diff options
Diffstat (limited to 'source/Concept/Framework/main.c')
| -rwxr-xr-x | source/Concept/Framework/main.c | 189 |
1 files changed, 189 insertions, 0 deletions
diff --git a/source/Concept/Framework/main.c b/source/Concept/Framework/main.c new file mode 100755 index 0000000..fa6d718 --- /dev/null +++ b/source/Concept/Framework/main.c @@ -0,0 +1,189 @@ +#include "stdafx.h" +
+int main()
+{
+ //Init our robot
+ Robot* localRobot = new Robot();
+
+ //Init Engines
+ for(uint8 i = IO_ENGINE_START; i < IO_ENGINE_END; i++)
+ {
+ Engine* newEngine = new Engine(i);
+ localRobot->AddModule(newEngine);
+ newEngine = NULL;
+ }
+
+ //Init Dribbler
+ for(uint8 i = IO_DRIBBLER_START; i < IO_DRIBBLER_END; i++)
+ {
+ Dribbler* newDribbler = new Dribbler(i);
+ localRobot->AddModule(newDribbler);
+ newDribbler = NULL;
+ }
+
+ //Init Kicker
+ for(uint8 i = IO_KICKER_START; i < IO_KICKER_END; i++)
+ {
+ Kicker* newKicker = new Kicker(i);
+ localRobot->AddModule(newKicker);
+ newKicker = NULL;
+ }
+
+ //Init Sensors
+ for(uint8 i = IO_SENSOR_START; i < IO_SENSOR_END; i++)
+ {
+ switch(i)
+ {
+ //Create correct type of sensor
+ case IO_SENSOR_IR_0_DEG:
+ case IO_SENSOR_IR_30_DEG:
+ case IO_SENSOR_IR_60_DEG:
+ case IO_SENSOR_IR_100_DEG:
+ case IO_SENSOR_IR_180_DEG:
+ case IO_SENSOR_IR_260_DEG:
+ case IO_SENSOR_IR_300_DEG:
+ case IO_SENSOR_IR_330_DEG:
+ {
+ IR_Sensor* newSensor = new IR_Sensor(i);
+ localRobot->AddModule(newSensor);
+ newSensor = NULL;
+ break;
+ }
+ case IO_SENSOR_DISTANCE_0_DEG:
+ case IO_SENSOR_DISTANCE_90_DEG:
+ case IO_SENSOR_DISTANCE_180_DEG:
+ case IO_SENSOR_DISTANCE_270_DEG:
+ {
+ Distance_Sensor* newSensor = new Distance_Sensor(i);
+ localRobot->AddModule(newSensor);
+ newSensor = NULL;
+ break;
+ }
+ case IO_SENSOR_MOUSE_LEFT:
+ case IO_SENSOR_MOUSE_RIGHT:
+ {
+ Mouse_Sensor* newSensor = new Mouse_Sensor(i);
+ localRobot->AddModule(newSensor);
+ newSensor = NULL;
+ break;
+ }
+ //Other cases
+ default:
+ {
+ Sensor* newSensor = new Sensor(i);
+ localRobot->AddModule(newSensor);
+ newSensor = NULL;
+ break;
+ }
+ }
+ }
+
+ //Init Leds
+ for(uint8 i = IO_LED_START; i < IO_LED_END; i++)
+ {
+ Led* newLed = new Led(i);
+ localRobot->AddModule(newLed);
+ newLed = NULL;
+ }
+
+ //Init Displays
+ for(uint8 i = IO_DISPLAY_START; i < IO_DISPLAY_END; i++)
+ {
+ Display* newDisplay = new Display(i);
+ localRobot->AddModule(newDisplay);
+ newDisplay = NULL;
+ }
+
+ //Init Keyboards
+ for(uint8 i = IO_KEYBOARD_START; i < IO_KEYBOARD_END; i++)
+ {
+ Keyboard* newKeyboard = new Keyboard(i);
+ localRobot->AddModule(newKeyboard);
+ newKeyboard = NULL;
+ }
+
+ //Init Position Tracker
+ for(uint8 i = IO_POSITION_TRACKER_START; i < IO_POSITION_TRACKER_END; i++)
+ {
+ Position_Tracker* newPositionTracker = new Position_Tracker(i);
+ localRobot->AddModule(newPositionTracker);
+ newPositionTracker = NULL;
+ }
+
+ //Init Ball Tracker
+ for(uint8 i = IO_BALL_TRACKER_START; i < IO_BALL_TRACKER_END; i++)
+ {
+ Ball_Tracker* newBallTracker = new Ball_Tracker(i);
+ localRobot->AddModule(newBallTracker);
+ newBallTracker = NULL;
+ }
+
+ //Init Navigators
+ for(uint8 i = IO_NAVIGATOR_START; i < IO_NAVIGATOR_END; i++)
+ {
+ Navigator* newNavigator = new Navigator(i);
+ localRobot->AddModule(newNavigator);
+ newNavigator = NULL;
+ }
+
+
+
+ IR_Sensor* ourSensor = NULL;
+ uint16 value = 0;
+ int8 value2 = 0;
+ Display* ourDisplay = localRobot->GetModule<Display>(IO_DISPLAY_MAIN);
+ uint32 i = 1;
+ Ball_Tracker* ourBallTracker = localRobot->GetModule<Ball_Tracker>(IO_BALL_TRACKER_MAIN);
+
+ //Run
+ while(true)
+ {
+ msleep(500);
+ ourDisplay->Clear();
+ ourDisplay->Print(i++);
+ ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_0_DEG);
+ value = ourSensor->GetIRIntensity();
+ ourDisplay->Print(value, 1, 2);
+ ourDisplay->Print(";");
+ ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_30_DEG);
+ value = ourSensor->GetIRIntensity();
+ ourDisplay->Print(value);
+ ourDisplay->Print(";");
+ ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_60_DEG);
+ value = ourSensor->GetIRIntensity();
+ ourDisplay->Print(value);
+ ourDisplay->Print(";");
+ ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_100_DEG);
+ value = ourSensor->GetIRIntensity();
+ ourDisplay->Print(value);
+ ourDisplay->Print(";");
+ ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_180_DEG);
+ value = ourSensor->GetIRIntensity();
+ ourDisplay->Print(value, 1, 3);
+ ourDisplay->Print(";");
+ ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_260_DEG);
+ value = ourSensor->GetIRIntensity();
+ ourDisplay->Print(value);
+ ourDisplay->Print(";");
+ ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_300_DEG);
+ value = ourSensor->GetIRIntensity();
+ ourDisplay->Print(value);
+ ourDisplay->Print(";");
+ ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_330_DEG);
+ value = ourSensor->GetIRIntensity();
+ ourDisplay->Print(value);
+ ourDisplay->Print(";");
+ value2 = (localRobot->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT))->GetXMovement();
+ ourDisplay->Print(value2, 10, 4);
+ value2 = (localRobot->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT))->GetYMovement();
+ ourDisplay->Print(value2, 15, 4);
+
+ localRobot->Update();
+
+ ourDisplay->PrintFloat(ourBallTracker->GetBallDirection(), 1, 4);
+ }
+
+ //Cleanup
+ delete localRobot;
+ localRobot = NULL;
+} |