Diff: run_modes.cpp

Revision:

0:7a97ebb833eb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/run_modes.cpp	Sun May 05 00:02:11 2019 +0000
@@ -0,0 +1,93 @@
+#include "globals.h"
+#include "pins.h"
+#include "beep.h"
+
+/***
+ * Driving stuff
+ ***/
+void test_drive_straight() {    
+    systick.start();
+    //motors.setRightPwm(0.1f);
+    //motors.setLeftPwm(0.1f);
+    while(1) {
+        mainController.moveCells(100);
+    }
+}
+
+/***
+ * Assignment 2
+ ***/
+
+void basic_motor_movement() {
+    motors.setRightPwm(0.15f);
+    motors.setLeftPwm(0.15f);
+
+    wait(3);
+    
+    motors.stop();
+    
+    wait(1);
+
+    motors.stop();
+    pc.printf("right: %d, left: %d\n", encoders.right(), encoders.left());
+
+    
+    motors.setRightPwm(-0.2f);
+    motors.setLeftPwm(-0.2f);
+    
+    wait(3);
+    motors.stop();
+
+    // TODO: Turn
+}
+
+void read_encoders() {
+    while (true) {
+        encoders.printValues();
+        wait(0.5);
+    }
+}
+
+void test_systick() {
+    systick.start();
+
+    while (true) {
+        wait(1);
+        pc.printf("Current time (ms): %d\n", millis);
+    }
+}
+
+void test_buzzer() {
+    Beep buzzer(PB_14);
+    
+    for (int i=0; i < 5; i++) {
+        buzzer.beep(1000, 1);
+        wait(2);
+    }
+}
+
+inline float flash(DigitalOut emit, AnalogIn recv) {
+    float val;
+    emit = 1;
+    wait_us(60);
+    val = recv.read();
+    emit = 0;
+    wait_us(60);
+    
+    return val;
+}
+
+void test_ir() {
+    
+    pc.printf("Testing IRs.\n");
+    
+    systick.start();
+    
+    while(1) {        
+        //ir.update();
+        pc.printf("millis: %d\t", millis);
+        ir.printValues();
+        
+        wait(0.3);
+    }
+}
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