James O'Keeffe
/
BeaconDemo_RobotCodeNew
ft. button press reset
Fork of BeaconDemo_RobotCode by
PsiSwarm/demo.cpp@3:cd048f6e544e, 2015-10-05 (annotated)
- Committer:
- jah128
- Date:
- Mon Oct 05 20:42:37 2015 +0000
- Revision:
- 3:cd048f6e544e
- Parent:
- 2:a6214fd156ff
- Child:
- 5:598298aa4900
Added crude line following 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 | 2:a6214fd156ff | 11 | * Added extra sensor information, added various testing demos |
jah128 | 0:8a5497a2e366 | 12 | * |
jah128 | 0:8a5497a2e366 | 13 | * September 2015 |
jah128 | 0:8a5497a2e366 | 14 | * |
jah128 | 0:8a5497a2e366 | 15 | */ |
jah128 | 0:8a5497a2e366 | 16 | |
jah128 | 0:8a5497a2e366 | 17 | |
jah128 | 0:8a5497a2e366 | 18 | #include "psiswarm.h" |
jah128 | 0:8a5497a2e366 | 19 | |
jah128 | 3:cd048f6e544e | 20 | // PID terms |
jah128 | 3:cd048f6e544e | 21 | #define LF_P_TERM 0.2 |
jah128 | 3:cd048f6e544e | 22 | #define LF_I_TERM 0 |
jah128 | 3:cd048f6e544e | 23 | #define LF_D_TERM 4 |
jah128 | 3:cd048f6e544e | 24 | |
jah128 | 0:8a5497a2e366 | 25 | char top_menu = 0; |
jah128 | 0:8a5497a2e366 | 26 | char sub_menu = 0; |
jah128 | 0:8a5497a2e366 | 27 | char level = 0; |
jah128 | 0:8a5497a2e366 | 28 | char started = 0; |
jah128 | 0:8a5497a2e366 | 29 | char topline[17]; |
jah128 | 0:8a5497a2e366 | 30 | char bottomline[17]; |
jah128 | 0:8a5497a2e366 | 31 | char led_state[9]; |
jah128 | 0:8a5497a2e366 | 32 | char all_led_state = 0; |
jah128 | 0:8a5497a2e366 | 33 | char base_led_state = 0; |
jah128 | 0:8a5497a2e366 | 34 | char brightness = 20; |
jah128 | 0:8a5497a2e366 | 35 | char bl_brightness = 100; |
jah128 | 0:8a5497a2e366 | 36 | char base_ir_index = 0; |
jah128 | 0:8a5497a2e366 | 37 | char side_ir_index = 0; |
jah128 | 0:8a5497a2e366 | 38 | signed short left_speed = 0; |
jah128 | 0:8a5497a2e366 | 39 | signed short right_speed = 0; |
jah128 | 0:8a5497a2e366 | 40 | char both_motor_mode = 0; |
jah128 | 0:8a5497a2e366 | 41 | char last_switch_pressed; |
jah128 | 0:8a5497a2e366 | 42 | Timeout demo_event; |
jah128 | 0:8a5497a2e366 | 43 | char handling_event = 0; |
jah128 | 0:8a5497a2e366 | 44 | |
jah128 | 0:8a5497a2e366 | 45 | Timeout demo_timeout; |
jah128 | 0:8a5497a2e366 | 46 | char demo_running = 0; |
jah128 | 0:8a5497a2e366 | 47 | Timer demo_timer; |
jah128 | 0:8a5497a2e366 | 48 | float time_out; |
jah128 | 0:8a5497a2e366 | 49 | float speed; |
jah128 | 0:8a5497a2e366 | 50 | char state; |
jah128 | 0:8a5497a2e366 | 51 | char led_step = 0; |
jah128 | 0:8a5497a2e366 | 52 | char spin_step = 0; |
jah128 | 0:8a5497a2e366 | 53 | char stress_step = 0; |
jah128 | 0:8a5497a2e366 | 54 | |
jah128 | 0:8a5497a2e366 | 55 | |
jah128 | 3:cd048f6e544e | 56 | float lf_right; |
jah128 | 3:cd048f6e544e | 57 | float lf_left; |
jah128 | 3:cd048f6e544e | 58 | float lf_current_pos_of_line = 0.0; |
jah128 | 3:cd048f6e544e | 59 | float lf_previous_pos_of_line = 0.0; |
jah128 | 3:cd048f6e544e | 60 | float lf_derivative,lf_proportional,lf_integral = 0; |
jah128 | 3:cd048f6e544e | 61 | float lf_power; |
jah128 | 3:cd048f6e544e | 62 | float lf_speed = 0.4; |
jah128 | 3:cd048f6e544e | 63 | |
jah128 | 3:cd048f6e544e | 64 | |
jah128 | 0:8a5497a2e366 | 65 | |
jah128 | 0:8a5497a2e366 | 66 | void demo_mode() |
jah128 | 0:8a5497a2e366 | 67 | { |
jah128 | 0:8a5497a2e366 | 68 | debug("- Starting Demo Mode\n"); |
jah128 | 0:8a5497a2e366 | 69 | demo_on = 1; |
jah128 | 0:8a5497a2e366 | 70 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:8a5497a2e366 | 71 | display.clear_display(); |
jah128 | 0:8a5497a2e366 | 72 | display.write_string("PSI SWARM SYSTEM"); |
jah128 | 0:8a5497a2e366 | 73 | display.set_position(1,0); |
jah128 | 0:8a5497a2e366 | 74 | display.write_string(" DEMO MODE"); |
jah128 | 0:8a5497a2e366 | 75 | wait(0.5); |
jah128 | 0:8a5497a2e366 | 76 | display.clear_display(); |
jah128 | 0:8a5497a2e366 | 77 | display.write_string("Use cursor to"); |
jah128 | 0:8a5497a2e366 | 78 | display.set_position(1,0); |
jah128 | 0:8a5497a2e366 | 79 | display.write_string("navigate menus"); |
jah128 | 0:8a5497a2e366 | 80 | char step = 0; |
jah128 | 0:8a5497a2e366 | 81 | while(demo_on) { |
jah128 | 0:8a5497a2e366 | 82 | if(demo_running == 0) { |
jah128 | 0:8a5497a2e366 | 83 | switch(step) { |
jah128 | 0:8a5497a2e366 | 84 | case 0: |
jah128 | 0:8a5497a2e366 | 85 | mbed_led1 = 1; |
jah128 | 0:8a5497a2e366 | 86 | mbed_led4 = 0; |
jah128 | 0:8a5497a2e366 | 87 | break; |
jah128 | 0:8a5497a2e366 | 88 | case 1: |
jah128 | 0:8a5497a2e366 | 89 | mbed_led2 = 1; |
jah128 | 0:8a5497a2e366 | 90 | mbed_led1 = 0; |
jah128 | 0:8a5497a2e366 | 91 | break; |
jah128 | 0:8a5497a2e366 | 92 | case 2: |
jah128 | 0:8a5497a2e366 | 93 | mbed_led3 = 1; |
jah128 | 0:8a5497a2e366 | 94 | mbed_led2 = 0; |
jah128 | 0:8a5497a2e366 | 95 | break; |
jah128 | 0:8a5497a2e366 | 96 | case 3: |
jah128 | 0:8a5497a2e366 | 97 | mbed_led4 = 1; |
jah128 | 0:8a5497a2e366 | 98 | mbed_led3 = 0; |
jah128 | 0:8a5497a2e366 | 99 | break; |
jah128 | 0:8a5497a2e366 | 100 | } |
jah128 | 0:8a5497a2e366 | 101 | step++; |
jah128 | 0:8a5497a2e366 | 102 | if(step==4)step=0; |
jah128 | 0:8a5497a2e366 | 103 | } else { |
jah128 | 0:8a5497a2e366 | 104 | mbed_led1 = 0; |
jah128 | 0:8a5497a2e366 | 105 | mbed_led2 = 0; |
jah128 | 0:8a5497a2e366 | 106 | mbed_led3 = 0; |
jah128 | 0:8a5497a2e366 | 107 | mbed_led4 = 0; |
jah128 | 0:8a5497a2e366 | 108 | } |
jah128 | 0:8a5497a2e366 | 109 | wait(0.5); |
jah128 | 0:8a5497a2e366 | 110 | } |
jah128 | 0:8a5497a2e366 | 111 | debug("- Demo mode ended\n"); |
jah128 | 0:8a5497a2e366 | 112 | } |
jah128 | 0:8a5497a2e366 | 113 | |
jah128 | 0:8a5497a2e366 | 114 | void demo_handle_switch_event(char switch_pressed) |
jah128 | 0:8a5497a2e366 | 115 | { |
jah128 | 0:8a5497a2e366 | 116 | if(!handling_event) { |
jah128 | 0:8a5497a2e366 | 117 | handling_event = 1; |
jah128 | 0:8a5497a2e366 | 118 | last_switch_pressed = switch_pressed; |
jah128 | 0:8a5497a2e366 | 119 | demo_event.attach_us(&demo_event_thread, 1000); |
jah128 | 0:8a5497a2e366 | 120 | } |
jah128 | 0:8a5497a2e366 | 121 | } |
jah128 | 0:8a5497a2e366 | 122 | |
jah128 | 0:8a5497a2e366 | 123 | void demo_event_thread() |
jah128 | 0:8a5497a2e366 | 124 | { |
jah128 | 0:8a5497a2e366 | 125 | handling_event = 0; |
jah128 | 0:8a5497a2e366 | 126 | if(started == 1) { |
jah128 | 0:8a5497a2e366 | 127 | switch(last_switch_pressed) { |
jah128 | 0:8a5497a2e366 | 128 | case 1: //Up pressed |
jah128 | 0:8a5497a2e366 | 129 | switch(level) { |
jah128 | 0:8a5497a2e366 | 130 | case 0: |
jah128 | 0:8a5497a2e366 | 131 | if(top_menu < 6) { |
jah128 | 0:8a5497a2e366 | 132 | level++; |
jah128 | 0:8a5497a2e366 | 133 | sub_menu = 0; |
jah128 | 0:8a5497a2e366 | 134 | } else { |
jah128 | 0:8a5497a2e366 | 135 | demo_on = 0; |
jah128 | 0:8a5497a2e366 | 136 | user_code_running = user_code_restore_mode; |
jah128 | 0:8a5497a2e366 | 137 | } |
jah128 | 0:8a5497a2e366 | 138 | break; |
jah128 | 0:8a5497a2e366 | 139 | case 1: |
jah128 | 0:8a5497a2e366 | 140 | switch(top_menu) { |
jah128 | 0:8a5497a2e366 | 141 | case 0: //LED Menu |
jah128 | 0:8a5497a2e366 | 142 | if(sub_menu < 9) { |
jah128 | 0:8a5497a2e366 | 143 | if(led_state[sub_menu] == 0) led_state[sub_menu] = 3; |
jah128 | 0:8a5497a2e366 | 144 | else led_state[sub_menu]--; |
jah128 | 0:8a5497a2e366 | 145 | demo_update_leds(); |
jah128 | 0:8a5497a2e366 | 146 | } |
jah128 | 0:8a5497a2e366 | 147 | if(sub_menu == 9) { |
jah128 | 0:8a5497a2e366 | 148 | if(all_led_state == 0) all_led_state = 3; |
jah128 | 0:8a5497a2e366 | 149 | else all_led_state--; |
jah128 | 0:8a5497a2e366 | 150 | for(int i=0; i<9; i++) { |
jah128 | 0:8a5497a2e366 | 151 | led_state[i]=all_led_state; |
jah128 | 0:8a5497a2e366 | 152 | } |
jah128 | 0:8a5497a2e366 | 153 | demo_update_leds(); |
jah128 | 0:8a5497a2e366 | 154 | } |
jah128 | 0:8a5497a2e366 | 155 | if(sub_menu == 10) { |
jah128 | 0:8a5497a2e366 | 156 | base_led_state = 1 - base_led_state; |
jah128 | 0:8a5497a2e366 | 157 | demo_update_leds(); |
jah128 | 0:8a5497a2e366 | 158 | } |
jah128 | 0:8a5497a2e366 | 159 | if(sub_menu == 11) { |
jah128 | 0:8a5497a2e366 | 160 | switch(brightness) { |
jah128 | 0:8a5497a2e366 | 161 | case 100: |
jah128 | 0:8a5497a2e366 | 162 | brightness = 50; |
jah128 | 0:8a5497a2e366 | 163 | break; |
jah128 | 0:8a5497a2e366 | 164 | case 2: |
jah128 | 0:8a5497a2e366 | 165 | brightness = 1; |
jah128 | 0:8a5497a2e366 | 166 | break; |
jah128 | 0:8a5497a2e366 | 167 | case 5: |
jah128 | 0:8a5497a2e366 | 168 | brightness = 2; |
jah128 | 0:8a5497a2e366 | 169 | break; |
jah128 | 0:8a5497a2e366 | 170 | case 10: |
jah128 | 0:8a5497a2e366 | 171 | brightness = 5; |
jah128 | 0:8a5497a2e366 | 172 | break; |
jah128 | 0:8a5497a2e366 | 173 | case 20: |
jah128 | 0:8a5497a2e366 | 174 | brightness = 10; |
jah128 | 0:8a5497a2e366 | 175 | break; |
jah128 | 0:8a5497a2e366 | 176 | case 50: |
jah128 | 0:8a5497a2e366 | 177 | brightness = 20; |
jah128 | 0:8a5497a2e366 | 178 | break; |
jah128 | 0:8a5497a2e366 | 179 | } |
jah128 | 0:8a5497a2e366 | 180 | demo_update_leds(); |
jah128 | 0:8a5497a2e366 | 181 | } |
jah128 | 0:8a5497a2e366 | 182 | if(sub_menu == 12) { |
jah128 | 0:8a5497a2e366 | 183 | if(bl_brightness > 0) bl_brightness-=10; |
jah128 | 0:8a5497a2e366 | 184 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:8a5497a2e366 | 185 | } |
jah128 | 0:8a5497a2e366 | 186 | if(sub_menu == 13) level = 0; |
jah128 | 0:8a5497a2e366 | 187 | break; |
jah128 | 0:8a5497a2e366 | 188 | case 1: // Sensors Menu |
jah128 | 0:8a5497a2e366 | 189 | if(sub_menu == 4 || sub_menu == 5) { |
jah128 | 0:8a5497a2e366 | 190 | if(base_ir_index == 0) base_ir_index = 4; |
jah128 | 0:8a5497a2e366 | 191 | else base_ir_index --; |
jah128 | 0:8a5497a2e366 | 192 | } |
jah128 | 0:8a5497a2e366 | 193 | if(sub_menu > 5 && sub_menu < 9) { |
jah128 | 0:8a5497a2e366 | 194 | if(side_ir_index == 0) side_ir_index = 7; |
jah128 | 0:8a5497a2e366 | 195 | else side_ir_index --; |
jah128 | 0:8a5497a2e366 | 196 | } |
jah128 | 3:cd048f6e544e | 197 | if(sub_menu == 11) level = 0; |
jah128 | 0:8a5497a2e366 | 198 | break; |
jah128 | 0:8a5497a2e366 | 199 | case 2: // Motor Menu |
jah128 | 0:8a5497a2e366 | 200 | if(sub_menu == 0) { |
jah128 | 0:8a5497a2e366 | 201 | left_speed += 5; |
jah128 | 0:8a5497a2e366 | 202 | if(left_speed > 100) left_speed = 100; |
jah128 | 0:8a5497a2e366 | 203 | set_left_motor_speed(left_speed / 100.0f); |
jah128 | 0:8a5497a2e366 | 204 | } |
jah128 | 0:8a5497a2e366 | 205 | if(sub_menu == 1) { |
jah128 | 0:8a5497a2e366 | 206 | right_speed += 5; |
jah128 | 0:8a5497a2e366 | 207 | if(right_speed > 100) right_speed = 100; |
jah128 | 0:8a5497a2e366 | 208 | set_right_motor_speed(right_speed / 100.0f); |
jah128 | 0:8a5497a2e366 | 209 | } |
jah128 | 0:8a5497a2e366 | 210 | if(sub_menu == 2) { |
jah128 | 0:8a5497a2e366 | 211 | if(both_motor_mode == 0) both_motor_mode=5; |
jah128 | 0:8a5497a2e366 | 212 | else both_motor_mode--; |
jah128 | 0:8a5497a2e366 | 213 | switch(both_motor_mode) { |
jah128 | 0:8a5497a2e366 | 214 | case 0: |
jah128 | 0:8a5497a2e366 | 215 | stop(); |
jah128 | 0:8a5497a2e366 | 216 | break; |
jah128 | 0:8a5497a2e366 | 217 | case 1: |
jah128 | 0:8a5497a2e366 | 218 | brake(); |
jah128 | 0:8a5497a2e366 | 219 | break; |
jah128 | 0:8a5497a2e366 | 220 | case 2: |
jah128 | 0:8a5497a2e366 | 221 | forward(0.5); |
jah128 | 0:8a5497a2e366 | 222 | break; |
jah128 | 0:8a5497a2e366 | 223 | case 3: |
jah128 | 0:8a5497a2e366 | 224 | forward(1); |
jah128 | 0:8a5497a2e366 | 225 | break; |
jah128 | 0:8a5497a2e366 | 226 | case 4: |
jah128 | 0:8a5497a2e366 | 227 | backward(0.5); |
jah128 | 0:8a5497a2e366 | 228 | break; |
jah128 | 0:8a5497a2e366 | 229 | case 5: |
jah128 | 0:8a5497a2e366 | 230 | backward(1.0); |
jah128 | 0:8a5497a2e366 | 231 | break; |
jah128 | 0:8a5497a2e366 | 232 | } |
jah128 | 0:8a5497a2e366 | 233 | } |
jah128 | 0:8a5497a2e366 | 234 | if(sub_menu == 3) { |
jah128 | 0:8a5497a2e366 | 235 | level = 0; |
jah128 | 0:8a5497a2e366 | 236 | } |
jah128 | 0:8a5497a2e366 | 237 | break; |
jah128 | 0:8a5497a2e366 | 238 | case 3: // Radio Menu |
jah128 | 0:8a5497a2e366 | 239 | if(sub_menu == 0) level = 0; |
jah128 | 0:8a5497a2e366 | 240 | break; |
jah128 | 0:8a5497a2e366 | 241 | case 4: // Info Menu |
jah128 | 1:f6356cf1cefc | 242 | if(sub_menu == 6) level = 0; |
jah128 | 0:8a5497a2e366 | 243 | break; |
jah128 | 0:8a5497a2e366 | 244 | case 5: // Demo Menu |
jah128 | 3:cd048f6e544e | 245 | if(sub_menu == 0) { |
jah128 | 3:cd048f6e544e | 246 | if(demo_running == 0) { |
jah128 | 3:cd048f6e544e | 247 | start_line_demo(); |
jah128 | 3:cd048f6e544e | 248 | } else { |
jah128 | 3:cd048f6e544e | 249 | demo_running = 0; |
jah128 | 3:cd048f6e544e | 250 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 3:cd048f6e544e | 251 | stop(); |
jah128 | 3:cd048f6e544e | 252 | } |
jah128 | 3:cd048f6e544e | 253 | } |
jah128 | 0:8a5497a2e366 | 254 | if(sub_menu == 1) { |
jah128 | 0:8a5497a2e366 | 255 | if(demo_running == 0) { |
jah128 | 0:8a5497a2e366 | 256 | start_obstacle_demo(); |
jah128 | 0:8a5497a2e366 | 257 | } else { |
jah128 | 0:8a5497a2e366 | 258 | demo_running = 0; |
jah128 | 0:8a5497a2e366 | 259 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:8a5497a2e366 | 260 | stop(); |
jah128 | 0:8a5497a2e366 | 261 | } |
jah128 | 0:8a5497a2e366 | 262 | } |
jah128 | 0:8a5497a2e366 | 263 | if(sub_menu == 2) { |
jah128 | 0:8a5497a2e366 | 264 | if(demo_running == 0) { |
jah128 | 0:8a5497a2e366 | 265 | start_spinning_demo(); |
jah128 | 0:8a5497a2e366 | 266 | } else { |
jah128 | 0:8a5497a2e366 | 267 | demo_running = 0; |
jah128 | 0:8a5497a2e366 | 268 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:8a5497a2e366 | 269 | stop(); |
jah128 | 0:8a5497a2e366 | 270 | } |
jah128 | 0:8a5497a2e366 | 271 | } |
jah128 | 0:8a5497a2e366 | 272 | if(sub_menu == 3) { |
jah128 | 0:8a5497a2e366 | 273 | if(demo_running == 0) { |
jah128 | 0:8a5497a2e366 | 274 | start_stress_demo(); |
jah128 | 0:8a5497a2e366 | 275 | } else { |
jah128 | 0:8a5497a2e366 | 276 | demo_running = 0; |
jah128 | 0:8a5497a2e366 | 277 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:8a5497a2e366 | 278 | stop(); |
jah128 | 0:8a5497a2e366 | 279 | } |
jah128 | 0:8a5497a2e366 | 280 | } |
jah128 | 0:8a5497a2e366 | 281 | if(sub_menu == 4) level = 0; |
jah128 | 0:8a5497a2e366 | 282 | break; |
jah128 | 0:8a5497a2e366 | 283 | } |
jah128 | 0:8a5497a2e366 | 284 | break; |
jah128 | 0:8a5497a2e366 | 285 | } |
jah128 | 0:8a5497a2e366 | 286 | break; |
jah128 | 0:8a5497a2e366 | 287 | case 2: //Down pressed |
jah128 | 0:8a5497a2e366 | 288 | switch(level) { |
jah128 | 0:8a5497a2e366 | 289 | case 0: |
jah128 | 0:8a5497a2e366 | 290 | if(top_menu < 6) { |
jah128 | 0:8a5497a2e366 | 291 | level++; |
jah128 | 0:8a5497a2e366 | 292 | sub_menu = 0; |
jah128 | 0:8a5497a2e366 | 293 | } else { |
jah128 | 0:8a5497a2e366 | 294 | demo_on = 0; |
jah128 | 0:8a5497a2e366 | 295 | user_code_running = user_code_restore_mode; |
jah128 | 0:8a5497a2e366 | 296 | } |
jah128 | 0:8a5497a2e366 | 297 | break; |
jah128 | 0:8a5497a2e366 | 298 | case 1: |
jah128 | 0:8a5497a2e366 | 299 | switch(top_menu) { |
jah128 | 0:8a5497a2e366 | 300 | case 0: //LED Menu |
jah128 | 0:8a5497a2e366 | 301 | if(sub_menu < 9) { |
jah128 | 0:8a5497a2e366 | 302 | led_state[sub_menu]++; |
jah128 | 0:8a5497a2e366 | 303 | if(led_state[sub_menu] == 4) led_state[sub_menu] = 0; |
jah128 | 0:8a5497a2e366 | 304 | demo_update_leds(); |
jah128 | 0:8a5497a2e366 | 305 | } |
jah128 | 0:8a5497a2e366 | 306 | if(sub_menu == 9) { |
jah128 | 0:8a5497a2e366 | 307 | all_led_state++; |
jah128 | 0:8a5497a2e366 | 308 | if(all_led_state == 4) all_led_state = 0; |
jah128 | 0:8a5497a2e366 | 309 | for(int i=0; i<9; i++) { |
jah128 | 0:8a5497a2e366 | 310 | led_state[i]=all_led_state; |
jah128 | 0:8a5497a2e366 | 311 | } |
jah128 | 0:8a5497a2e366 | 312 | demo_update_leds(); |
jah128 | 0:8a5497a2e366 | 313 | } |
jah128 | 0:8a5497a2e366 | 314 | if(sub_menu == 10) { |
jah128 | 0:8a5497a2e366 | 315 | base_led_state = 1 - base_led_state; |
jah128 | 0:8a5497a2e366 | 316 | demo_update_leds(); |
jah128 | 0:8a5497a2e366 | 317 | } |
jah128 | 0:8a5497a2e366 | 318 | if(sub_menu == 11) { |
jah128 | 0:8a5497a2e366 | 319 | switch(brightness) { |
jah128 | 0:8a5497a2e366 | 320 | case 1: |
jah128 | 0:8a5497a2e366 | 321 | brightness = 2; |
jah128 | 0:8a5497a2e366 | 322 | break; |
jah128 | 0:8a5497a2e366 | 323 | case 2: |
jah128 | 0:8a5497a2e366 | 324 | brightness = 5; |
jah128 | 0:8a5497a2e366 | 325 | break; |
jah128 | 0:8a5497a2e366 | 326 | case 5: |
jah128 | 0:8a5497a2e366 | 327 | brightness = 10; |
jah128 | 0:8a5497a2e366 | 328 | break; |
jah128 | 0:8a5497a2e366 | 329 | case 10: |
jah128 | 0:8a5497a2e366 | 330 | brightness = 20; |
jah128 | 0:8a5497a2e366 | 331 | break; |
jah128 | 0:8a5497a2e366 | 332 | case 20: |
jah128 | 0:8a5497a2e366 | 333 | brightness = 50; |
jah128 | 0:8a5497a2e366 | 334 | break; |
jah128 | 0:8a5497a2e366 | 335 | case 50: |
jah128 | 0:8a5497a2e366 | 336 | brightness = 100; |
jah128 | 0:8a5497a2e366 | 337 | break; |
jah128 | 0:8a5497a2e366 | 338 | } |
jah128 | 0:8a5497a2e366 | 339 | demo_update_leds(); |
jah128 | 0:8a5497a2e366 | 340 | } |
jah128 | 0:8a5497a2e366 | 341 | |
jah128 | 0:8a5497a2e366 | 342 | if(sub_menu == 12) { |
jah128 | 0:8a5497a2e366 | 343 | if(bl_brightness < 100) bl_brightness+=10; |
jah128 | 0:8a5497a2e366 | 344 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:8a5497a2e366 | 345 | } |
jah128 | 0:8a5497a2e366 | 346 | if(sub_menu == 13) level = 0; |
jah128 | 0:8a5497a2e366 | 347 | |
jah128 | 0:8a5497a2e366 | 348 | break; |
jah128 | 0:8a5497a2e366 | 349 | case 1: // Sensors Menu |
jah128 | 0:8a5497a2e366 | 350 | if(sub_menu == 4 || sub_menu == 5) { |
jah128 | 0:8a5497a2e366 | 351 | if(base_ir_index == 4) base_ir_index = 0; |
jah128 | 0:8a5497a2e366 | 352 | else base_ir_index ++; |
jah128 | 0:8a5497a2e366 | 353 | } |
jah128 | 0:8a5497a2e366 | 354 | if(sub_menu > 5 && sub_menu < 9) { |
jah128 | 0:8a5497a2e366 | 355 | if(side_ir_index == 7) side_ir_index = 0; |
jah128 | 0:8a5497a2e366 | 356 | else side_ir_index ++; |
jah128 | 0:8a5497a2e366 | 357 | } |
jah128 | 3:cd048f6e544e | 358 | if(sub_menu == 11) level = 0; |
jah128 | 0:8a5497a2e366 | 359 | break; |
jah128 | 0:8a5497a2e366 | 360 | case 2: // Motor Menu |
jah128 | 0:8a5497a2e366 | 361 | if(sub_menu == 0) { |
jah128 | 0:8a5497a2e366 | 362 | left_speed -= 5; |
jah128 | 0:8a5497a2e366 | 363 | if(left_speed < -100) left_speed = -100; |
jah128 | 0:8a5497a2e366 | 364 | set_left_motor_speed(left_speed / 100.0f); |
jah128 | 0:8a5497a2e366 | 365 | } |
jah128 | 0:8a5497a2e366 | 366 | if(sub_menu == 1) { |
jah128 | 0:8a5497a2e366 | 367 | right_speed -= 5; |
jah128 | 0:8a5497a2e366 | 368 | if(right_speed < -100) right_speed = -100; |
jah128 | 0:8a5497a2e366 | 369 | set_right_motor_speed(right_speed / 100.0f); |
jah128 | 0:8a5497a2e366 | 370 | } |
jah128 | 0:8a5497a2e366 | 371 | if(sub_menu == 2) { |
jah128 | 0:8a5497a2e366 | 372 | both_motor_mode++; |
jah128 | 0:8a5497a2e366 | 373 | if(both_motor_mode == 6) both_motor_mode=0; |
jah128 | 0:8a5497a2e366 | 374 | switch(both_motor_mode) { |
jah128 | 0:8a5497a2e366 | 375 | case 0: |
jah128 | 0:8a5497a2e366 | 376 | stop(); |
jah128 | 0:8a5497a2e366 | 377 | break; |
jah128 | 0:8a5497a2e366 | 378 | case 1: |
jah128 | 0:8a5497a2e366 | 379 | brake(); |
jah128 | 0:8a5497a2e366 | 380 | break; |
jah128 | 0:8a5497a2e366 | 381 | case 2: |
jah128 | 0:8a5497a2e366 | 382 | forward(0.5); |
jah128 | 0:8a5497a2e366 | 383 | break; |
jah128 | 0:8a5497a2e366 | 384 | case 3: |
jah128 | 0:8a5497a2e366 | 385 | forward(1); |
jah128 | 0:8a5497a2e366 | 386 | break; |
jah128 | 0:8a5497a2e366 | 387 | case 4: |
jah128 | 0:8a5497a2e366 | 388 | backward(0.5); |
jah128 | 0:8a5497a2e366 | 389 | break; |
jah128 | 0:8a5497a2e366 | 390 | case 5: |
jah128 | 0:8a5497a2e366 | 391 | backward(1.0); |
jah128 | 0:8a5497a2e366 | 392 | break; |
jah128 | 0:8a5497a2e366 | 393 | } |
jah128 | 0:8a5497a2e366 | 394 | } |
jah128 | 0:8a5497a2e366 | 395 | if(sub_menu == 3) { |
jah128 | 0:8a5497a2e366 | 396 | level = 0; |
jah128 | 0:8a5497a2e366 | 397 | } |
jah128 | 0:8a5497a2e366 | 398 | break; |
jah128 | 0:8a5497a2e366 | 399 | case 3: // Radio Menu |
jah128 | 0:8a5497a2e366 | 400 | if(sub_menu == 0) level = 0; |
jah128 | 0:8a5497a2e366 | 401 | break; |
jah128 | 0:8a5497a2e366 | 402 | case 4: // Info Menu |
jah128 | 1:f6356cf1cefc | 403 | if(sub_menu == 6) level = 0; |
jah128 | 0:8a5497a2e366 | 404 | break; |
jah128 | 0:8a5497a2e366 | 405 | case 5: // Demo Menu |
jah128 | 3:cd048f6e544e | 406 | if(sub_menu == 0) { |
jah128 | 3:cd048f6e544e | 407 | if(demo_running == 0) { |
jah128 | 3:cd048f6e544e | 408 | start_line_demo(); |
jah128 | 3:cd048f6e544e | 409 | } else { |
jah128 | 3:cd048f6e544e | 410 | demo_running = 0; |
jah128 | 3:cd048f6e544e | 411 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 3:cd048f6e544e | 412 | stop(); |
jah128 | 3:cd048f6e544e | 413 | } |
jah128 | 3:cd048f6e544e | 414 | } |
jah128 | 0:8a5497a2e366 | 415 | if(sub_menu == 1) { |
jah128 | 0:8a5497a2e366 | 416 | if(demo_running == 0) { |
jah128 | 0:8a5497a2e366 | 417 | start_obstacle_demo(); |
jah128 | 0:8a5497a2e366 | 418 | } else { |
jah128 | 0:8a5497a2e366 | 419 | demo_running = 0; |
jah128 | 0:8a5497a2e366 | 420 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:8a5497a2e366 | 421 | stop(); |
jah128 | 0:8a5497a2e366 | 422 | |
jah128 | 0:8a5497a2e366 | 423 | } |
jah128 | 0:8a5497a2e366 | 424 | } |
jah128 | 0:8a5497a2e366 | 425 | if(sub_menu == 2) { |
jah128 | 0:8a5497a2e366 | 426 | if(demo_running == 0) { |
jah128 | 0:8a5497a2e366 | 427 | start_spinning_demo(); |
jah128 | 0:8a5497a2e366 | 428 | } else { |
jah128 | 0:8a5497a2e366 | 429 | demo_running = 0; |
jah128 | 0:8a5497a2e366 | 430 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:8a5497a2e366 | 431 | stop(); |
jah128 | 0:8a5497a2e366 | 432 | } |
jah128 | 0:8a5497a2e366 | 433 | } |
jah128 | 0:8a5497a2e366 | 434 | if(sub_menu == 3) { |
jah128 | 0:8a5497a2e366 | 435 | if(demo_running == 0) { |
jah128 | 0:8a5497a2e366 | 436 | start_stress_demo(); |
jah128 | 0:8a5497a2e366 | 437 | } else { |
jah128 | 0:8a5497a2e366 | 438 | demo_running = 0; |
jah128 | 0:8a5497a2e366 | 439 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:8a5497a2e366 | 440 | stop(); |
jah128 | 0:8a5497a2e366 | 441 | } |
jah128 | 0:8a5497a2e366 | 442 | } |
jah128 | 0:8a5497a2e366 | 443 | if(sub_menu == 4) level = 0; |
jah128 | 0:8a5497a2e366 | 444 | break; |
jah128 | 0:8a5497a2e366 | 445 | } |
jah128 | 0:8a5497a2e366 | 446 | break; |
jah128 | 0:8a5497a2e366 | 447 | } |
jah128 | 0:8a5497a2e366 | 448 | break; |
jah128 | 0:8a5497a2e366 | 449 | case 4: //Left pressed |
jah128 | 0:8a5497a2e366 | 450 | switch(level) { |
jah128 | 0:8a5497a2e366 | 451 | case 0: |
jah128 | 0:8a5497a2e366 | 452 | if(top_menu == 0) top_menu = 6; |
jah128 | 0:8a5497a2e366 | 453 | else top_menu --; |
jah128 | 0:8a5497a2e366 | 454 | break; |
jah128 | 0:8a5497a2e366 | 455 | case 1: |
jah128 | 0:8a5497a2e366 | 456 | switch(top_menu) { |
jah128 | 0:8a5497a2e366 | 457 | case 0: //LED Menu |
jah128 | 0:8a5497a2e366 | 458 | if(sub_menu == 0) sub_menu = 13; |
jah128 | 0:8a5497a2e366 | 459 | else sub_menu --; |
jah128 | 0:8a5497a2e366 | 460 | break; |
jah128 | 0:8a5497a2e366 | 461 | case 1: //Sensors Menu |
jah128 | 3:cd048f6e544e | 462 | if(sub_menu == 0) sub_menu = 11; |
jah128 | 0:8a5497a2e366 | 463 | else sub_menu --; |
jah128 | 0:8a5497a2e366 | 464 | break; |
jah128 | 0:8a5497a2e366 | 465 | |
jah128 | 0:8a5497a2e366 | 466 | case 2: //Motor Menu |
jah128 | 0:8a5497a2e366 | 467 | if(sub_menu == 0) sub_menu = 3; |
jah128 | 0:8a5497a2e366 | 468 | else sub_menu --; |
jah128 | 0:8a5497a2e366 | 469 | break; |
jah128 | 0:8a5497a2e366 | 470 | case 4: //Info Menu |
jah128 | 1:f6356cf1cefc | 471 | if(sub_menu == 0) sub_menu = 6; |
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 == 0) sub_menu = 4; |
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 | } |
jah128 | 0:8a5497a2e366 | 482 | break; |
jah128 | 0:8a5497a2e366 | 483 | case 8: //Right pressed |
jah128 | 0:8a5497a2e366 | 484 | switch(level) { |
jah128 | 0:8a5497a2e366 | 485 | case 0: |
jah128 | 0:8a5497a2e366 | 486 | top_menu ++; |
jah128 | 0:8a5497a2e366 | 487 | if(top_menu > 6) top_menu = 0; |
jah128 | 0:8a5497a2e366 | 488 | break; |
jah128 | 0:8a5497a2e366 | 489 | case 1: |
jah128 | 0:8a5497a2e366 | 490 | switch(top_menu) { |
jah128 | 0:8a5497a2e366 | 491 | case 0: //LED Menu |
jah128 | 0:8a5497a2e366 | 492 | if(sub_menu == 13) sub_menu = 0; |
jah128 | 0:8a5497a2e366 | 493 | else sub_menu ++; |
jah128 | 0:8a5497a2e366 | 494 | break; |
jah128 | 0:8a5497a2e366 | 495 | case 1: //Sensors Menu |
jah128 | 3:cd048f6e544e | 496 | if(sub_menu == 11) sub_menu = 0; |
jah128 | 0:8a5497a2e366 | 497 | else sub_menu ++; |
jah128 | 0:8a5497a2e366 | 498 | break; |
jah128 | 0:8a5497a2e366 | 499 | case 2: //Motor Menu |
jah128 | 0:8a5497a2e366 | 500 | if(sub_menu == 3) sub_menu = 0; |
jah128 | 0:8a5497a2e366 | 501 | else sub_menu ++; |
jah128 | 0:8a5497a2e366 | 502 | break; |
jah128 | 0:8a5497a2e366 | 503 | case 4: //Info Menu |
jah128 | 1:f6356cf1cefc | 504 | if(sub_menu == 6) sub_menu = 0; |
jah128 | 0:8a5497a2e366 | 505 | else sub_menu ++; |
jah128 | 0:8a5497a2e366 | 506 | break; |
jah128 | 0:8a5497a2e366 | 507 | case 5: //Demo Menu |
jah128 | 0:8a5497a2e366 | 508 | if(sub_menu == 4) sub_menu = 0; |
jah128 | 0:8a5497a2e366 | 509 | else sub_menu ++; |
jah128 | 0:8a5497a2e366 | 510 | break; |
jah128 | 0:8a5497a2e366 | 511 | } |
jah128 | 0:8a5497a2e366 | 512 | break; |
jah128 | 0:8a5497a2e366 | 513 | } |
jah128 | 0:8a5497a2e366 | 514 | break; |
jah128 | 0:8a5497a2e366 | 515 | case 16: //Select pressed |
jah128 | 0:8a5497a2e366 | 516 | switch(level) { |
jah128 | 0:8a5497a2e366 | 517 | case 0: |
jah128 | 0:8a5497a2e366 | 518 | if(top_menu < 6) { |
jah128 | 0:8a5497a2e366 | 519 | level++; |
jah128 | 0:8a5497a2e366 | 520 | sub_menu = 0; |
jah128 | 0:8a5497a2e366 | 521 | } else { |
jah128 | 0:8a5497a2e366 | 522 | demo_on = 0; |
jah128 | 0:8a5497a2e366 | 523 | user_code_running = user_code_restore_mode; |
jah128 | 0:8a5497a2e366 | 524 | } |
jah128 | 0:8a5497a2e366 | 525 | break; |
jah128 | 0:8a5497a2e366 | 526 | case 1: |
jah128 | 0:8a5497a2e366 | 527 | switch(top_menu) { |
jah128 | 0:8a5497a2e366 | 528 | case 0: //LED Menu |
jah128 | 0:8a5497a2e366 | 529 | if(sub_menu == 9) { |
jah128 | 0:8a5497a2e366 | 530 | for(int i=0; i<9; i++) { |
jah128 | 0:8a5497a2e366 | 531 | led_state[i]=all_led_state; |
jah128 | 0:8a5497a2e366 | 532 | } |
jah128 | 0:8a5497a2e366 | 533 | demo_update_leds(); |
jah128 | 0:8a5497a2e366 | 534 | } |
jah128 | 0:8a5497a2e366 | 535 | if(sub_menu == 13) level = 0; |
jah128 | 0:8a5497a2e366 | 536 | break; |
jah128 | 0:8a5497a2e366 | 537 | case 1: // Sensors Menu |
jah128 | 3:cd048f6e544e | 538 | if(sub_menu == 11) level = 0; |
jah128 | 0:8a5497a2e366 | 539 | break; |
jah128 | 0:8a5497a2e366 | 540 | case 2: //Motor Menu |
jah128 | 0:8a5497a2e366 | 541 | if(sub_menu == 2) { |
jah128 | 0:8a5497a2e366 | 542 | switch(both_motor_mode) { |
jah128 | 0:8a5497a2e366 | 543 | case 0: |
jah128 | 0:8a5497a2e366 | 544 | stop(); |
jah128 | 0:8a5497a2e366 | 545 | break; |
jah128 | 0:8a5497a2e366 | 546 | case 1: |
jah128 | 0:8a5497a2e366 | 547 | brake(); |
jah128 | 0:8a5497a2e366 | 548 | break; |
jah128 | 0:8a5497a2e366 | 549 | case 2: |
jah128 | 0:8a5497a2e366 | 550 | forward(0.5); |
jah128 | 0:8a5497a2e366 | 551 | break; |
jah128 | 0:8a5497a2e366 | 552 | case 3: |
jah128 | 0:8a5497a2e366 | 553 | forward(1); |
jah128 | 0:8a5497a2e366 | 554 | break; |
jah128 | 0:8a5497a2e366 | 555 | case 4: |
jah128 | 0:8a5497a2e366 | 556 | backward(0.5); |
jah128 | 0:8a5497a2e366 | 557 | break; |
jah128 | 0:8a5497a2e366 | 558 | case 5: |
jah128 | 0:8a5497a2e366 | 559 | backward(1.0); |
jah128 | 0:8a5497a2e366 | 560 | break; |
jah128 | 0:8a5497a2e366 | 561 | } |
jah128 | 0:8a5497a2e366 | 562 | } |
jah128 | 0:8a5497a2e366 | 563 | if(sub_menu == 3) { |
jah128 | 0:8a5497a2e366 | 564 | level = 0; |
jah128 | 0:8a5497a2e366 | 565 | } |
jah128 | 0:8a5497a2e366 | 566 | break; |
jah128 | 0:8a5497a2e366 | 567 | case 3: // Radio Menu |
jah128 | 0:8a5497a2e366 | 568 | if(sub_menu == 0) level = 0; |
jah128 | 0:8a5497a2e366 | 569 | break; |
jah128 | 0:8a5497a2e366 | 570 | case 4: // Info Menu |
jah128 | 1:f6356cf1cefc | 571 | if(sub_menu == 6) level = 0; |
jah128 | 0:8a5497a2e366 | 572 | break; |
jah128 | 0:8a5497a2e366 | 573 | case 5: // Demo Menu |
jah128 | 0:8a5497a2e366 | 574 | if(sub_menu == 4) level = 0; |
jah128 | 0:8a5497a2e366 | 575 | break; |
jah128 | 0:8a5497a2e366 | 576 | } |
jah128 | 0:8a5497a2e366 | 577 | break; |
jah128 | 0:8a5497a2e366 | 578 | } |
jah128 | 0:8a5497a2e366 | 579 | break; |
jah128 | 0:8a5497a2e366 | 580 | } |
jah128 | 0:8a5497a2e366 | 581 | } else started = 1; |
jah128 | 0:8a5497a2e366 | 582 | display.clear_display(); |
jah128 | 0:8a5497a2e366 | 583 | switch(level) { |
jah128 | 0:8a5497a2e366 | 584 | case 0: |
jah128 | 0:8a5497a2e366 | 585 | //Top level menu |
jah128 | 0:8a5497a2e366 | 586 | switch(top_menu) { |
jah128 | 0:8a5497a2e366 | 587 | case 0: |
jah128 | 0:8a5497a2e366 | 588 | strcpy(topline,"---TEST LEDS----"); |
jah128 | 0:8a5497a2e366 | 589 | break; |
jah128 | 0:8a5497a2e366 | 590 | case 1: |
jah128 | 0:8a5497a2e366 | 591 | strcpy(topline,"--TEST SENSORS--"); |
jah128 | 0:8a5497a2e366 | 592 | break; |
jah128 | 0:8a5497a2e366 | 593 | case 2: |
jah128 | 0:8a5497a2e366 | 594 | strcpy(topline,"--TEST MOTORS---"); |
jah128 | 0:8a5497a2e366 | 595 | break; |
jah128 | 0:8a5497a2e366 | 596 | case 3: |
jah128 | 0:8a5497a2e366 | 597 | strcpy(topline,"---TEST RADIO---"); |
jah128 | 0:8a5497a2e366 | 598 | break; |
jah128 | 0:8a5497a2e366 | 599 | case 4: |
jah128 | 0:8a5497a2e366 | 600 | strcpy(topline,"------INFO------"); |
jah128 | 0:8a5497a2e366 | 601 | break; |
jah128 | 0:8a5497a2e366 | 602 | case 5: |
jah128 | 0:8a5497a2e366 | 603 | strcpy(topline,"---CODE DEMOS---"); |
jah128 | 0:8a5497a2e366 | 604 | break; |
jah128 | 0:8a5497a2e366 | 605 | case 6: |
jah128 | 0:8a5497a2e366 | 606 | strcpy(topline,"------EXIT------"); |
jah128 | 0:8a5497a2e366 | 607 | break; |
jah128 | 0:8a5497a2e366 | 608 | } |
jah128 | 0:8a5497a2e366 | 609 | strcpy(bottomline,""); |
jah128 | 0:8a5497a2e366 | 610 | break; |
jah128 | 0:8a5497a2e366 | 611 | case 1: |
jah128 | 0:8a5497a2e366 | 612 | //Sub level menu |
jah128 | 0:8a5497a2e366 | 613 | switch(top_menu) { |
jah128 | 0:8a5497a2e366 | 614 | case 0: |
jah128 | 0:8a5497a2e366 | 615 | strcpy(topline,"----LED MENU----"); |
jah128 | 0:8a5497a2e366 | 616 | char led_status[7]; |
jah128 | 0:8a5497a2e366 | 617 | if(sub_menu<9) { |
jah128 | 0:8a5497a2e366 | 618 | switch(led_state[sub_menu]) { |
jah128 | 0:8a5497a2e366 | 619 | case 0: |
jah128 | 0:8a5497a2e366 | 620 | strcpy(led_status,"OFF"); |
jah128 | 0:8a5497a2e366 | 621 | break; |
jah128 | 0:8a5497a2e366 | 622 | case 1: |
jah128 | 0:8a5497a2e366 | 623 | strcpy(led_status,"RED"); |
jah128 | 0:8a5497a2e366 | 624 | break; |
jah128 | 0:8a5497a2e366 | 625 | case 2: |
jah128 | 0:8a5497a2e366 | 626 | strcpy(led_status,"GREEN"); |
jah128 | 0:8a5497a2e366 | 627 | break; |
jah128 | 0:8a5497a2e366 | 628 | case 3: |
jah128 | 0:8a5497a2e366 | 629 | strcpy(led_status,"YELLOW"); |
jah128 | 0:8a5497a2e366 | 630 | break; |
jah128 | 0:8a5497a2e366 | 631 | } |
jah128 | 0:8a5497a2e366 | 632 | } |
jah128 | 0:8a5497a2e366 | 633 | if(sub_menu < 8) sprintf(bottomline,"OUTER %d: %s",(sub_menu + 1),led_status); |
jah128 | 0:8a5497a2e366 | 634 | if(sub_menu == 8) sprintf(bottomline,"CENTER: %s",led_status); |
jah128 | 0:8a5497a2e366 | 635 | if(sub_menu == 9) { |
jah128 | 0:8a5497a2e366 | 636 | switch(all_led_state) { |
jah128 | 0:8a5497a2e366 | 637 | case 0: |
jah128 | 0:8a5497a2e366 | 638 | strcpy(led_status,"OFF"); |
jah128 | 0:8a5497a2e366 | 639 | break; |
jah128 | 0:8a5497a2e366 | 640 | case 1: |
jah128 | 0:8a5497a2e366 | 641 | strcpy(led_status,"RED"); |
jah128 | 0:8a5497a2e366 | 642 | break; |
jah128 | 0:8a5497a2e366 | 643 | case 2: |
jah128 | 0:8a5497a2e366 | 644 | strcpy(led_status,"GREEN"); |
jah128 | 0:8a5497a2e366 | 645 | break; |
jah128 | 0:8a5497a2e366 | 646 | case 3: |
jah128 | 0:8a5497a2e366 | 647 | strcpy(led_status,"YELLOW"); |
jah128 | 0:8a5497a2e366 | 648 | break; |
jah128 | 0:8a5497a2e366 | 649 | } |
jah128 | 0:8a5497a2e366 | 650 | sprintf(bottomline,"SET ALL %s", led_status); |
jah128 | 0:8a5497a2e366 | 651 | } |
jah128 | 0:8a5497a2e366 | 652 | if(sub_menu == 10) { |
jah128 | 0:8a5497a2e366 | 653 | if(base_led_state == 0) strcpy(led_status,"OFF"); |
jah128 | 0:8a5497a2e366 | 654 | else strcpy(led_status,"ON"); |
jah128 | 0:8a5497a2e366 | 655 | sprintf(bottomline,"BASE: %s",led_status); |
jah128 | 0:8a5497a2e366 | 656 | } |
jah128 | 0:8a5497a2e366 | 657 | if(sub_menu == 11) sprintf(bottomline,"CLED BNESS %d%%", brightness); |
jah128 | 0:8a5497a2e366 | 658 | if(sub_menu == 12) sprintf(bottomline,"DISP BNESS %d%%", bl_brightness); |
jah128 | 0:8a5497a2e366 | 659 | if(sub_menu == 13) strcpy(bottomline,"EXIT"); |
jah128 | 0:8a5497a2e366 | 660 | break; |
jah128 | 0:8a5497a2e366 | 661 | |
jah128 | 0:8a5497a2e366 | 662 | case 1: |
jah128 | 0:8a5497a2e366 | 663 | strcpy(topline,"--SENSORS MENU--"); |
jah128 | 0:8a5497a2e366 | 664 | switch(sub_menu) { |
jah128 | 0:8a5497a2e366 | 665 | case 0: { |
jah128 | 0:8a5497a2e366 | 666 | float battery = get_battery_voltage (); |
jah128 | 0:8a5497a2e366 | 667 | sprintf(bottomline,"BATTERY: %1.3fV",battery); |
jah128 | 0:8a5497a2e366 | 668 | break; |
jah128 | 0:8a5497a2e366 | 669 | } |
jah128 | 0:8a5497a2e366 | 670 | case 1: { |
jah128 | 0:8a5497a2e366 | 671 | float dc = get_dc_voltage (); |
jah128 | 0:8a5497a2e366 | 672 | sprintf(bottomline,"DC: %1.3fV",dc); |
jah128 | 0:8a5497a2e366 | 673 | break; |
jah128 | 0:8a5497a2e366 | 674 | } |
jah128 | 0:8a5497a2e366 | 675 | case 2: { |
jah128 | 0:8a5497a2e366 | 676 | float current = get_current (); |
jah128 | 0:8a5497a2e366 | 677 | sprintf(bottomline,"CURRENT: %1.3fA",current); |
jah128 | 0:8a5497a2e366 | 678 | break; |
jah128 | 0:8a5497a2e366 | 679 | } |
jah128 | 0:8a5497a2e366 | 680 | case 3: { |
jah128 | 0:8a5497a2e366 | 681 | float temperature = get_temperature(); |
jah128 | 0:8a5497a2e366 | 682 | sprintf(bottomline,"TEMP: %3.2fC", temperature); |
jah128 | 0:8a5497a2e366 | 683 | break; |
jah128 | 0:8a5497a2e366 | 684 | } |
jah128 | 0:8a5497a2e366 | 685 | case 4: |
jah128 | 0:8a5497a2e366 | 686 | store_background_base_ir_values(); |
jah128 | 0:8a5497a2e366 | 687 | sprintf(bottomline,"BIR%dB:%d",base_ir_index+1,get_background_base_ir_value(base_ir_index)); |
jah128 | 0:8a5497a2e366 | 688 | break; |
jah128 | 0:8a5497a2e366 | 689 | case 5: |
jah128 | 0:8a5497a2e366 | 690 | store_illuminated_base_ir_values(); |
jah128 | 0:8a5497a2e366 | 691 | sprintf(bottomline,"BIR%dR:%d",base_ir_index+1,get_illuminated_base_ir_value(base_ir_index)); |
jah128 | 0:8a5497a2e366 | 692 | break; |
jah128 | 0:8a5497a2e366 | 693 | case 6: |
jah128 | 0:8a5497a2e366 | 694 | store_background_raw_ir_values(); |
jah128 | 0:8a5497a2e366 | 695 | sprintf(bottomline,"SIR%dB:%d",side_ir_index+1,get_background_raw_ir_value(side_ir_index)); |
jah128 | 0:8a5497a2e366 | 696 | break; |
jah128 | 0:8a5497a2e366 | 697 | case 7: |
jah128 | 0:8a5497a2e366 | 698 | store_illuminated_raw_ir_values(); |
jah128 | 0:8a5497a2e366 | 699 | sprintf(bottomline,"SIR%dR:%d",side_ir_index+1,get_illuminated_raw_ir_value(side_ir_index)); |
jah128 | 0:8a5497a2e366 | 700 | break; |
jah128 | 0:8a5497a2e366 | 701 | case 8: |
jah128 | 0:8a5497a2e366 | 702 | sprintf(bottomline,"SIR%dD:%3.1f",side_ir_index+1,0.0); |
jah128 | 0:8a5497a2e366 | 703 | break; |
jah128 | 0:8a5497a2e366 | 704 | case 9: |
jah128 | 0:8a5497a2e366 | 705 | if(ultrasonic_distance_updated == 1) { |
jah128 | 0:8a5497a2e366 | 706 | sprintf(bottomline,"USONIC:%3dcm",ultrasonic_distance); |
jah128 | 0:8a5497a2e366 | 707 | } else sprintf(bottomline,"USONIC:---------"); |
jah128 | 0:8a5497a2e366 | 708 | update_ultrasonic_measure(); |
jah128 | 0:8a5497a2e366 | 709 | break; |
jah128 | 0:8a5497a2e366 | 710 | case 10: |
jah128 | 3:cd048f6e544e | 711 | store_line_position(); |
jah128 | 3:cd048f6e544e | 712 | if(line_found == 1)sprintf(bottomline,"LINE:%1.3f",line_position); |
jah128 | 3:cd048f6e544e | 713 | else sprintf(bottomline,"LINE:---------"); |
jah128 | 3:cd048f6e544e | 714 | break; |
jah128 | 3:cd048f6e544e | 715 | case 11: |
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 2: |
jah128 | 0:8a5497a2e366 | 721 | strcpy(topline,"--MOTORS MENU---"); |
jah128 | 0:8a5497a2e366 | 722 | switch(sub_menu) { |
jah128 | 0:8a5497a2e366 | 723 | case 0: |
jah128 | 0:8a5497a2e366 | 724 | sprintf(bottomline,"LEFT: %d%%", left_speed); |
jah128 | 0:8a5497a2e366 | 725 | break; |
jah128 | 0:8a5497a2e366 | 726 | case 1: |
jah128 | 0:8a5497a2e366 | 727 | sprintf(bottomline,"RIGHT: %d%%", right_speed); |
jah128 | 0:8a5497a2e366 | 728 | break; |
jah128 | 0:8a5497a2e366 | 729 | case 2: |
jah128 | 0:8a5497a2e366 | 730 | char both_mode_string[16]; |
jah128 | 0:8a5497a2e366 | 731 | switch(both_motor_mode) { |
jah128 | 0:8a5497a2e366 | 732 | case 0: |
jah128 | 0:8a5497a2e366 | 733 | strcpy(both_mode_string,"OFF"); |
jah128 | 0:8a5497a2e366 | 734 | break; |
jah128 | 0:8a5497a2e366 | 735 | case 1: |
jah128 | 0:8a5497a2e366 | 736 | strcpy(both_mode_string,"BRAKE"); |
jah128 | 0:8a5497a2e366 | 737 | break; |
jah128 | 0:8a5497a2e366 | 738 | case 2: |
jah128 | 0:8a5497a2e366 | 739 | strcpy(both_mode_string,"+50%"); |
jah128 | 0:8a5497a2e366 | 740 | break; |
jah128 | 0:8a5497a2e366 | 741 | case 3: |
jah128 | 0:8a5497a2e366 | 742 | strcpy(both_mode_string,"+100%"); |
jah128 | 0:8a5497a2e366 | 743 | break; |
jah128 | 0:8a5497a2e366 | 744 | case 4: |
jah128 | 0:8a5497a2e366 | 745 | strcpy(both_mode_string,"-50%"); |
jah128 | 0:8a5497a2e366 | 746 | break; |
jah128 | 0:8a5497a2e366 | 747 | case 5: |
jah128 | 0:8a5497a2e366 | 748 | strcpy(both_mode_string,"-100%"); |
jah128 | 0:8a5497a2e366 | 749 | break; |
jah128 | 0:8a5497a2e366 | 750 | } |
jah128 | 0:8a5497a2e366 | 751 | sprintf(bottomline,"BOTH TO %s",both_mode_string); |
jah128 | 0:8a5497a2e366 | 752 | break; |
jah128 | 0:8a5497a2e366 | 753 | case 3: |
jah128 | 0:8a5497a2e366 | 754 | sprintf(bottomline,"EXIT"); |
jah128 | 0:8a5497a2e366 | 755 | break; |
jah128 | 0:8a5497a2e366 | 756 | } |
jah128 | 0:8a5497a2e366 | 757 | break; |
jah128 | 0:8a5497a2e366 | 758 | case 3: |
jah128 | 0:8a5497a2e366 | 759 | strcpy(topline,"---RADIO MENU---"); |
jah128 | 0:8a5497a2e366 | 760 | switch(sub_menu) { |
jah128 | 0:8a5497a2e366 | 761 | |
jah128 | 0:8a5497a2e366 | 762 | case 0: |
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 4: |
jah128 | 0:8a5497a2e366 | 768 | strcpy(topline,"---INFO MENU----"); |
jah128 | 0:8a5497a2e366 | 769 | switch(sub_menu) { |
jah128 | 0:8a5497a2e366 | 770 | case 0: |
jah128 | 0:8a5497a2e366 | 771 | sprintf(bottomline,"ROBOT ID: %d",robot_id); |
jah128 | 0:8a5497a2e366 | 772 | break; |
jah128 | 0:8a5497a2e366 | 773 | case 1: |
jah128 | 0:8a5497a2e366 | 774 | sprintf(bottomline,"SOFTWARE: %1.2f",SOFTWARE_VERSION_CODE); |
jah128 | 0:8a5497a2e366 | 775 | break; |
jah128 | 0:8a5497a2e366 | 776 | case 2: |
jah128 | 0:8a5497a2e366 | 777 | if(firmware_version > 0) sprintf(bottomline,"FIRMWARE: %1.2f",firmware_version); |
jah128 | 0:8a5497a2e366 | 778 | else sprintf(bottomline,"FIRMWARE: ?????"); |
jah128 | 0:8a5497a2e366 | 779 | break; |
jah128 | 0:8a5497a2e366 | 780 | case 3: |
jah128 | 1:f6356cf1cefc | 781 | sprintf(bottomline,"PROG:%s",program_name); |
jah128 | 1:f6356cf1cefc | 782 | break; |
jah128 | 1:f6356cf1cefc | 783 | case 4: |
jah128 | 1:f6356cf1cefc | 784 | sprintf(bottomline,"AUTH:%s",author_name); |
jah128 | 1:f6356cf1cefc | 785 | break; |
jah128 | 1:f6356cf1cefc | 786 | case 5: |
jah128 | 1:f6356cf1cefc | 787 | sprintf(bottomline,"VER:%s",version_name); |
jah128 | 1:f6356cf1cefc | 788 | break; |
jah128 | 1:f6356cf1cefc | 789 | case 6: |
jah128 | 0:8a5497a2e366 | 790 | sprintf(bottomline,"EXIT"); |
jah128 | 0:8a5497a2e366 | 791 | break; |
jah128 | 0:8a5497a2e366 | 792 | } |
jah128 | 0:8a5497a2e366 | 793 | break; |
jah128 | 0:8a5497a2e366 | 794 | case 5: |
jah128 | 0:8a5497a2e366 | 795 | strcpy(topline,"---CODE DEMOS---"); |
jah128 | 0:8a5497a2e366 | 796 | switch(sub_menu) { |
jah128 | 0:8a5497a2e366 | 797 | case 0: |
jah128 | 0:8a5497a2e366 | 798 | sprintf(bottomline,"LINE FOLLOW"); |
jah128 | 0:8a5497a2e366 | 799 | break; |
jah128 | 0:8a5497a2e366 | 800 | case 1: |
jah128 | 0:8a5497a2e366 | 801 | sprintf(bottomline,"OBST. AVOID"); |
jah128 | 0:8a5497a2e366 | 802 | break; |
jah128 | 0:8a5497a2e366 | 803 | case 2: |
jah128 | 0:8a5497a2e366 | 804 | sprintf(bottomline,"COLOUR SPIN"); |
jah128 | 0:8a5497a2e366 | 805 | break; |
jah128 | 0:8a5497a2e366 | 806 | case 3: |
jah128 | 0:8a5497a2e366 | 807 | sprintf(bottomline,"STRESS TEST"); |
jah128 | 0:8a5497a2e366 | 808 | break; |
jah128 | 0:8a5497a2e366 | 809 | case 4: |
jah128 | 0:8a5497a2e366 | 810 | sprintf(bottomline,"EXIT"); |
jah128 | 0:8a5497a2e366 | 811 | break; |
jah128 | 0:8a5497a2e366 | 812 | } |
jah128 | 0:8a5497a2e366 | 813 | break; |
jah128 | 0:8a5497a2e366 | 814 | case 6: |
jah128 | 0:8a5497a2e366 | 815 | strcpy(topline,""); |
jah128 | 0:8a5497a2e366 | 816 | break; |
jah128 | 0:8a5497a2e366 | 817 | } |
jah128 | 0:8a5497a2e366 | 818 | break; |
jah128 | 0:8a5497a2e366 | 819 | } |
jah128 | 0:8a5497a2e366 | 820 | display.write_string(topline); |
jah128 | 0:8a5497a2e366 | 821 | display.set_position(1,0); |
jah128 | 0:8a5497a2e366 | 822 | display.write_string(bottomline); |
jah128 | 0:8a5497a2e366 | 823 | if(top_menu == 1 && level == 1) { |
jah128 | 0:8a5497a2e366 | 824 | demo_event.attach(&demo_event_thread, 0.25); |
jah128 | 0:8a5497a2e366 | 825 | } |
jah128 | 0:8a5497a2e366 | 826 | } |
jah128 | 0:8a5497a2e366 | 827 | |
jah128 | 3:cd048f6e544e | 828 | void start_line_demo() |
jah128 | 3:cd048f6e544e | 829 | { |
jah128 | 3:cd048f6e544e | 830 | display.set_backlight_brightness(0); |
jah128 | 3:cd048f6e544e | 831 | time_out = 0.25f; |
jah128 | 3:cd048f6e544e | 832 | demo_timer.start(); |
jah128 | 3:cd048f6e544e | 833 | state = 0; |
jah128 | 3:cd048f6e544e | 834 | speed = 0; |
jah128 | 3:cd048f6e544e | 835 | led_step = 0; |
jah128 | 3:cd048f6e544e | 836 | demo_running = 1; |
jah128 | 3:cd048f6e544e | 837 | demo_timeout.attach_us(&line_demo_cycle,1000); |
jah128 | 3:cd048f6e544e | 838 | } |
jah128 | 0:8a5497a2e366 | 839 | |
jah128 | 0:8a5497a2e366 | 840 | void start_obstacle_demo() |
jah128 | 0:8a5497a2e366 | 841 | { |
jah128 | 0:8a5497a2e366 | 842 | display.set_backlight_brightness(0); |
jah128 | 0:8a5497a2e366 | 843 | time_out = 0.25f; |
jah128 | 0:8a5497a2e366 | 844 | demo_timer.start(); |
jah128 | 0:8a5497a2e366 | 845 | state = 0; |
jah128 | 0:8a5497a2e366 | 846 | speed = 0; |
jah128 | 0:8a5497a2e366 | 847 | led_step = 0; |
jah128 | 0:8a5497a2e366 | 848 | demo_running = 1; |
jah128 | 0:8a5497a2e366 | 849 | demo_timeout.attach_us(&obstacle_demo_cycle,1000); |
jah128 | 0:8a5497a2e366 | 850 | } |
jah128 | 0:8a5497a2e366 | 851 | |
jah128 | 0:8a5497a2e366 | 852 | void start_stress_demo() |
jah128 | 0:8a5497a2e366 | 853 | { |
jah128 | 0:8a5497a2e366 | 854 | display.set_backlight_brightness(0.25); |
jah128 | 0:8a5497a2e366 | 855 | display.write_string("STRESS TEST"); |
jah128 | 0:8a5497a2e366 | 856 | display.set_position(1,0); |
jah128 | 0:8a5497a2e366 | 857 | display.write_string("----25%----"); |
jah128 | 0:8a5497a2e366 | 858 | time_out = 0.04f; |
jah128 | 0:8a5497a2e366 | 859 | demo_timer.start(); |
jah128 | 0:8a5497a2e366 | 860 | state = 0; |
jah128 | 0:8a5497a2e366 | 861 | speed = 0; |
jah128 | 0:8a5497a2e366 | 862 | stress_step = 0; |
jah128 | 0:8a5497a2e366 | 863 | spin_step = 0; |
jah128 | 0:8a5497a2e366 | 864 | demo_running = 1; |
jah128 | 0:8a5497a2e366 | 865 | demo_timeout.attach_us(&stress_demo_cycle,1000); |
jah128 | 0:8a5497a2e366 | 866 | } |
jah128 | 0:8a5497a2e366 | 867 | |
jah128 | 0:8a5497a2e366 | 868 | void start_spinning_demo() |
jah128 | 0:8a5497a2e366 | 869 | { |
jah128 | 0:8a5497a2e366 | 870 | display.set_backlight_brightness(0); |
jah128 | 0:8a5497a2e366 | 871 | time_out = 0.0f; |
jah128 | 0:8a5497a2e366 | 872 | demo_timer.start(); |
jah128 | 0:8a5497a2e366 | 873 | state = 0; |
jah128 | 0:8a5497a2e366 | 874 | speed = 0; |
jah128 | 0:8a5497a2e366 | 875 | led_step = 0; |
jah128 | 0:8a5497a2e366 | 876 | spin_step = 0; |
jah128 | 0:8a5497a2e366 | 877 | demo_running = 1; |
jah128 | 0:8a5497a2e366 | 878 | demo_timeout.attach_us(&spinning_demo_cycle,1000); |
jah128 | 0:8a5497a2e366 | 879 | } |
jah128 | 0:8a5497a2e366 | 880 | |
jah128 | 3:cd048f6e544e | 881 | void line_demo_cycle() |
jah128 | 3:cd048f6e544e | 882 | { |
jah128 | 3:cd048f6e544e | 883 | if(demo_timer.read() > time_out) { |
jah128 | 3:cd048f6e544e | 884 | store_line_position(); |
jah128 | 3:cd048f6e544e | 885 | if(line_found) { |
jah128 | 3:cd048f6e544e | 886 | time_out = 0.01f; |
jah128 | 3:cd048f6e544e | 887 | state = 0; |
jah128 | 3:cd048f6e544e | 888 | // Get the position of the line. |
jah128 | 3:cd048f6e544e | 889 | lf_current_pos_of_line = line_position; |
jah128 | 3:cd048f6e544e | 890 | lf_proportional = lf_current_pos_of_line; |
jah128 | 3:cd048f6e544e | 891 | |
jah128 | 3:cd048f6e544e | 892 | // Compute the derivative |
jah128 | 3:cd048f6e544e | 893 | lf_derivative = lf_current_pos_of_line - lf_previous_pos_of_line; |
jah128 | 3:cd048f6e544e | 894 | |
jah128 | 3:cd048f6e544e | 895 | // Compute the integral |
jah128 | 3:cd048f6e544e | 896 | lf_integral += lf_proportional; |
jah128 | 3:cd048f6e544e | 897 | |
jah128 | 3:cd048f6e544e | 898 | // Remember the last position. |
jah128 | 3:cd048f6e544e | 899 | lf_previous_pos_of_line = lf_current_pos_of_line; |
jah128 | 3:cd048f6e544e | 900 | |
jah128 | 3:cd048f6e544e | 901 | // Compute the power |
jah128 | 3:cd048f6e544e | 902 | lf_power = (lf_proportional * (LF_P_TERM) ) + (lf_integral*(LF_I_TERM)) + (lf_derivative*(LF_D_TERM)) ; |
jah128 | 3:cd048f6e544e | 903 | |
jah128 | 3:cd048f6e544e | 904 | // Compute new speeds |
jah128 | 3:cd048f6e544e | 905 | lf_right = lf_speed-lf_power; |
jah128 | 3:cd048f6e544e | 906 | lf_left = lf_speed+lf_power; |
jah128 | 3:cd048f6e544e | 907 | |
jah128 | 3:cd048f6e544e | 908 | // limit checks |
jah128 | 3:cd048f6e544e | 909 | if (lf_right < 0) |
jah128 | 3:cd048f6e544e | 910 | lf_right = 0; |
jah128 | 3:cd048f6e544e | 911 | else if (lf_right > 1.0f) |
jah128 | 3:cd048f6e544e | 912 | lf_right = 1.0f; |
jah128 | 3:cd048f6e544e | 913 | |
jah128 | 3:cd048f6e544e | 914 | if (lf_left < 0) |
jah128 | 3:cd048f6e544e | 915 | lf_left = 0; |
jah128 | 3:cd048f6e544e | 916 | else if (lf_left > 1.0f) |
jah128 | 3:cd048f6e544e | 917 | lf_left = 1.0f; |
jah128 | 3:cd048f6e544e | 918 | }else{ |
jah128 | 3:cd048f6e544e | 919 | //Cannot see line: hunt for it |
jah128 | 3:cd048f6e544e | 920 | if(lf_left > lf_right){ |
jah128 | 3:cd048f6e544e | 921 | //Currently turning left, keep turning left |
jah128 | 3:cd048f6e544e | 922 | state ++; |
jah128 | 3:cd048f6e544e | 923 | float d_step = state * 0.04; |
jah128 | 3:cd048f6e544e | 924 | lf_left = 0.2 + d_step; |
jah128 | 3:cd048f6e544e | 925 | lf_right = -0.2 - d_step; |
jah128 | 3:cd048f6e544e | 926 | if(state > 20){ |
jah128 | 3:cd048f6e544e | 927 | state = 0; |
jah128 | 3:cd048f6e544e | 928 | lf_right = 0.2; |
jah128 | 3:cd048f6e544e | 929 | lf_left = -0.2; |
jah128 | 3:cd048f6e544e | 930 | time_out += 0.01f; |
jah128 | 3:cd048f6e544e | 931 | if(time_out > 0.1f) demo_running = 0; |
jah128 | 3:cd048f6e544e | 932 | } |
jah128 | 3:cd048f6e544e | 933 | }else{ |
jah128 | 3:cd048f6e544e | 934 | //Currently turning right, keep turning right |
jah128 | 3:cd048f6e544e | 935 | state ++; |
jah128 | 3:cd048f6e544e | 936 | float d_step = state * 0.04; |
jah128 | 3:cd048f6e544e | 937 | lf_left = -0.2 - d_step; |
jah128 | 3:cd048f6e544e | 938 | lf_right = 0.2 + d_step; |
jah128 | 3:cd048f6e544e | 939 | if(state > 20){ |
jah128 | 3:cd048f6e544e | 940 | state = 0; |
jah128 | 3:cd048f6e544e | 941 | lf_right = -0.2; |
jah128 | 3:cd048f6e544e | 942 | lf_left = 0.2; |
jah128 | 3:cd048f6e544e | 943 | time_out += 0.01f; |
jah128 | 3:cd048f6e544e | 944 | if(time_out > 0.1f) demo_running = 0; |
jah128 | 3:cd048f6e544e | 945 | } |
jah128 | 3:cd048f6e544e | 946 | } |
jah128 | 3:cd048f6e544e | 947 | } |
jah128 | 3:cd048f6e544e | 948 | // set speed |
jah128 | 3:cd048f6e544e | 949 | set_left_motor_speed(lf_left); |
jah128 | 3:cd048f6e544e | 950 | set_right_motor_speed(lf_right); |
jah128 | 3:cd048f6e544e | 951 | |
jah128 | 3:cd048f6e544e | 952 | |
jah128 | 3:cd048f6e544e | 953 | demo_timer.reset(); |
jah128 | 3:cd048f6e544e | 954 | } |
jah128 | 3:cd048f6e544e | 955 | if(demo_running == 1)demo_timeout.attach_us(&line_demo_cycle,500); |
jah128 | 3:cd048f6e544e | 956 | else { |
jah128 | 3:cd048f6e544e | 957 | stop(); |
jah128 | 3:cd048f6e544e | 958 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 3:cd048f6e544e | 959 | } |
jah128 | 3:cd048f6e544e | 960 | } |
jah128 | 3:cd048f6e544e | 961 | |
jah128 | 0:8a5497a2e366 | 962 | void stress_demo_cycle() |
jah128 | 0:8a5497a2e366 | 963 | { |
jah128 | 0:8a5497a2e366 | 964 | if(demo_timer.read() > time_out) { |
jah128 | 0:8a5497a2e366 | 965 | float pct = 0.25 + (0.25 * stress_step); |
jah128 | 0:8a5497a2e366 | 966 | switch(state) { |
jah128 | 0:8a5497a2e366 | 967 | case 0: |
jah128 | 0:8a5497a2e366 | 968 | if(spin_step % 2 == 0) { |
jah128 | 0:8a5497a2e366 | 969 | forward(pct); |
jah128 | 0:8a5497a2e366 | 970 | set_leds(0xFF,0xFF); |
jah128 | 0:8a5497a2e366 | 971 | } else { |
jah128 | 0:8a5497a2e366 | 972 | backward(pct); |
jah128 | 0:8a5497a2e366 | 973 | set_leds(0,0xFF); |
jah128 | 0:8a5497a2e366 | 974 | } |
jah128 | 0:8a5497a2e366 | 975 | spin_step ++; |
jah128 | 0:8a5497a2e366 | 976 | if(spin_step > 199) { |
jah128 | 0:8a5497a2e366 | 977 | state ++; |
jah128 | 0:8a5497a2e366 | 978 | spin_step = 0; |
jah128 | 0:8a5497a2e366 | 979 | } |
jah128 | 0:8a5497a2e366 | 980 | break; |
jah128 | 0:8a5497a2e366 | 981 | case 1: |
jah128 | 0:8a5497a2e366 | 982 | if(stress_step < 3) stress_step ++; |
jah128 | 0:8a5497a2e366 | 983 | float pct = 0.25 + (0.25 * stress_step); |
jah128 | 0:8a5497a2e366 | 984 | display.set_backlight_brightness(pct); |
jah128 | 0:8a5497a2e366 | 985 | display.set_position(1,0); |
jah128 | 0:8a5497a2e366 | 986 | switch(stress_step) { |
jah128 | 0:8a5497a2e366 | 987 | case 1: |
jah128 | 0:8a5497a2e366 | 988 | display.write_string("----50%----"); |
jah128 | 0:8a5497a2e366 | 989 | break; |
jah128 | 0:8a5497a2e366 | 990 | case 2: |
jah128 | 0:8a5497a2e366 | 991 | display.write_string("----75%----"); |
jah128 | 0:8a5497a2e366 | 992 | break; |
jah128 | 0:8a5497a2e366 | 993 | case 3: |
jah128 | 0:8a5497a2e366 | 994 | display.write_string("---100%----"); |
jah128 | 0:8a5497a2e366 | 995 | break; |
jah128 | 0:8a5497a2e366 | 996 | } |
jah128 | 0:8a5497a2e366 | 997 | state = 0; |
jah128 | 0:8a5497a2e366 | 998 | break; |
jah128 | 0:8a5497a2e366 | 999 | } |
jah128 | 0:8a5497a2e366 | 1000 | demo_timer.reset(); |
jah128 | 0:8a5497a2e366 | 1001 | } |
jah128 | 0:8a5497a2e366 | 1002 | if(demo_running == 1)demo_timeout.attach_us(&stress_demo_cycle,500); |
jah128 | 0:8a5497a2e366 | 1003 | else { |
jah128 | 0:8a5497a2e366 | 1004 | stop(); |
jah128 | 0:8a5497a2e366 | 1005 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:8a5497a2e366 | 1006 | } |
jah128 | 0:8a5497a2e366 | 1007 | } |
jah128 | 0:8a5497a2e366 | 1008 | |
jah128 | 0:8a5497a2e366 | 1009 | void spinning_demo_cycle() |
jah128 | 0:8a5497a2e366 | 1010 | { |
jah128 | 0:8a5497a2e366 | 1011 | if(demo_timer.read() > time_out) { |
jah128 | 0:8a5497a2e366 | 1012 | switch(state) { |
jah128 | 0:8a5497a2e366 | 1013 | case 0: //Robot is stopped |
jah128 | 0:8a5497a2e366 | 1014 | set_leds(0,0xFF); |
jah128 | 0:8a5497a2e366 | 1015 | set_center_led(1,1); |
jah128 | 0:8a5497a2e366 | 1016 | speed = 0.1f; |
jah128 | 0:8a5497a2e366 | 1017 | brake(); |
jah128 | 0:8a5497a2e366 | 1018 | time_out = 0.5; |
jah128 | 0:8a5497a2e366 | 1019 | state = 1; |
jah128 | 0:8a5497a2e366 | 1020 | led_step = 0; |
jah128 | 0:8a5497a2e366 | 1021 | break; |
jah128 | 0:8a5497a2e366 | 1022 | case 1: //Motor is turning right, accelerating |
jah128 | 0:8a5497a2e366 | 1023 | time_out = 0.1; |
jah128 | 0:8a5497a2e366 | 1024 | set_center_led(2,1); |
jah128 | 0:8a5497a2e366 | 1025 | switch(led_step) { |
jah128 | 0:8a5497a2e366 | 1026 | case 0: |
jah128 | 0:8a5497a2e366 | 1027 | set_leds(0x01,0); |
jah128 | 0:8a5497a2e366 | 1028 | break; |
jah128 | 0:8a5497a2e366 | 1029 | case 1: |
jah128 | 0:8a5497a2e366 | 1030 | set_leds(0x02,0); |
jah128 | 0:8a5497a2e366 | 1031 | break; |
jah128 | 0:8a5497a2e366 | 1032 | case 2: |
jah128 | 0:8a5497a2e366 | 1033 | set_leds(0x04,0); |
jah128 | 0:8a5497a2e366 | 1034 | break; |
jah128 | 0:8a5497a2e366 | 1035 | case 3: |
jah128 | 0:8a5497a2e366 | 1036 | set_leds(0x08,0); |
jah128 | 0:8a5497a2e366 | 1037 | break; |
jah128 | 0:8a5497a2e366 | 1038 | case 4: |
jah128 | 0:8a5497a2e366 | 1039 | set_leds(0x10,0); |
jah128 | 0:8a5497a2e366 | 1040 | break; |
jah128 | 0:8a5497a2e366 | 1041 | case 5: |
jah128 | 0:8a5497a2e366 | 1042 | set_leds(0x20,0); |
jah128 | 0:8a5497a2e366 | 1043 | break; |
jah128 | 0:8a5497a2e366 | 1044 | case 6: |
jah128 | 0:8a5497a2e366 | 1045 | set_leds(0x40,0); |
jah128 | 0:8a5497a2e366 | 1046 | break; |
jah128 | 0:8a5497a2e366 | 1047 | case 7: |
jah128 | 0:8a5497a2e366 | 1048 | set_leds(0x80,0); |
jah128 | 0:8a5497a2e366 | 1049 | break; |
jah128 | 0:8a5497a2e366 | 1050 | } |
jah128 | 0:8a5497a2e366 | 1051 | led_step ++; |
jah128 | 0:8a5497a2e366 | 1052 | if(led_step == 8) led_step =0; |
jah128 | 0:8a5497a2e366 | 1053 | if(speed < 1) { |
jah128 | 0:8a5497a2e366 | 1054 | speed += 0.0125; |
jah128 | 0:8a5497a2e366 | 1055 | turn(speed); |
jah128 | 0:8a5497a2e366 | 1056 | } else { |
jah128 | 0:8a5497a2e366 | 1057 | state = 2; |
jah128 | 0:8a5497a2e366 | 1058 | spin_step = 0; |
jah128 | 0:8a5497a2e366 | 1059 | led_step =0; |
jah128 | 0:8a5497a2e366 | 1060 | } |
jah128 | 0:8a5497a2e366 | 1061 | break; |
jah128 | 0:8a5497a2e366 | 1062 | case 2: //Motor is turning right, full speed |
jah128 | 0:8a5497a2e366 | 1063 | set_center_led(3,1); |
jah128 | 0:8a5497a2e366 | 1064 | switch(led_step) { |
jah128 | 0:8a5497a2e366 | 1065 | case 0: |
jah128 | 0:8a5497a2e366 | 1066 | set_leds(0x33,0x33); |
jah128 | 0:8a5497a2e366 | 1067 | break; |
jah128 | 0:8a5497a2e366 | 1068 | case 1: |
jah128 | 0:8a5497a2e366 | 1069 | set_leds(0x66,0x66); |
jah128 | 0:8a5497a2e366 | 1070 | break; |
jah128 | 0:8a5497a2e366 | 1071 | case 2: |
jah128 | 0:8a5497a2e366 | 1072 | set_leds(0xCC,0xCC); |
jah128 | 0:8a5497a2e366 | 1073 | break; |
jah128 | 0:8a5497a2e366 | 1074 | case 3: |
jah128 | 0:8a5497a2e366 | 1075 | set_leds(0x99,0x99); |
jah128 | 0:8a5497a2e366 | 1076 | break; |
jah128 | 0:8a5497a2e366 | 1077 | } |
jah128 | 0:8a5497a2e366 | 1078 | led_step ++; |
jah128 | 0:8a5497a2e366 | 1079 | if(led_step == 4) led_step = 0; |
jah128 | 0:8a5497a2e366 | 1080 | spin_step ++; |
jah128 | 0:8a5497a2e366 | 1081 | if(spin_step == 40) { |
jah128 | 0:8a5497a2e366 | 1082 | state = 3; |
jah128 | 0:8a5497a2e366 | 1083 | led_step = 0; |
jah128 | 0:8a5497a2e366 | 1084 | } |
jah128 | 0:8a5497a2e366 | 1085 | break; |
jah128 | 0:8a5497a2e366 | 1086 | case 3: //Motor is turning right, decelerating |
jah128 | 0:8a5497a2e366 | 1087 | set_center_led(2,1); |
jah128 | 0:8a5497a2e366 | 1088 | switch(led_step) { |
jah128 | 0:8a5497a2e366 | 1089 | case 0: |
jah128 | 0:8a5497a2e366 | 1090 | set_leds(0x01,0); |
jah128 | 0:8a5497a2e366 | 1091 | break; |
jah128 | 0:8a5497a2e366 | 1092 | case 1: |
jah128 | 0:8a5497a2e366 | 1093 | set_leds(0x02,0); |
jah128 | 0:8a5497a2e366 | 1094 | break; |
jah128 | 0:8a5497a2e366 | 1095 | case 2: |
jah128 | 0:8a5497a2e366 | 1096 | set_leds(0x04,0); |
jah128 | 0:8a5497a2e366 | 1097 | break; |
jah128 | 0:8a5497a2e366 | 1098 | case 3: |
jah128 | 0:8a5497a2e366 | 1099 | set_leds(0x08,0); |
jah128 | 0:8a5497a2e366 | 1100 | break; |
jah128 | 0:8a5497a2e366 | 1101 | case 4: |
jah128 | 0:8a5497a2e366 | 1102 | set_leds(0x10,0); |
jah128 | 0:8a5497a2e366 | 1103 | break; |
jah128 | 0:8a5497a2e366 | 1104 | case 5: |
jah128 | 0:8a5497a2e366 | 1105 | set_leds(0x20,0); |
jah128 | 0:8a5497a2e366 | 1106 | break; |
jah128 | 0:8a5497a2e366 | 1107 | case 6: |
jah128 | 0:8a5497a2e366 | 1108 | set_leds(0x40,0); |
jah128 | 0:8a5497a2e366 | 1109 | break; |
jah128 | 0:8a5497a2e366 | 1110 | case 7: |
jah128 | 0:8a5497a2e366 | 1111 | set_leds(0x80,0); |
jah128 | 0:8a5497a2e366 | 1112 | break; |
jah128 | 0:8a5497a2e366 | 1113 | } |
jah128 | 0:8a5497a2e366 | 1114 | if(led_step == 0) led_step =8; |
jah128 | 0:8a5497a2e366 | 1115 | led_step --; |
jah128 | 0:8a5497a2e366 | 1116 | if(speed > 0.1) { |
jah128 | 0:8a5497a2e366 | 1117 | speed -= 0.025; |
jah128 | 0:8a5497a2e366 | 1118 | turn(speed); |
jah128 | 0:8a5497a2e366 | 1119 | } else { |
jah128 | 0:8a5497a2e366 | 1120 | state = 4; |
jah128 | 0:8a5497a2e366 | 1121 | spin_step = 0; |
jah128 | 0:8a5497a2e366 | 1122 | led_step =0; |
jah128 | 0:8a5497a2e366 | 1123 | } |
jah128 | 0:8a5497a2e366 | 1124 | break; |
jah128 | 0:8a5497a2e366 | 1125 | case 4: //Robot is stopped |
jah128 | 0:8a5497a2e366 | 1126 | set_leds(0,0xFF); |
jah128 | 0:8a5497a2e366 | 1127 | set_center_led(1,1); |
jah128 | 0:8a5497a2e366 | 1128 | speed = 0.1f; |
jah128 | 0:8a5497a2e366 | 1129 | brake(); |
jah128 | 0:8a5497a2e366 | 1130 | time_out = 0.5; |
jah128 | 0:8a5497a2e366 | 1131 | led_step =0; |
jah128 | 0:8a5497a2e366 | 1132 | state = 5; |
jah128 | 0:8a5497a2e366 | 1133 | break; |
jah128 | 0:8a5497a2e366 | 1134 | case 5: //Motor is turning left, accelerating |
jah128 | 0:8a5497a2e366 | 1135 | time_out = 0.1; |
jah128 | 0:8a5497a2e366 | 1136 | set_center_led(2,1); |
jah128 | 0:8a5497a2e366 | 1137 | switch(led_step) { |
jah128 | 0:8a5497a2e366 | 1138 | case 0: |
jah128 | 0:8a5497a2e366 | 1139 | set_leds(0x01,0); |
jah128 | 0:8a5497a2e366 | 1140 | break; |
jah128 | 0:8a5497a2e366 | 1141 | case 1: |
jah128 | 0:8a5497a2e366 | 1142 | set_leds(0x02,0); |
jah128 | 0:8a5497a2e366 | 1143 | break; |
jah128 | 0:8a5497a2e366 | 1144 | case 2: |
jah128 | 0:8a5497a2e366 | 1145 | set_leds(0x04,0); |
jah128 | 0:8a5497a2e366 | 1146 | break; |
jah128 | 0:8a5497a2e366 | 1147 | case 3: |
jah128 | 0:8a5497a2e366 | 1148 | set_leds(0x08,0); |
jah128 | 0:8a5497a2e366 | 1149 | break; |
jah128 | 0:8a5497a2e366 | 1150 | case 4: |
jah128 | 0:8a5497a2e366 | 1151 | set_leds(0x10,0); |
jah128 | 0:8a5497a2e366 | 1152 | break; |
jah128 | 0:8a5497a2e366 | 1153 | case 5: |
jah128 | 0:8a5497a2e366 | 1154 | set_leds(0x20,0); |
jah128 | 0:8a5497a2e366 | 1155 | break; |
jah128 | 0:8a5497a2e366 | 1156 | case 6: |
jah128 | 0:8a5497a2e366 | 1157 | set_leds(0x40,0); |
jah128 | 0:8a5497a2e366 | 1158 | break; |
jah128 | 0:8a5497a2e366 | 1159 | case 7: |
jah128 | 0:8a5497a2e366 | 1160 | set_leds(0x80,0); |
jah128 | 0:8a5497a2e366 | 1161 | break; |
jah128 | 0:8a5497a2e366 | 1162 | } |
jah128 | 0:8a5497a2e366 | 1163 | if(led_step == 0) led_step =8; |
jah128 | 0:8a5497a2e366 | 1164 | led_step --; |
jah128 | 0:8a5497a2e366 | 1165 | if(speed < 1) { |
jah128 | 0:8a5497a2e366 | 1166 | speed += 0.0125; |
jah128 | 0:8a5497a2e366 | 1167 | turn(-speed); |
jah128 | 0:8a5497a2e366 | 1168 | } else { |
jah128 | 0:8a5497a2e366 | 1169 | state = 6; |
jah128 | 0:8a5497a2e366 | 1170 | spin_step = 0; |
jah128 | 0:8a5497a2e366 | 1171 | led_step = 0; |
jah128 | 0:8a5497a2e366 | 1172 | } |
jah128 | 0:8a5497a2e366 | 1173 | break; |
jah128 | 0:8a5497a2e366 | 1174 | case 6: //Motor is turning left, full speed |
jah128 | 0:8a5497a2e366 | 1175 | set_center_led(3,1); |
jah128 | 0:8a5497a2e366 | 1176 | switch(led_step) { |
jah128 | 0:8a5497a2e366 | 1177 | case 0: |
jah128 | 0:8a5497a2e366 | 1178 | set_leds(0x33,0x33); |
jah128 | 0:8a5497a2e366 | 1179 | break; |
jah128 | 0:8a5497a2e366 | 1180 | case 1: |
jah128 | 0:8a5497a2e366 | 1181 | set_leds(0x66,0x66); |
jah128 | 0:8a5497a2e366 | 1182 | break; |
jah128 | 0:8a5497a2e366 | 1183 | case 2: |
jah128 | 0:8a5497a2e366 | 1184 | set_leds(0xCC,0xCC); |
jah128 | 0:8a5497a2e366 | 1185 | break; |
jah128 | 0:8a5497a2e366 | 1186 | case 3: |
jah128 | 0:8a5497a2e366 | 1187 | set_leds(0x99,0x99); |
jah128 | 0:8a5497a2e366 | 1188 | break; |
jah128 | 0:8a5497a2e366 | 1189 | } |
jah128 | 0:8a5497a2e366 | 1190 | if(led_step == 0) led_step = 4; |
jah128 | 0:8a5497a2e366 | 1191 | led_step --; |
jah128 | 0:8a5497a2e366 | 1192 | spin_step ++; |
jah128 | 0:8a5497a2e366 | 1193 | if(spin_step == 40) { |
jah128 | 0:8a5497a2e366 | 1194 | state = 7; |
jah128 | 0:8a5497a2e366 | 1195 | led_step = 0; |
jah128 | 0:8a5497a2e366 | 1196 | } |
jah128 | 0:8a5497a2e366 | 1197 | break; |
jah128 | 0:8a5497a2e366 | 1198 | case 7: //Motor is turning left, decelerating |
jah128 | 0:8a5497a2e366 | 1199 | set_center_led(2,1); |
jah128 | 0:8a5497a2e366 | 1200 | switch(led_step) { |
jah128 | 0:8a5497a2e366 | 1201 | case 0: |
jah128 | 0:8a5497a2e366 | 1202 | set_leds(0x01,0); |
jah128 | 0:8a5497a2e366 | 1203 | break; |
jah128 | 0:8a5497a2e366 | 1204 | case 1: |
jah128 | 0:8a5497a2e366 | 1205 | set_leds(0x02,0); |
jah128 | 0:8a5497a2e366 | 1206 | break; |
jah128 | 0:8a5497a2e366 | 1207 | case 2: |
jah128 | 0:8a5497a2e366 | 1208 | set_leds(0x04,0); |
jah128 | 0:8a5497a2e366 | 1209 | break; |
jah128 | 0:8a5497a2e366 | 1210 | case 3: |
jah128 | 0:8a5497a2e366 | 1211 | set_leds(0x08,0); |
jah128 | 0:8a5497a2e366 | 1212 | break; |
jah128 | 0:8a5497a2e366 | 1213 | case 4: |
jah128 | 0:8a5497a2e366 | 1214 | set_leds(0x10,0); |
jah128 | 0:8a5497a2e366 | 1215 | break; |
jah128 | 0:8a5497a2e366 | 1216 | case 5: |
jah128 | 0:8a5497a2e366 | 1217 | set_leds(0x20,0); |
jah128 | 0:8a5497a2e366 | 1218 | break; |
jah128 | 0:8a5497a2e366 | 1219 | case 6: |
jah128 | 0:8a5497a2e366 | 1220 | set_leds(0x40,0); |
jah128 | 0:8a5497a2e366 | 1221 | break; |
jah128 | 0:8a5497a2e366 | 1222 | case 7: |
jah128 | 0:8a5497a2e366 | 1223 | set_leds(0x80,0); |
jah128 | 0:8a5497a2e366 | 1224 | break; |
jah128 | 0:8a5497a2e366 | 1225 | } |
jah128 | 0:8a5497a2e366 | 1226 | led_step ++; |
jah128 | 0:8a5497a2e366 | 1227 | if(led_step == 8) led_step =0; |
jah128 | 0:8a5497a2e366 | 1228 | if(speed > 0.1) { |
jah128 | 0:8a5497a2e366 | 1229 | speed -= 0.025; |
jah128 | 0:8a5497a2e366 | 1230 | turn(-speed); |
jah128 | 0:8a5497a2e366 | 1231 | } else { |
jah128 | 0:8a5497a2e366 | 1232 | state = 0; |
jah128 | 0:8a5497a2e366 | 1233 | spin_step = 0; |
jah128 | 0:8a5497a2e366 | 1234 | led_step = 0; |
jah128 | 0:8a5497a2e366 | 1235 | } |
jah128 | 0:8a5497a2e366 | 1236 | break; |
jah128 | 0:8a5497a2e366 | 1237 | } |
jah128 | 0:8a5497a2e366 | 1238 | demo_timer.reset(); |
jah128 | 0:8a5497a2e366 | 1239 | } |
jah128 | 0:8a5497a2e366 | 1240 | if(demo_running == 1)demo_timeout.attach_us(&spinning_demo_cycle,500); |
jah128 | 0:8a5497a2e366 | 1241 | else { |
jah128 | 0:8a5497a2e366 | 1242 | stop(); |
jah128 | 0:8a5497a2e366 | 1243 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:8a5497a2e366 | 1244 | } |
jah128 | 0:8a5497a2e366 | 1245 | } |
jah128 | 0:8a5497a2e366 | 1246 | |
jah128 | 0:8a5497a2e366 | 1247 | void obstacle_demo_cycle() |
jah128 | 0:8a5497a2e366 | 1248 | { |
jah128 | 0:8a5497a2e366 | 1249 | if(demo_timer.read() > time_out) { |
jah128 | 0:8a5497a2e366 | 1250 | switch(state) { |
jah128 | 0:8a5497a2e366 | 1251 | case 0: //Robot is stopped |
jah128 | 0:8a5497a2e366 | 1252 | set_leds(0,0xFF); |
jah128 | 0:8a5497a2e366 | 1253 | set_center_led(1,0.4); |
jah128 | 0:8a5497a2e366 | 1254 | speed = 0.3f; |
jah128 | 0:8a5497a2e366 | 1255 | forward(speed); |
jah128 | 0:8a5497a2e366 | 1256 | time_out = 0.05; |
jah128 | 0:8a5497a2e366 | 1257 | state = 1; |
jah128 | 0:8a5497a2e366 | 1258 | break; |
jah128 | 0:8a5497a2e366 | 1259 | case 1: { //Motor is moving forward |
jah128 | 0:8a5497a2e366 | 1260 | store_ir_values(); |
jah128 | 0:8a5497a2e366 | 1261 | int front_right = read_illuminated_raw_ir_value(0); |
jah128 | 0:8a5497a2e366 | 1262 | int front_left = read_illuminated_raw_ir_value(7); |
jah128 | 0:8a5497a2e366 | 1263 | if(front_left > 400 || front_right > 400) { |
jah128 | 0:8a5497a2e366 | 1264 | brake(); |
jah128 | 0:8a5497a2e366 | 1265 | time_out = 0.04; |
jah128 | 0:8a5497a2e366 | 1266 | if(front_left > front_right)state=2; |
jah128 | 0:8a5497a2e366 | 1267 | else state=3; |
jah128 | 0:8a5497a2e366 | 1268 | } else { |
jah128 | 0:8a5497a2e366 | 1269 | if(speed < 0.5) { |
jah128 | 0:8a5497a2e366 | 1270 | speed += 0.03; |
jah128 | 0:8a5497a2e366 | 1271 | forward(speed); |
jah128 | 0:8a5497a2e366 | 1272 | } |
jah128 | 0:8a5497a2e366 | 1273 | switch(led_step) { |
jah128 | 0:8a5497a2e366 | 1274 | case 0: |
jah128 | 0:8a5497a2e366 | 1275 | set_leds(0x01,0); |
jah128 | 0:8a5497a2e366 | 1276 | break; |
jah128 | 0:8a5497a2e366 | 1277 | case 1: |
jah128 | 0:8a5497a2e366 | 1278 | set_leds(0x38,0); |
jah128 | 0:8a5497a2e366 | 1279 | break; |
jah128 | 0:8a5497a2e366 | 1280 | case 2: |
jah128 | 0:8a5497a2e366 | 1281 | set_leds(0x6C,0); |
jah128 | 0:8a5497a2e366 | 1282 | break; |
jah128 | 0:8a5497a2e366 | 1283 | case 3: |
jah128 | 0:8a5497a2e366 | 1284 | set_leds(0xC6,0); |
jah128 | 0:8a5497a2e366 | 1285 | break; |
jah128 | 0:8a5497a2e366 | 1286 | case 4: |
jah128 | 0:8a5497a2e366 | 1287 | set_leds(0x83,0); |
jah128 | 0:8a5497a2e366 | 1288 | break; |
jah128 | 0:8a5497a2e366 | 1289 | } |
jah128 | 0:8a5497a2e366 | 1290 | set_center_led(2, 0.6); |
jah128 | 0:8a5497a2e366 | 1291 | led_step ++; |
jah128 | 0:8a5497a2e366 | 1292 | if(led_step == 5) led_step = 0; |
jah128 | 0:8a5497a2e366 | 1293 | } |
jah128 | 0:8a5497a2e366 | 1294 | break; |
jah128 | 0:8a5497a2e366 | 1295 | } |
jah128 | 0:8a5497a2e366 | 1296 | case 2: //Turn right |
jah128 | 0:8a5497a2e366 | 1297 | set_left_motor_speed(0.85); |
jah128 | 0:8a5497a2e366 | 1298 | set_right_motor_speed(-0.85); |
jah128 | 0:8a5497a2e366 | 1299 | time_out = 0.4; |
jah128 | 0:8a5497a2e366 | 1300 | state = 0; |
jah128 | 0:8a5497a2e366 | 1301 | set_leds(0x0E,0x0E); |
jah128 | 0:8a5497a2e366 | 1302 | set_center_led(3,0.5); |
jah128 | 0:8a5497a2e366 | 1303 | break; |
jah128 | 0:8a5497a2e366 | 1304 | case 3: //Turn left |
jah128 | 0:8a5497a2e366 | 1305 | set_left_motor_speed(-0.85); |
jah128 | 0:8a5497a2e366 | 1306 | set_right_motor_speed(0.85); |
jah128 | 0:8a5497a2e366 | 1307 | time_out = 0.4; |
jah128 | 0:8a5497a2e366 | 1308 | state = 0; |
jah128 | 0:8a5497a2e366 | 1309 | set_leds(0xE0,0xE0); |
jah128 | 0:8a5497a2e366 | 1310 | set_center_led(3,0.5); |
jah128 | 0:8a5497a2e366 | 1311 | break; |
jah128 | 0:8a5497a2e366 | 1312 | } |
jah128 | 0:8a5497a2e366 | 1313 | demo_timer.reset(); |
jah128 | 0:8a5497a2e366 | 1314 | } |
jah128 | 0:8a5497a2e366 | 1315 | if(demo_running == 1)demo_timeout.attach_us(&obstacle_demo_cycle,200); |
jah128 | 0:8a5497a2e366 | 1316 | else { |
jah128 | 0:8a5497a2e366 | 1317 | stop(); |
jah128 | 0:8a5497a2e366 | 1318 | display.set_backlight_brightness(bl_brightness * 0.01f); |
jah128 | 0:8a5497a2e366 | 1319 | } |
jah128 | 0:8a5497a2e366 | 1320 | } |
jah128 | 0:8a5497a2e366 | 1321 | |
jah128 | 0:8a5497a2e366 | 1322 | void demo_update_leds() |
jah128 | 0:8a5497a2e366 | 1323 | { |
jah128 | 0:8a5497a2e366 | 1324 | char red = 0; |
jah128 | 0:8a5497a2e366 | 1325 | char green = 0; |
jah128 | 0:8a5497a2e366 | 1326 | for(int i=0; i<8; i++) { |
jah128 | 0:8a5497a2e366 | 1327 | if(led_state[i]==1 || led_state[i]==3) red+=(1<<i); |
jah128 | 0:8a5497a2e366 | 1328 | if(led_state[i]==2 || led_state[i]==3) green+=(1<<i); |
jah128 | 0:8a5497a2e366 | 1329 | } |
jah128 | 0:8a5497a2e366 | 1330 | set_leds(green,red); |
jah128 | 0:8a5497a2e366 | 1331 | float brightness_f = brightness / 100.0f; |
jah128 | 0:8a5497a2e366 | 1332 | set_center_led(led_state[8], brightness_f); |
jah128 | 0:8a5497a2e366 | 1333 | set_base_led(base_led_state); |
jah128 | 0:8a5497a2e366 | 1334 | } |