diff options
Diffstat (limited to 'source/Concept/Framework/main.c')
| -rwxr-xr-x | source/Concept/Framework/main.c | 130 |
1 files changed, 71 insertions, 59 deletions
diff --git a/source/Concept/Framework/main.c b/source/Concept/Framework/main.c index 1875847..ffc4cc9 100755 --- a/source/Concept/Framework/main.c +++ b/source/Concept/Framework/main.c @@ -159,6 +159,8 @@ int main() //Debug code
Display* ourDisplay = localRobot->GetModule<Display>(IO_DISPLAY_MAIN);
ourDisplay->Clear();
+ ourDisplay->Print("Roboter fertig gestartet",1,1);
+ sleep(1);
IR_Sensor* ourSensor = NULL;
@@ -175,51 +177,49 @@ int main() ourDribbler->SetSpeed(1);
ourDribbler->SetEnabled(true);
Aktuator* ourAktuator = localRobot->GetModule<Aktuator>(IO_AKTUATOR_MAIN);
-
+ Logic* ourLogic = localRobot->GetModule<Logic>(IO_LOGIC_MAIN);
+
float rotation = 0;
float speed = 200;
//Mouse_Sensor* mouse_left = localRobot->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT);
//Mouse_Sensor* mouse_right = localRobot->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_RIGHT);
+ ourDisplay->Clear();
//Run
while(true)
{
ourDisplay->Print(i++,1,1);
- msleep(100);
+ //msleep(50);
- if(!(i % 1))
+ if(!(i % 20))
{
ourDisplay->Clear();
- //ourDisplay->Print(ourPosition_Tracker->GetPositionX(),1,2);
- //ourDisplay->Print(ourPosition_Tracker->GetPositionY(),1,3);
- //ourDisplay->Print(ourPosition_Tracker->GetOrientation() * 180.0f / PI,1,4);
+
+ 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(";");
}
- if(!(i % 50))
+ if(!(i % 20))
{
- ourAktuator->Kick();
+ //ourAktuator->Kick();
}
-
-
- distanceSensor = localRobot->GetModule<Distance_Sensor>(IO_SENSOR_DISTANCE_0_DEG);
- value = distanceSensor->GetDistance();
- ourDisplay->Print(value, 1, 2);
- 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, 1, 3);
- ourDisplay->Print(";");
- distanceSensor = localRobot->GetModule<Distance_Sensor>(IO_SENSOR_DISTANCE_270_DEG);
- value = distanceSensor->GetDistance();
- ourDisplay->Print(value);
- ourDisplay->Print(";");
uint8 someInput = ourKeyboard->GetInput();
//ourDisplay->Print("Ready to accept...", 1, 2);
@@ -260,43 +260,55 @@ int main() ourPosition_Tracker->SetPosition(0,0,0); // Reset Position_Tracker
break;
case 12:
- ourPosition_Tracker->SetPosition(0,0,0); // Reset Position_Tracker
+ ourLogic->SetKeeper(true); // Reset Position_Tracker
break;
}
//ourDisplay->Clear();
- /*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(";");*/
+ if(!(i % 20))
+ {
+ /*ourDisplay->Clear();
+ 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(";");
+ if(ourBallTracker->KnowsBallDirection())
+ {
+ ourDisplay->Print(ourBallTracker->GetBallDirection() * 180.0f / PI, 1, 4);
+ }
+ else
+ {
+ ourDisplay->Print("Not found oder so", 1, 4);
+ }*/
+ }
localRobot->Update();
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