | 633 | float battery = get_battery_voltage (); |
jah128 | 0:8a5497a2e366 | 634 | sprintf(bottomline,"BATTERY: %1.3fV",battery); |
jah128 | 0:8a5497a2e366 | 635 | break; |
jah128 | 0:8a5497a2e366 | 636 | } |
jah128 | 0:8a5497a2e366 | 637 | case 1: { |
jah128 | 0:8a5497a2e366 | 638 | float dc = get_dc_voltage (); |
jah128 | 0:8a5497a2e366 | 639 | sprintf(bottomline,"DC: %1.3fV",dc); |
jah128 | 0:8a5497a2e366 | 640 | break; |
jah128 | 0:8a5497a2e366 | 641 | } |
jah128 | 0:8a5497a2e366 | 642 | case 2: { |
jah128 | 0:8a5497a2e366 | 643 | float current = get_current (); |
jah128 | 0:8a5497a2e366 | 644 | sprintf(bottomline,"CURRENT: %1.3fA",current); |
jah128 | 0:8a5497a2e366 | 645 | break; |
jah128 | 0:8a5497a2e366 | 646 | } |
jah128 | 0:8a5497a2e366 | 647 | case 3: { |
jah128 | 0:8a5497a2e366 | 648 | float temperature = get_temperature(); |
jah128 | 0:8a5497a2e366 | 649 | sprintf(bottomline,"TEMP: %3.2fC", temperature); |
jah128 | 0:8a5497a2e366 | 650 | break; |
jah128 | 0:8a5497a2e366 | 651 | } |
jah128 | 0:8a5497a2e366 | 652 | case 4: |
jah128 | 0:8a5497a2e366 | 653 | store_background_base_ir_values(); |
jah128 | 0:8a5497a2e366 | 654 | sprintf(bottomline,"BIR%dB:%d",base_ir_index+1,get_background_base_ir_value(base_ir_index)); |
jah128 | 0:8a5497a2e366 | 655 | break; |
jah128 | 0:8a5497a2e366 | 656 | case 5: |
jah128 | 0:8a5497a2e366 | 657 | store_illuminated_base_ir_values(); |
jah128 | 0:8a5497a2e366 | 658 | sprintf(bottomline,"BIR%dR:%d",base_ir_index+1,get_illuminated_base_ir_value(base_ir_index)); |
jah128 | 0:8a5497a2e366 | 659 | break; |
jah128 | 0:8a5497a2e366 | 660 | case 6: |
jah128 | 0:8a5497a2e366 | 661 | store_background_raw_ir_values(); |
jah128 | 0:8a5497a2e366 | 662 | sprintf(bottomline,"SIR%dB:%d",side_ir_index+1,get_background_raw_ir_value(side_ir_index)); |
jah128 | 0:8a5497a2e366 | 663 | break; |
jah128 | 0:8a5497a2e366 | 664 | case 7: |
jah128 | 0:8a5497a2e366 | 665 | store_illuminated_raw_ir_values(); |
jah128 | 0:8a5497a2e366 | 666 | sprintf(bottomline,"SIR%dR:%d",side_ir_index+1,get_illuminated_raw_ir_value(side_ir_index)); |
jah128 | 0:8a5497a2e366 | 667 | break; |
jah128 | 0:8a5497a2e366 | 668 | case 8: |
jah128 | 0:8a5497a2e366 | 669 | sprintf(bottomline,"SIR%dD:%3.1f",side_ir_index+1,0.0); |
jah128 | 0:8a5497a2e366 | 670 | break; |
jah128 | 0:8a5497a2e366 | 671 | case 9: |
jah128 | 0:8a5497a2e366 | 672 | if(ultrasonic_distance_updated == 1) { |
jah128 | 0:8a5497a2e366 | 673 | sprintf(bottomline,"USONIC:%3dcm",ultrasonic_distance); |
jah128 | 0:8a5497a2e366 | 674 | } else sprintf(bottomline,"USONIC:---------"); |
jah128 | 0:8a5497a2e366 | 675 | update_ultrasonic_measure(); |
jah128 | 0:8a5497a2e366 | 676 | break; |
jah128 | 0:8a5497a2e366 | 677 | case 10: |
jah128 | 0:8a5497a2e366 | 678 | sprintf(bottomline,"EXIT"); |
jah128 | 0:8a5497a2e366 | 679 | break; |
jah128 | 0:8a5497a2e366 | 680 | } |
jah128 | 0:8a5497a2e366 | 681 | break; |
jah128 | 0:8a5497a2e366 | 682 | case 2: |
jah128 | 0:8a5497a2e366 | 683 | strcpy(topline,"--MOTORS MENU---"); |
jah128 | 0:8a5497a2e366 | 684 | switch(sub_menu) { |
jah128 | 0:8a5497a2e366 | 685 | case 0: |
jah128 | 0:8a5497a2e366 | 686 | sprintf(bottomline,"LEFT: %d%%", left_speed); |
jah128 | 0:8a5497a2e366 | 687 | break; |
jah128 | 0:8a5497a2e366 | 688 | case 1: |
jah128 | 0:8a5497a2e366 | 689 | sprintf(bottomline,"RIGHT: %d%%", right_speed); |
jah128 | 0:8a5497a2e366 | 690 | break; |
jah128 | 0:8a5497a2e366 | 691 | case 2: |
jah128 | 0:8a5497a2e366 | 692 | char both_mode_string[16]; |
jah128 | 0:8a5497a2e366 | 693 | switch(both_motor_mode) { |
jah128 | 0:8a5497a2e366 | 694 | case 0: |
jah128 | 0:8a5497a2e366 | 695 | strcpy(both_mode_string,"OFF"); |
jah128 | 0:8a5497a2e366 | 696 | break; |
jah128 | 0:8a5497a2e366 | 697 | case 1: |
jah128 | 0:8a5497a2e366 | 698 | strcpy(both_mode_string,"BRAKE"); |
jah128 | 0:8a5497a2e366 | 699 | break; |
jah128 | 0:8a5497a2e366 | 700 | case 2: |
jah128 | 0:8a5497a2e366 | 701 | strcpy(both_mode_string,"+50%"); |
jah128 | 0:8a5497a2e366 | 702 | break; |
jah128 | 0:8a5497a2e366 | 703 | case 3: |
jah128 | 0:8a5497a2e366 | 704 | strcpy(both_mode_string,"+100%"); |
jah128 | 0:8a5497a2e366 | 705 | break; |
jah128 | 0:8a5497a2e366 | 706 | case 4: |
jah128 | 0:8a5497a2e366 | 707 | strcpy(both_mode_string,"-50%"); |
jah128 | 0:8a5497a2e366 | 708 | break; |
jah128 | 0:8a5497a2e366 | 709 | case 5: |
jah128 | 0:8a5497a2e366 | 710 | strcpy(both_mode_string,"-100%"); |
jah128 | 0:8a5497a2e366 | 711 | break; |
jah128 | 0:8a5497a2e366 | 712 | } |
jah128 | 0:8a5497a2e366 | 713 | sprintf(bottomline,"BOTH TO %s",both_mode_string); |
jah128 | 0:8a5497a2e366 | 714 | break; |
jah128 | 0:8a5497a2e366 | 715 | case 3: |
jah128 | 0:8a5497a2e366 | 716 | sprintf(bottomline,"EXIT"); |
jah128 | 0:8a5497a2e366 | 717 | break; |
jah128 | 0:8a5497a2e366 | 718 | } |
jah128 | 0:8a5497a2e366 | 719 | break; |
jah128 | 0:8a5497a2e366 | 720 | case 3: |
jah128 | 0:8a5497a2e366 | 721 | strcpy(topline,"---RADIO MENU---"); |
jah128 | 0:8a5497a2e366 | 722 | switch(sub_menu) { |
jah128 | 0:8a5497a2e366 | 723 | |
jah128 | 0:8a5497a2e366 | 724 | case 0: |
jah128 | 0:8a5497a2e366 | 725 | sprintf(bottomline,"EXIT"); |
jah128 | 0:8a5497a2e366 | 726 | break; |
jah128 | 0:8a5497a2e366 | 727 | } |
jah128 | 0:8a5497a2e366 | 728 | break; |
jah128 | 0:8a5497a2e366 | 729 | case 4: |
jah128 | 0:8a5497a2e366 | 730 | strcpy(topline,"---INFO MENU----"); |
jah128 | 0:8a5497a2e366 | 731 | switch(sub_menu) { |
jah128 | 0:8a5497a2e366 | 732 | case 0: |
jah128 | 0:8a5497a2e366 | 733 | sprintf(bottomline,"ROBOT ID: %d",robot_id); |
jah128 | 0:8a5497a2e366 | 734 | break; |
jah128 | 0:8a5497a2e366 | 735 | case 1: |
jah128 | 0:8a5497a2e366 | 736 | sprintf(bottomline,"SOFTWARE: %1.2f",SOFTWARE_VERSION_CODE); |
jah128 | 0:8a5497a2e366 | 737 | break; |
jah128 | 0:8a5497a2e366 | 738 | case 2: |
jah128 | 0:8a5497a2e366 | 739 | if(firmware_version > 0) sprintf(bottomline,"FIRMWARE: %1.2f",firmware_version); |
jah128 | 0:8a5497a2e366 | 740 | else sprintf(bottomline,"FIRMWARE: ?????"); |
jah128 | 0:8a5497a2e366 | 741 | break; |
jah128 | 0:8a5497a2e366 | 742 | case 3: |
jah128 | 0:8a5497a2e366 | 743 | sprintf(bottomline,"EXIT"); |
jah128 | 0:8a5497a2e366 | 744 | break; |
jah128 | 0:8a5497a2e366 | 745 | } |
jah128 | 0:8a5497a2e366 | 746 | break; |
jah128 | 0:8a5497a2e366 | 747 | case 5: |
jah128 | 0:8a5497a2e366 | 748 | strcpy(topline,"---CODE DEMOS---"); |
jah128 | 0:8a5497a2e366 | 749 | switch(sub_menu) { |
jah128 | 0:8a5497a2e366 | 750 | case 0: |
jah128 | 0:8a5497a2e366 | 751 | sprintf(bottomline,"LINE FOLLOW"); |
jah128 | 0:8a5497a2e366 | 752 | break; |
jah128 | 0:8a5497a2e366 | 753 | case 1: |
jah128 | 0:8a5497a2e366 | 754 | sprintf(bottomline,"OBST. AVOID"); |
jah128 | 0:8a5497a2e366 | 755 | break; |
jah128 | 0:8a5497a2e366 | 756 | case 2: |
jah128 | 0:8a5497a2e366 | 757 | sprintf(bottomline,"COLOUR SPIN"); |
jah128 | 0:8a5497a2e366 | 758 | break; |
jah128 | 0:8a5497a2e366 | 759 | case 3: |
jah128 | 0:8a5497a2e366 | 760 | sprintf(bottomline,"STRESS TEST"); |
jah128 | 0:8a5497a2e366 | 761 | break; |
jah128 | 0:8a5497a2e366 | 762 | case 4: |
jah128 | 0:8a5497a2e366 | 763 | sprintf(bottomline,"EXIT"); |
jah128 | 0:8a5497a2e366 | 764 | break; |
jah128 | 0:8a5497a2e366 | 765 | } |
jah128 | 0:8a5497a2e366 | 766 | break; |
jah128 | 0:8a5497a2e366 | 767 | case 6: |
jah128 | 0:8a5497a2e366 | 768 | strcpy(topline,""); |
jah128 | 0:8a5497a2e366 | 769 | break; |
jah128 | 0:8a5497a2e366 | 770 | } |
jah128 | 0:8a5497a2e366 | 771 | break; |
jah128 | 0:8a5497a2e366 | 772 | } |
jah128 | 0:8a5497a2e366 | 773 | display.write_string(topline); |
jah128 | 0:8a5497a2e366 | 774 | display.set_position(1,0); |
jah128 | 0:8a5497a2e366 | 775 | display.write_string(bottomline); |
jah128 | 0:8a5497a2e366 | 776 | if(top_menu == 1 && level == 1) { |
jah128 | 0:8a5497a2e366 | 777 | demo_event.attach(&demo_event_thread, 0.25); |
jah128 | 0:8a5497a2e366 | 778 | } |
jah128 | 0:8a5497a2e366 | 779 | } |
jah128 | 0:8a5497a2e366 | 780 | |
jah128 | 0:8a5497a2e366 | 781 | |
jah128 | 0:8a5497a2e366 | 782 | void start_obstacle_demo() |
jah128 | 0:8a5497a2e366 | 783 | { |
jah128 | 0:8a5497a2e366 | 784 | display.set_backlight_brightness(0); |
jah128 | 0:8a5497a2e366 | 785 | time_out = 0.25f; |
jah128 | 0:8a5497a2e366 | 786 | demo_timer.start(); |
jah128 | 0:8a5497a2e366 | 787 | state = 0; |
jah128 | 0:8a5497a2e366 | 788 | speed = 0; |
jah128 | 0:8a5497a2e366 | 789 | led_step = 0; |
jah128 | 0:8a5497a2e366 | 790 | demo_running = 1; |
jah128 | 0:8a5497a2e366 | 791 | demo_timeout.attach_us(&obstacle_demo_cycle,1000); |
jah128 | 0:8a5497a2e366 | 792 | } |
jah128 | 0:8a5497a2e366 | 793 | |
jah128 | 0:8a5497a2e366 | 794 | void start_stress_demo() |
jah128 | 0:8a5497a2e366 | 795 | { |
jah128 | 0:8a5497a2e366 | 796 | display.set_backlight_brightness(0.25); |
jah128 | 0:8a5497a2e366 | 797 | display.write_string("STRESS TEST"); |
jah128 | 0:8a5497a2e366 | 798 | display.set_position(1,0); |
jah128 | 0:8a5497a2e366 | 799 | display.write_string("----25%----"); |
jah128 | 0:8a5497a2e366 | 800 | time_out = 0.04f; |
jah128 | 0:8a5497a2e366 | 801 | demo_timer.start(); |
jah128 | 0:8a5497a2e366 | 802 | state = 0; |
jah128 | 0:8a5497a2e366 | 803 | speed = 0; |
jah128 | 0:8a5497a2e366 | 804 | stress_step = 0; |
jah128 | 0:8a5497a2e366 | 805 | spin_step = 0; |
jah128 | 0:8a5497a2e366 | 806 | demo_running = 1; |
jah128 | 0:8a5497a2e366 | 807 | demo_timeout.attach_us(&stress_demo_cycle,1000); |
jah128 | 0:8a5497a2e366 | 808 | } |
jah128 | 0:8a5497a2e366 | 809 | |
jah128 | 0:8a5497a2e366 | 810 | void start_spinning_demo() |
jah128 | 0:8a5497a2e366 | 811 | { |
jah128 | 0:8a5497a2e366 | 812 | display.set_backlight_brightness(0); |
jah128 | 0:8a5497a2e366 | 813 | time_out = 0.0f; |
jah128 | 0:8a5497a2e366 | 814 | demo_timer.start(); |
jah128 | 0:8a5497a2e366 | 815 | state = 0; |
jah128 | 0:8a5497a2e366 | 816 | speed = 0; |
jah128 | 0:8a5497a2e366 | 817 | led_step = 0; |
jah128 | 0:8a5497a2e366 | 818 | spin_step = 0; |
jah128 | 0:8a5497a2e366 | 819 | demo_running = 1; |
jah128 | 0:8a5497a2e366 | 820 | demo_timeout.attach_us(&spinning_demo_cycle,1000); |
jah128 | 0:8a5497a2e366 | 821 | } |
jah128 | 0:8a5497a2e366 | 822 | |
jah128 | 0:8a5497a2e366 | 823 | void stress_demo_cycle() |
jah128 | 0:8a5497a2e366 | 824 | { |
jah128 | 0:8a5497a2e366 | 825 | if(demo_timer.read() > time_out) { |
jah128 | 0:8a5497a2e366 | 826 | float pct = 0.25 + (0.25 * stress_step); |
jah128 | 0:8a5497a2e366 | 827 | switch(state) { |
jah128 | 0:8a5497a2e366 | 828 | case 0: |
jah128 | 0:8a5497a2e366 | 829 | if(spin_step % 2 == 0) { |
jah128 | 0:8a5497a2e366 | 830 | forward(pct); |
jah128 | 0:8a5497a2e366 | 831 | set_leds(0xFF,0xFF); |
jah128 | 0:8a5497a2e366 | 832 | } else { |
jah128 | 0:8a5497a2e366 | 833 | backward(pct); |
jah128 | 0:8a5497a2e366 | 834 | set_leds(0,0xFF); |
jah128 | 0:8a5497a2e366 | 835 | } |
jah128 | 0:8a5497a2e366 | 836 | spin_step ++; |
jah128 | 0:8a5497a2e366 | 837 | if(spin_step > 199) { |
jah128 | 0:8a5497a2e366 | 838 | state ++; |
jah128 | 0:8a5497a2e366 | 839 | spin_step = 0; |
jah128 | 0:8a5497a2e366 | 840 | } |
jah128 | 0:8a5497a2e366 | 841 | break; |
jah128 | 0:8a5497a2e366 | 842 | case 1: |
jah128 | 0:8a5497a2e366 | 843 | if(stress_step < 3) stress_step ++; |
jah128 | 0:8a5497a2e366 | 844 | float pct = 0.25 + (0.25 * stress_step); |
jah128 | 0:8a5497a2e366 | 845 | display.set_backlight_brightness(pct); |
jah128 | 0:8a5497a2e366 | 846 | display.set_position(1,0); |
jah128 | 0:8a5497a2e366 | 847 | switch(stress_step) { |
jah128 | 0:8a5497a2e366 | 848 | case 1: |
jah128 | 0:8a5497a2e366 | 849 | display.write_string("----50%----"); |
jah128 | 0:8a5497a2e366 | 850 | break; |
jah128 | 0:8a5497a2e366 | 851 | case 2: |
jah128 | 0:8a5497a2e366 | 852 | display.write_string("----75%----"); |
jah128 | 0:8a5497a2e366 | 853 | break; |
jah128 | 0:8a5497a2e366 | 854 | case 3: |
jah128 | 0:8a5497a2e366 | 855 | display.write_string("---100%----"); |
jah128 | 0:8a5497a2e366 | 856 | break; |
jah128 | 0:8a5497a2e366 | 857 | } |
jah128 | 0:8a5497a2e366 | 858 | state = 0; |
jah128 | 0:8a5497a2e366 | 859 | break; |
jah128 | 0:8a5497a2e366 | 860 | } |
jah128 | 0:8a5497a2e366 | 861 | demo_timer.reset(); |
jah128 | 0:8a5497a2e366 | 862 | } |
jah128 | 0:8a5497a2e366 | 863 | if(demo_running == 1)demo_timeout.attach_us(&stress_demo_cycle,500); |
jah128 | 0:8a5497a2e366 | 864 | else { |
jah128 | 0:8a5497a2e366 | 865 | stop(); |
jah128 | 0:8a5497a2e366 | 866 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:8a5497a2e366 | 867 | } |
jah128 | 0:8a5497a2e366 | 868 | } |
jah128 | 0:8a5497a2e366 | 869 | |
jah128 | 0:8a5497a2e366 | 870 | void spinning_demo_cycle() |
jah128 | 0:8a5497a2e366 | 871 | { |
jah128 | 0:8a5497a2e366 | 872 | if(demo_timer.read() > time_out) { |
jah128 | 0:8a5497a2e366 | 873 | switch(state) { |
jah128 | 0:8a5497a2e366 | 874 | case 0: //Robot is stopped |
jah128 | 0:8a5497a2e366 | 875 | set_leds(0,0xFF); |
jah128 | 0:8a5497a2e366 | 876 | set_center_led(1,1); |
jah128 | 0:8a5497a2e366 | 877 | speed = 0.1f; |
jah128 | 0:8a5497a2e366 | 878 | brake(); |
jah128 | 0:8a5497a2e366 | 879 | time_out = 0.5; |
jah128 | 0:8a5497a2e366 | 880 | state = 1; |
jah128 | 0:8a5497a2e366 | 881 | led_step = 0; |
jah128 | 0:8a5497a2e366 | 882 | break; |
jah128 | 0:8a5497a2e366 | 883 | case 1: //Motor is turning right, accelerating |
jah128 | 0:8a5497a2e366 | 884 | time_out = 0.1; |
jah128 | 0:8a5497a2e366 | 885 | set_center_led(2,1); |
jah128 | 0:8a5497a2e366 | 886 | switch(led_step) { |
jah128 | 0:8a5497a2e366 | 887 | case 0: |
jah128 | 0:8a5497a2e366 | 888 | set_leds(0x01,0); |
jah128 | 0:8a5497a2e366 | 889 | break; |
jah128 | 0:8a5497a2e366 | 890 | case 1: |
jah128 | 0:8a5497a2e366 | 891 | set_leds(0x02,0); |
jah128 | 0:8a5497a2e366 | 892 | break; |
jah128 | 0:8a5497a2e366 | 893 | case 2: |
jah128 | 0:8a5497a2e366 | 894 | set_leds(0x04,0); |
jah128 | 0:8a5497a2e366 | 895 | break; |
jah128 | 0:8a5497a2e366 | 896 | case 3: |
jah128 | 0:8a5497a2e366 | 897 | set_leds(0x08,0); |
jah128 | 0:8a5497a2e366 | 898 | break; |
jah128 | 0:8a5497a2e366 | 899 | case 4: |
jah128 | 0:8a5497a2e366 | 900 | set_leds(0x10,0); |
jah128 | 0:8a5497a2e366 | 901 | break; |
jah128 | 0:8a5497a2e366 | 902 | case 5: |
jah128 | 0:8a5497a2e366 | 903 | set_leds(0x20,0); |
jah128 | 0:8a5497a2e366 | 904 | break; |
jah128 | 0:8a5497a2e366 | 905 | case 6: |
jah128 | 0:8a5497a2e366 | 906 | set_leds(0x40,0); |
jah128 | 0:8a5497a2e366 | 907 | break; |
jah128 | 0:8a5497a2e366 | 908 | case 7: |
jah128 | 0:8a5497a2e366 | 909 | set_leds(0x80,0); |
jah128 | 0:8a5497a2e366 | 910 | break; |
jah128 | 0:8a5497a2e366 | 911 | } |
jah128 | 0:8a5497a2e366 | 912 | led_step ++; |
jah128 | 0:8a5497a2e366 | 913 | if(led_step == 8) led_step =0; |
jah128 | 0:8a5497a2e366 | 914 | if(speed < 1) { |
jah128 | 0:8a5497a2e366 | 915 | speed += 0.0125; |
jah128 | 0:8a5497a2e366 | 916 | turn(speed); |
jah128 | 0:8a5497a2e366 | 917 | } else { |
jah128 | 0:8a5497a2e366 | 918 | state = 2; |
jah128 | 0:8a5497a2e366 | 919 | spin_step = 0; |
jah128 | 0:8a5497a2e366 | 920 | led_step =0; |
jah128 | 0:8a5497a2e366 | 921 | } |
jah128 | 0:8a5497a2e366 | 922 | break; |
jah128 | 0:8a5497a2e366 | 923 | case 2: //Motor is turning right, full speed |
jah128 | 0:8a5497a2e366 | 924 | set_center_led(3,1); |
jah128 | 0:8a5497a2e366 | 925 | switch(led_step) { |
jah128 | 0:8a5497a2e366 | 926 | case 0: |
jah128 | 0:8a5497a2e366 | 927 | set_leds(0x33,0x33); |
jah128 | 0:8a5497a2e366 | 928 | break; |
jah128 | 0:8a5497a2e366 | 929 | case 1: |
jah128 | 0:8a5497a2e366 | 930 | set_leds(0x66,0x66); |
jah128 | 0:8a5497a2e366 | 931 | break; |
jah128 | 0:8a5497a2e366 | 932 | case 2: |
jah128 | 0:8a5497a2e366 | 933 | set_leds(0xCC,0xCC); |
jah128 | 0:8a5497a2e366 | 934 | break; |
jah128 | 0:8a5497a2e366 | 935 | case 3: |
jah128 | 0:8a5497a2e366 | 936 | set_leds(0x99,0x99); |
jah128 | 0:8a5497a2e366 | 937 | break; |
jah128 | 0:8a5497a2e366 | 938 | } |
jah128 | 0:8a5497a2e366 | 939 | led_step ++; |
jah128 | 0:8a5497a2e366 | 940 | if(led_step == 4) led_step = 0; |
jah128 | 0:8a5497a2e366 | 941 | spin_step ++; |
jah128 | 0:8a5497a2e366 | 942 | if(spin_step == 40) { |
jah128 | 0:8a5497a2e366 | 943 | state = 3; |
jah128 | 0:8a5497a2e366 | 944 | led_step = 0; |
jah128 | 0:8a5497a2e366 | 945 | } |
jah128 | 0:8a5497a2e366 | 946 | break; |
jah128 | 0:8a5497a2e366 | 947 | case 3: //Motor is turning right, decelerating |
jah128 | 0:8a5497a2e366 | 948 | set_center_led(2,1); |
jah128 | 0:8a5497a2e366 | 949 | switch(led_step) { |
jah128 | 0:8a5497a2e366 | 950 | case 0: |
jah128 | 0:8a5497a2e366 | 951 | set_leds(0x01,0); |
jah128 | 0:8a5497a2e366 | 952 | break; |
jah128 | 0:8a5497a2e366 | 953 | case 1: |
jah128 | 0:8a5497a2e366 | 954 | set_leds(0x02,0); |
jah128 | 0:8a5497a2e366 | 955 | break; |
jah128 | 0:8a5497a2e366 | 956 | case 2: |
jah128 | 0:8a5497a2e366 | 957 | set_leds(0x04,0); |
jah128 | 0:8a5497a2e366 | 958 | break; |
jah128 | 0:8a5497a2e366 | 959 | case 3: |
jah128 | 0:8a5497a2e366 | 960 | set_leds(0x08,0); |
jah128 | 0:8a5497a2e366 | 961 | break; |
jah128 | 0:8a5497a2e366 | 962 | case 4: |
jah128 | 0:8a5497a2e366 | 963 | set_leds(0x10,0); |
jah128 | 0:8a5497a2e366 | 964 | break; |
jah128 | 0:8a5497a2e366 | 965 | case 5: |
jah128 | 0:8a5497a2e366 | 966 | set_leds(0x20,0); |
jah128 | 0:8a5497a2e366 | 967 | break; |
jah128 | 0:8a5497a2e366 | 968 | case 6: |
jah128 | 0:8a5497a2e366 | 969 | set_leds(0x40,0); |
jah128 | 0:8a5497a2e366 | 970 | break; |
jah128 | 0:8a5497a2e366 | 971 | case 7: |
jah128 | 0:8a5497a2e366 | 972 | set_leds(0x80,0); |
jah128 | 0:8a5497a2e366 | 973 | break; |
jah128 | 0:8a5497a2e366 | 974 | } |
jah128 | 0:8a5497a2e366 | 975 | if(led_step == 0) led_step =8; |
jah128 | 0:8a5497a2e366 | 976 | led_step --; |
jah128 | 0:8a5497a2e366 | 977 | if(speed > 0.1) { |
jah128 | 0:8a5497a2e366 | 978 | speed -= 0.025; |
jah128 | 0:8a5497a2e366 | 979 | turn(speed); |
jah128 | 0:8a5497a2e366 | 980 | } else { |
jah128 | 0:8a5497a2e366 | 981 | state = 4; |
jah128 | 0:8a5497a2e366 | 982 | spin_step = 0; |
jah128 | 0:8a5497a2e366 | 983 | led_step =0; |
jah128 | 0:8a5497a2e366 | 984 | } |
jah128 | 0:8a5497a2e366 | 985 | break; |
jah128 | 0:8a5497a2e366 | 986 | case 4: //Robot is stopped |
jah128 | 0:8a5497a2e366 | 987 | set_leds(0,0xFF); |
jah128 | 0:8a5497a2e366 | 988 | set_center_led(1,1); |
jah128 | 0:8a5497a2e366 | 989 | speed = 0.1f; |
jah128 | 0:8a5497a2e366 | 990 | brake(); |
jah128 | 0:8a5497a2e366 | 991 | time_out = 0.5; |
jah128 | 0:8a5497a2e366 | 992 | led_step =0; |
jah128 | 0:8a5497a2e366 | 993 | state = 5; |
jah128 | 0:8a5497a2e366 | 994 | break; |
jah128 | 0:8a5497a2e366 | 995 | case 5: //Motor is turning left, accelerating |
jah128 | 0:8a5497a2e366 | 996 | time_out = 0.1; |
jah128 | 0:8a5497a2e366 | 997 | set_center_led(2,1); |
jah128 | 0:8a5497a2e366 | 998 | switch(led_step) { |
jah128 | 0:8a5497a2e366 | 999 | case 0: |
jah128 | 0:8a5497a2e366 | 1000 | set_leds(0x01,0); |
jah128 | 0:8a5497a2e366 | 1001 | break; |
jah128 | 0:8a5497a2e366 | 1002 | case 1: |
jah128 | 0:8a5497a2e366 | 1003 | set_leds(0x02,0); |
jah128 | 0:8a5497a2e366 | 1004 | break; |
jah128 | 0:8a5497a2e366 | 1005 | case 2: |
jah128 | 0:8a5497a2e366 | 1006 | set_leds(0x04,0); |
jah128 | 0:8a5497a2e366 | 1007 | break; |
jah128 | 0:8a5497a2e366 | 1008 | case 3: |
jah128 | 0:8a5497a2e366 | 1009 | set_leds(0x08,0); |
jah128 | 0:8a5497a2e366 | 1010 | break; |
jah128 | 0:8a5497a2e366 | 1011 | case 4: |
jah128 | 0:8a5497a2e366 | 1012 | set_leds(0x10,0); |
jah128 | 0:8a5497a2e366 | 1013 | break; |
jah128 | 0:8a5497a2e366 | 1014 | case 5: |
jah128 | 0:8a5497a2e366 | 1015 | set_leds(0x20,0); |
jah128 | 0:8a5497a2e366 | 1016 | break; |
jah128 | 0:8a5497a2e366 | 1017 | case 6: |
jah128 | 0:8a5497a2e366 | 1018 | set_leds(0x40,0); |
jah128 | 0:8a5497a2e366 | 1019 | break; |
jah128 | 0:8a5497a2e366 | 1020 | case 7: |
jah128 | 0:8a5497a2e366 | 1021 | set_leds(0x80,0); |
jah128 | 0:8a5497a2e366 | 1022 | break; |
jah128 | 0:8a5497a2e366 | 1023 | } |
jah128 | 0:8a5497a2e366 | 1024 | if(led_step == 0) led_step =8; |
jah128 | 0:8a5497a2e366 | 1025 | led_step --; |
jah128 | 0:8a5497a2e366 | 1026 | if(speed < 1) { |
jah128 | 0:8a5497a2e366 | 1027 | speed += 0.0125; |
jah128 | 0:8a5497a2e366 | 1028 | turn(-speed); |
jah128 | 0:8a5497a2e366 | 1029 | } else { |
jah128 | 0:8a5497a2e366 | 1030 | state = 6; |
jah128 | 0:8a5497a2e366 | 1031 | spin_step = 0; |
jah128 | 0:8a5497a2e366 | 1032 | led_step = 0; |
jah128 | 0:8a5497a2e366 | 1033 | } |
jah128 | 0:8a5497a2e366 | 1034 | break; |
jah128 | 0:8a5497a2e366 | 1035 | case 6: //Motor is turning left, full speed |
jah128 | 0:8a5497a2e366 | 1036 | set_center_led(3,1); |
jah128 | 0:8a5497a2e366 | 1037 | switch(led_step) { |
jah128 | 0:8a5497a2e366 | 1038 | case 0: |
jah128 | 0:8a5497a2e366 | 1039 | set_leds(0x33,0x33); |
jah128 | 0:8a5497a2e366 | 1040 | break; |
jah128 | 0:8a5497a2e366 | 1041 | case 1: |
jah128 | 0:8a5497a2e366 | 1042 | set_leds(0x66,0x66); |
jah128 | 0:8a5497a2e366 | 1043 | break; |
jah128 | 0:8a5497a2e366 | 1044 | case 2: |
jah128 | 0:8a5497a2e366 | 1045 | set_leds(0xCC,0xCC); |
jah128 | 0:8a5497a2e366 | 1046 | break; |
jah128 | 0:8a5497a2e366 | 1047 | case 3: |
jah128 | 0:8a5497a2e366 | 1048 | set_leds(0x99,0x99); |
jah128 | 0:8a5497a2e366 | 1049 | break; |
jah128 | 0:8a5497a2e366 | 1050 | } |
jah128 | 0:8a5497a2e366 | 1051 | if(led_step == 0) led_step = 4; |
jah128 | 0:8a5497a2e366 | 1052 | led_step --; |
jah128 | 0:8a5497a2e366 | 1053 | spin_step ++; |
jah128 | 0:8a5497a2e366 | 1054 | if(spin_step == 40) { |
jah128 | 0:8a5497a2e366 | 1055 | state = 7; |
jah128 | 0:8a5497a2e366 | 1056 | led_step = 0; |
jah128 | 0:8a5497a2e366 | 1057 | } |
jah128 | 0:8a5497a2e366 | 1058 | break; |
jah128 | 0:8a5497a2e366 | 1059 | case 7: //Motor is turning left, decelerating |
jah128 | 0:8a5497a2e366 | 1060 | set_center_led(2,1); |
jah128 | 0:8a5497a2e366 | 1061 | switch(led_step) { |
jah128 | 0:8a5497a2e366 | 1062 | case 0: |
jah128 | 0:8a5497a2e366 | 1063 | set_leds(0x01,0); |
jah128 | 0:8a5497a2e366 | 1064 | break; |
jah128 | 0:8a5497a2e366 | 1065 | case 1: |
jah128 | 0:8a5497a2e366 | 1066 | set_leds(0x02,0); |
jah128 | 0:8a5497a2e366 | 1067 | break; |
jah128 | 0:8a5497a2e366 | 1068 | case 2: |
jah128 | 0:8a5497a2e366 | 1069 | set_leds(0x04,0); |
jah128 | 0:8a5497a2e366 | 1070 | break; |
jah128 | 0:8a5497a2e366 | 1071 | case 3: |
jah128 | 0:8a5497a2e366 | 1072 | set_leds(0x08,0); |
jah128 | 0:8a5497a2e366 | 1073 | break; |
jah128 | 0:8a5497a2e366 | 1074 | case 4: |
jah128 | 0:8a5497a2e366 | 1075 | set_leds(0x10,0); |
jah128 | 0:8a5497a2e366 | 1076 | break; |
jah128 | 0:8a5497a2e366 | 1077 | case 5: |
jah128 | 0:8a5497a2e366 | 1078 | set_leds(0x20,0); |
jah128 | 0:8a5497a2e366 | 1079 | break; |
jah128 | 0:8a5497a2e366 | 1080 | case 6: |
jah128 | 0:8a5497a2e366 | 1081 | set_leds(0x40,0); |
jah128 | 0:8a5497a2e366 | 1082 | break; |
jah128 | 0:8a5497a2e366 | 1083 | case 7: |
jah128 | 0:8a5497a2e366 | 1084 | set_leds(0x80,0); |
jah128 | 0:8a5497a2e366 | 1085 | break; |
jah128 | 0:8a5497a2e366 | 1086 | } |
jah128 | 0:8a5497a2e366 | 1087 | led_step ++; |
jah128 | 0:8a5497a2e366 | 1088 | if(led_step == 8) led_step =0; |
jah128 | 0:8a5497a2e366 | 1089 | if(speed > 0.1) { |
jah128 | 0:8a5497a2e366 | 1090 | speed -= 0.025; |
jah128 | 0:8a5497a2e366 | 1091 | turn(-speed); |
jah128 | 0:8a5497a2e366 | 1092 | } else { |
jah128 | 0:8a5497a2e366 | 1093 | state = 0; |
jah128 | 0:8a5497a2e366 | 1094 | spin_step = 0; |
jah128 | 0:8a5497a2e366 | 1095 | led_step = 0; |
jah128 | 0:8a5497a2e366 | 1096 | } |
jah128 | 0:8a5497a2e366 | 1097 | break; |
jah128 | 0:8a5497a2e366 | 1098 | } |
jah128 | 0:8a5497a2e366 | 1099 | demo_timer.reset(); |
jah128 | 0:8a5497a2e366 | 1100 | } |
jah128 | 0:8a5497a2e366 | 1101 | if(demo_running == 1)demo_timeout.attach_us(&spinning_demo_cycle,500); |
jah128 | 0:8a5497a2e366 | 1102 | else { |
jah128 | 0:8a5497a2e366 | 1103 | stop(); |
jah128 | 0:8a5497a2e366 | 1104 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:8a5497a2e366 | 1105 | } |
jah128 | 0:8a5497a2e366 | 1106 | } |
jah128 | 0:8a5497a2e366 | 1107 | |
jah128 | 0:8a5497a2e366 | 1108 | void obstacle_demo_cycle() |
jah128 | 0:8a5497a2e366 | 1109 | { |
jah128 | 0:8a5497a2e366 | 1110 | if(demo_timer.read() > time_out) { |
jah128 | 0:8a5497a2e366 | 1111 | switch(state) { |
jah128 | 0:8a5497a2e366 | 1112 | case 0: //Robot is stopped |
jah128 | 0:8a5497a2e366 | 1113 | set_leds(0,0xFF); |
jah128 | 0:8a5497a2e366 | 1114 | set_center_led(1,0.4); |
jah128 | 0:8a5497a2e366 | 1115 | speed = 0.3f; |
jah128 | 0:8a5497a2e366 | 1116 | forward(speed); |
jah128 | 0:8a5497a2e366 | 1117 | time_out = 0.05; |
jah128 | 0:8a5497a2e366 | 1118 | state = 1; |
jah128 | 0:8a5497a2e366 | 1119 | break; |
jah128 | 0:8a5497a2e366 | 1120 | case 1: { //Motor is moving forward |
jah128 | 0:8a5497a2e366 | 1121 | store_ir_values(); |
jah128 | 0:8a5497a2e366 | 1122 | int front_right = read_illuminated_raw_ir_value(0); |
jah128 | 0:8a5497a2e366 | 1123 | int front_left = read_illuminated_raw_ir_value(7); |
jah128 | 0:8a5497a2e366 | 1124 | if(front_left > 400 || front_right > 400) { |
jah128 | 0:8a5497a2e366 | 1125 | brake(); |
jah128 | 0:8a5497a2e366 | 1126 | time_out = 0.04; |
jah128 | 0:8a5497a2e366 | 1127 | if(front_left > front_right)state=2; |
jah128 | 0:8a5497a2e366 | 1128 | else state=3; |
jah128 | 0:8a5497a2e366 | 1129 | } else { |
jah128 | 0:8a5497a2e366 | 1130 | if(speed < 0.5) { |
jah128 | 0:8a5497a2e366 | 1131 | speed += 0.03; |
jah128 | 0:8a5497a2e366 | 1132 | forward(speed); |
jah128 | 0:8a5497a2e366 | 1133 | } |
jah128 | 0:8a5497a2e366 | 1134 | switch(led_step) { |
jah128 | 0:8a5497a2e366 | 1135 | case 0: |
jah128 | 0:8a5497a2e366 | 1136 | set_leds(0x01,0); |
jah128 | 0:8a5497a2e366 | 1137 | break; |
jah128 | 0:8a5497a2e366 | 1138 | case 1: |
jah128 | 0:8a5497a2e366 | 1139 | set_leds(0x38,0); |
jah128 | 0:8a5497a2e366 | 1140 | break; |
jah128 | 0:8a5497a2e366 | 1141 | case 2: |
jah128 | 0:8a5497a2e366 | 1142 | set_leds(0x6C,0); |
jah128 | 0:8a5497a2e366 | 1143 | break; |
jah128 | 0:8a5497a2e366 | 1144 | case 3: |
jah128 | 0:8a5497a2e366 | 1145 | set_leds(0xC6,0); |
jah128 | 0:8a5497a2e366 | 1146 | break; |
jah128 | 0:8a5497a2e366 | 1147 | case 4: |
jah128 | 0:8a5497a2e366 | 1148 | set_leds(0x83,0); |
jah128 | 0:8a5497a2e366 | 1149 | break; |
jah128 | 0:8a5497a2e366 | 1150 | } |
jah128 | 0:8a5497a2e366 | 1151 | set_center_led(2, 0.6); |
jah128 | 0:8a5497a2e366 | 1152 | led_step ++; |
jah128 | 0:8a5497a2e366 | 1153 | if(led_step == 5) led_step = 0; |
jah128 | 0:8a5497a2e366 | 1154 | } |
jah128 | 0:8a5497a2e366 | 1155 | break; |
jah128 | 0:8a5497a2e366 | 1156 | } |
jah128 | 0:8a5497a2e366 | 1157 | case 2: //Turn right |
jah128 | 0:8a5497a2e366 | 1158 | set_left_motor_speed(0.85); |
jah128 | 0:8a5497a2e366 | 1159 | set_right_motor_speed(-0.85); |
jah128 | 0:8a5497a2e366 | 1160 | time_out = 0.4; |
jah128 | 0:8a5497a2e366 | 1161 | state = 0; |
jah128 | 0:8a5497a2e366 | 1162 | set_leds(0x0E,0x0E); |
jah128 | 0:8a5497a2e366 | 1163 | set_center_led(3,0.5); |
jah128 | 0:8a5497a2e366 | 1164 | break; |
jah128 | 0:8a5497a2e366 | 1165 | case 3: //Turn left |
jah128 | 0:8a5497a2e366 | 1166 | set_left_motor_speed(-0.85); |
jah128 | 0:8a5497a2e366 | 1167 | set_right_motor_speed(0.85); |
jah128 | 0:8a5497a2e366 | 1168 | time_out = 0.4; |
jah128 | 0:8a5497a2e366 | 1169 | state = 0; |
jah128 | 0:8a5497a2e366 | 1170 | set_leds(0xE0,0xE0); |
jah128 | 0:8a5497a2e366 | 1171 | set_center_led(3,0.5); |
jah128 | 0:8a5497a2e366 | 1172 | break; |
jah128 | 0:8a5497a2e366 | 1173 | } |
jah128 | 0:8a5497a2e366 | 1174 | demo_timer.reset(); |
jah128 | 0:8a5497a2e366 | 1175 | } |
jah128 | 0:8a5497a2e366 | 1176 | if(demo_running == 1)demo_timeout.attach_us(&obstacle_demo_cycle,200); |
jah128 | 0:8a5497a2e366 | 1177 | else { |
jah128 | 0:8a5497a2e366 | 1178 | stop(); |
jah128 | 0:8a5497a2e366 | 1179 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:8a5497a2e366 | 1180 | } |
jah128 | 0:8a5497a2e366 | 1181 | } |
jah128 | 0:8a5497a2e366 | 1182 | |
jah128 | 0:8a5497a2e366 | 1183 | void demo_update_leds() |
jah128 | 0:8a5497a2e366 | 1184 | { |
jah128 | 0:8a5497a2e366 | 1185 | char red = 0; |
jah128 | 0:8a5497a2e366 | 1186 | char green = 0; |
jah128 | 0:8a5497a2e366 | 1187 | for(int i=0; i<8; i++) { |
jah128 | 0:8a5497a2e366 | 1188 | if(led_state[i]==1 || led_state[i]==3) red+=(1<<i); |
jah128 | 0:8a5497a2e366 | 1189 | if(led_state[i]==2 || led_state[i]==3) green+=(1<<i); |
jah128 | 0:8a5497a2e366 | 1190 | } |
jah128 | 0:8a5497a2e366 | 1191 | set_leds(green,red); |
jah128 | 0:8a5497a2e366 | 1192 | float brightness_f = brightness / 100.0f; |
jah128 | 0:8a5497a2e366 | 1193 | set_center_led(led_state[8], brightness_f); |
jah128 | 0:8a5497a2e366 | 1194 | set_base_led(base_led_state); |
jah128 | 0:8a5497a2e366 | 1195 | } |