diff options
Diffstat (limited to 'source/Concept/Framework/main.c')
| -rwxr-xr-x | source/Concept/Framework/main.c | 121 |
1 files changed, 94 insertions, 27 deletions
diff --git a/source/Concept/Framework/main.c b/source/Concept/Framework/main.c index 7822933..306885b 100755 --- a/source/Concept/Framework/main.c +++ b/source/Concept/Framework/main.c @@ -5,6 +5,19 @@ int main() //Init our robot
Robot* localRobot = new Robot();
+ sleep(1); // Wait for LCD-Display
+
+ //Init Displays
+ for(uint8 i = IO_DISPLAY_START; i < IO_DISPLAY_END; i++)
+ {
+ Display* newDisplay = new Display(i);
+ localRobot->AddModule(newDisplay);
+ newDisplay = NULL;
+ }
+
+ Display* ourDisplay = localRobot->GetModule<Display>(IO_DISPLAY_MAIN);
+ // ourDisplay->Print("Starting..."); ourDisplay->NewLine(); // Debug output
+
//Init Engines
for(uint8 i = IO_ENGINE_START; i < IO_ENGINE_END; i++)
{
@@ -12,6 +25,7 @@ int main() localRobot->AddModule(newEngine);
newEngine = NULL;
}
+ // ourDisplay->Print("Engines Ready"); ourDisplay->NewLine(); // Debug output
//Init Dribbler
for(uint8 i = IO_DRIBBLER_START; i < IO_DRIBBLER_END; i++)
@@ -20,6 +34,7 @@ int main() localRobot->AddModule(newDribbler);
newDribbler = NULL;
}
+ // ourDisplay->Print("Dribbler Ready"); ourDisplay->NewLine(); // Debug output
//Init Kicker
for(uint8 i = IO_KICKER_START; i < IO_KICKER_END; i++)
@@ -28,6 +43,7 @@ int main() localRobot->AddModule(newKicker);
newKicker = NULL;
}
+ // ourDisplay->Print("Kicker Ready"); ourDisplay->NewLine(); // Debug output
//Init Sensors
for(uint8 i = IO_SENSOR_START; i < IO_SENSOR_END; i++)
@@ -47,6 +63,7 @@ int main() IR_Sensor* newSensor = new IR_Sensor(i);
localRobot->AddModule(newSensor);
newSensor = NULL;
+ // ourDisplay->Print("SensorIR Ready"); ourDisplay->NewLine(); // Debug output
break;
}
case IO_SENSOR_DISTANCE_0_DEG:
@@ -57,6 +74,8 @@ int main() Distance_Sensor* newSensor = new Distance_Sensor(i);
localRobot->AddModule(newSensor);
newSensor = NULL;
+ // ourDisplay->Print("DistanceSensor Ready"); // Debug output
+
break;
}
case IO_SENSOR_MOUSE_LEFT:
@@ -65,6 +84,8 @@ int main() Mouse_Sensor* newSensor = new Mouse_Sensor(i);
localRobot->AddModule(newSensor);
newSensor = NULL;
+ // ourDisplay->Print("MouseSensor Ready"); ourDisplay->NewLine(); // Debug output
+
break;
}
//Other cases
@@ -77,6 +98,7 @@ int main() }
}
}
+ // ourDisplay->Print("Sensors Ready"); ourDisplay->NewLine(); // Debug output
//Init Leds
for(uint8 i = IO_LED_START; i < IO_LED_END; i++)
@@ -85,14 +107,7 @@ int main() 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;
- }
+ // ourDisplay->Print("LEDs Ready"); ourDisplay->NewLine(); // Debug output
//Init Keyboards
for(uint8 i = IO_KEYBOARD_START; i < IO_KEYBOARD_END; i++)
@@ -101,6 +116,7 @@ int main() localRobot->AddModule(newKeyboard);
newKeyboard = NULL;
}
+ // ourDisplay->Print("Keyboard Ready"); ourDisplay->NewLine(); // Debug output
//Init Position Tracker
for(uint8 i = IO_POSITION_TRACKER_START; i < IO_POSITION_TRACKER_END; i++)
@@ -109,6 +125,7 @@ int main() localRobot->AddModule(newPositionTracker);
newPositionTracker = NULL;
}
+ // ourDisplay->Print("PositionTracker Ready"); ourDisplay->NewLine(); // Debug output
//Init Ball Tracker
for(uint8 i = IO_BALL_TRACKER_START; i < IO_BALL_TRACKER_END; i++)
@@ -117,6 +134,7 @@ int main() localRobot->AddModule(newBallTracker);
newBallTracker = NULL;
}
+ // ourDisplay->Print("Balltracker Ready"); ourDisplay->NewLine(); // Debug output
//Init Navigators
for(uint8 i = IO_NAVIGATOR_START; i < IO_NAVIGATOR_END; i++)
@@ -125,63 +143,110 @@ int main() localRobot->AddModule(newNavigator);
newNavigator = NULL;
}
-
+ // ourDisplay->Print("Navigator Ready"); ourDisplay->NewLine(); // Debug output
+ // ourDisplay->Print("All Ready"); ourDisplay->NewLine(); // Debug output
+ sleep(1);
+ ourDisplay->Clear();
IR_Sensor* ourSensor = NULL;
+ Distance_Sensor* distanceSensor = NULL;
uint16 value = 0;
int8 value2 = 0;
- Display* ourDisplay = localRobot->GetModule<Display>(IO_DISPLAY_MAIN);
+
Keyboard* ourKeyboard = localRobot->GetModule<Keyboard>(IO_KEYBOARD_MAIN);
uint32 i = 1;
Navigator* ourNavigator = localRobot->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
float rotation = 0;
- ourDisplay->Print("Starting...", 1, 1);
+ Mouse_Sensor* mouse_left = localRobot->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT);
+ Mouse_Sensor* mouse_right = localRobot->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_RIGHT);
+
//Run
while(true)
{
+ /*ourDisplay->Print(i++,1,1);
+ ourDisplay->Print(mouse_left->GetXMovement(),1,2);
+ ourDisplay->Print(" ");
+ ourDisplay->Print(mouse_left->GetYMovement(),10,2);
+ ourDisplay->Print(" ");
+ ourDisplay->Print(mouse_right->GetXMovement(),1,3);
+ ourDisplay->Print(" ");
+ ourDisplay->Print(mouse_right->GetYMovement(),10,3);
+ ourDisplay->Print(" ");
+ ourDisplay->Print(" ",1,4); // clear
+
+ distanceSensor = localRobot->GetModule<Distance_Sensor>(IO_SENSOR_DISTANCE_0_DEG);
+ value = distanceSensor->GetDistance();
+ ourDisplay->Print(value, 1, 4);
+ ourDisplay->Print(";");
+ distanceSensor = localRobot->GetModule<Distance_Sensor>(IO_SENSOR_DISTANCE_90_DEG);
+ value = distanceSensor->GetDistance();
+ ourDisplay->Print(value);
+ ourDisplay->Print(";");
+ distanceSensor = localRobot->GetModule<Distance_Sensor>(IO_SENSOR_DISTANCE_180_DEG);
+ value = distanceSensor->GetDistance();
+ ourDisplay->Print(value);
+ ourDisplay->Print(";");
+ distanceSensor = localRobot->GetModule<Distance_Sensor>(IO_SENSOR_DISTANCE_270_DEG);
+ value = distanceSensor->GetDistance();
+ ourDisplay->Print(value);
+ ourDisplay->Print(";");
+
+
+ msleep(500);*/
+
uint8 someInput = ourKeyboard->GetInput();
+ //ourDisplay->Clear();
+ ourDisplay->Print(i++,1,1);
+ //ourDisplay->Print("Ready to accept...", 1, 2);
+ ourDisplay->Print(someInput, 1, 3);
+ ourDisplay->PrintFloat(rotation, 1, 4);
switch(someInput)
{
+ case 0:
+ ourNavigator->Stop();
case 1:
- ourNavigator->Drive(225.0f * PI / 180.0f, rotation, 200, rotation);
+ ourNavigator->Drive(225, rotation, 200, rotation);
break;
case 2:
- ourNavigator->Drive(180.0f * PI / 180.0f, rotation, 200, rotation);
+ ourNavigator->Drive(180, rotation, 200, rotation);
break;
case 3:
- ourNavigator->Drive(135.0f * PI / 180.0f, rotation, 200, rotation);
+ ourNavigator->Drive(135, rotation, 200, rotation);
break;
case 4:
- ourNavigator->Drive(270.0f * PI / 180.0f, rotation, 200, rotation);
+ ourNavigator->Drive(270, rotation, 200, rotation);
break;
case 5:
- ourNavigator->Stop();
+ ourNavigator->Drive(0, rotation, 0, rotation);
break;
case 6:
- ourNavigator->Drive(90.0f * PI / 180.0f, rotation, 200, rotation);
+ ourNavigator->Drive(90, rotation, 200, rotation);
break;
case 7:
- ourNavigator->Drive(315.0f * PI / 180.0f, rotation, 200, rotation);
+ ourNavigator->Drive(315, rotation, 200, rotation);
break;
case 8:
- ourNavigator->Drive(0.0f * PI / 180.0f, rotation, 200, rotation);
+ ourNavigator->Drive(0, rotation, 200, rotation);
break;
case 9:
- ourNavigator->Drive(45.0f * PI / 180.0f, rotation, 200, rotation);
+ ourNavigator->Drive(45, rotation, 200, rotation);
break;
case 10:
- rotation -= 10;
+ rotation += 10;
break;
case 12:
- rotation += 10;
+ rotation -= 10;
break;
}
- msleep(50);/*
- ourDisplay->Clear();
- ourDisplay->Print(i++);
+
+ msleep(50);
+
+ /*
+ //ourDisplay->Clear();
+ ourDisplay->Print(i++,1,1);
ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_0_DEG);
value = ourSensor->GetIRIntensity();
ourDisplay->Print(value, 1, 2);
@@ -213,8 +278,10 @@ int main() ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_330_DEG);
value = ourSensor->GetIRIntensity();
ourDisplay->Print(value);
- ourDisplay->Print(";");*/
-
+ ourDisplay->Print(";");
+
+ msleep(500);
+ */
localRobot->Update();
//ourDisplay->PrintFloat(ourBallTracker->GetBallDirection(), 1, 4);
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