Diff: main.cpp

Revision:

23:bf666fcc61bc

Parent:

22:d87317d7ca91

Child:

24:4e52031a495b

--- a/main.cpp	Sat Jun 02 06:38:12 2012 +0000
+++ b/main.cpp	Wed Jun 13 10:09:41 2012 +0000
@@ -12,7 +12,7 @@
 // For tests:
 DigitalOut myled(LED1);
 DigitalOut myled2(LED2);
-//DigitalOut myled3(LED2);
+DigitalOut myled3(LED3);
 
 
 // To test the time it takes for executing one loop in the main program:
@@ -165,7 +165,7 @@
         blobconf.sendConfData();
 
 
-            lsr.startFullDisplay(); // this start the point-display counter (wherever the actual laser is). Before update and draw, the counter needs to be reset.
+        lsr.startFullDisplay(); // this start the point-display counter (wherever the actual laser is). Before update and draw, the counter needs to be reset.
 
 
             // __enable_irq();
@@ -279,6 +279,44 @@
             else IO.setGreenPower(1);
         }
     }
+    
+    else if ( !strcmp(address[0], "testPower" ) ) {
+    // First, we need to disable the threaded display for the loop:
+        timerForRendering.detach();
+        
+    // Note: arguments is first 3 bits to set the laser powers (3 LSB bits to set each color)
+    // and then the second argument is the number of seconds to wait for the measurment 
+        int value1=data[0], value2=data[1];
+        if ((value1!=-1)&&(value2!=-1)) { // otherwise do nothing, this is a reception error (there was no data)
+            
+            // Set position of mirrors:
+            IO.writeOutX(CENTER_AD_MIRROR_X);
+            IO.writeOutY(CENTER_AD_MIRROR_Y);
+            
+            for (int i=0; i<3 ; i++) {
+            myled3 = 1;
+            wait(0.2);
+            myled3 = 0;
+            wait(0.2);
+           }
+            
+            // Set laser power:
+            IO.setRGBPower((unsigned char)value1);
+            
+            // Wait...
+            wait(value2);// in seconds
+            //Timer t;
+            //t.start();
+            //while(t.read_ms()<value2*1000);
+            //t.stop();
+            }
+        
+     // Finally, start again threaded display:
+        timerForRendering.attach(&lsr, &simpleLaserSensingRenderer::laserRenderThread, RENDER_INTERVAL);    
+        
+    }
+    
+
 
     // SIMPLE BEHAVIOUR MODES (to be read from an XML file in the future):
     else if (!strcmp(address[0], "elastic_following")) { //