Diff: main.cpp

Revision:

0:a10cfed4fa88

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Dec 10 06:55:09 2015 +0000
@@ -0,0 +1,97 @@
+#include "main.h"
+
+int main() {
+    States status = PATROL;
+    drive_stop();
+    setup_usb();
+    set_boardleds(0, 0, 0, 0);
+    while(1) {
+      switch(status) {
+        case PATROL:
+            status = patrol_state();
+            break;
+        case SEARCH:
+            status = search_state();
+            break;
+        case ALERT:
+            status = alert_state();
+            break;
+      }
+    }
+}
+
+States patrol_state() {
+    int range = 0;
+    lcd_newmessage("PATROL STATE.\n");
+    set_boardleds(1, 0, 0, 0);
+    set_rgb_f(0.0, 0.0, 1.0);
+    range = read_distance();
+    if(range < 40) {
+        drive_backward();
+    } else if(range < 80) {
+        drive_turnRight();
+    } else {
+        drive_forward();
+    }
+    wait_ms(300);
+
+    if(hear_sound() ) {
+        drive_stop();
+        return SEARCH;
+    } else {
+        return PATROL;
+    }
+}
+
+States search_state() {
+    static int counter = 0;
+    if(counter == 0) {
+        lcd_newmessage("SEARCH STATE...\n");
+        set_boardleds(0, 1, 0, 0);
+        set_rgb(0, 255, 255);
+        wait_ms(5000);
+        counter = 50;
+    }
+
+    wait_ms(100);
+    if(motion_detected() ) {
+        set_boardleds(0, 0, 0, 1);
+        counter = 0;
+        return ALERT;
+    }
+    counter--;
+    if(counter > 0) {
+        return SEARCH;   
+    } else { //counter == 0
+        return PATROL;
+    }
+}
+
+States alert_state() {
+    static int counter = 0;
+    if(counter == 0) {
+        lcd_newmessage("ALERT STATE!!!\n");
+        set_rgb(0, 255, 0);
+        send_email();
+        play_usbfile("bark.wav");
+    }
+
+    set_boardleds(counter % 3, !(counter % 7), counter % 5, 1);
+    
+    if(counter % 4 == 0) {
+        drive_pivotLeft();
+    } else if(counter % 4 == 2) {
+        drive_pivotRight();
+    }
+
+    wait_ms(100);
+    
+    if(counter >= 100) {
+        drive_stop();
+        counter = 0;
+        return PATROL;
+    } else {
+        counter++;
+        return ALERT;
+    }
+}