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#include "stdafx.h"
int main()
{
//Init our robot
Robot* localRobot = new Robot();
sleep(1);//Wait for Hardware
//Init Displays
for(uint8 i = IO_DISPLAY_START; i < IO_DISPLAY_END; i++)
{
Display* newDisplay = new Display(i);
localRobot->AddModule(newDisplay);
newDisplay = NULL;
}
//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 Aktuator
for(uint8 i = IO_AKTUATOR_START; i < IO_AKTUATOR_END; i++)
{
Aktuator* newAktuator = new Aktuator(i);
localRobot->AddModule(newAktuator);
newAktuator = NULL;
}
//Init Wireless
for(uint8 i = IO_WIRELESS_START; i < IO_WIRELESS_END; i++)
{
Wireless* newWireless = new Wireless(i);
localRobot->AddModule(newWireless);
newWireless = 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 Keyboards
for(uint8 i = IO_KEYBOARD_START; i < IO_KEYBOARD_END; i++)
{
Keyboard* newKeyboard = new Keyboard(i);
localRobot->AddModule(newKeyboard);
newKeyboard = NULL;
}
//Init Command Handler
for(uint8 i = IO_COMMAND_HANDLER_START; i < IO_COMMAND_HANDLER_END; i++)
{
Command_Handler* newCommandHandler = new Command_Handler(i);
localRobot->AddModule(newCommandHandler);
newCommandHandler = NULL;
}
//Init Obstacle Tracker
for(uint8 i = IO_OBSTACLE_TRACKER_START; i < IO_OBSTACLE_TRACKER_END; i++)
{
Obstacle_Tracker* newObstacleTracker = new Obstacle_Tracker(i);
localRobot->AddModule(newObstacleTracker);
newObstacleTracker = 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;
}
//Init Logics
for(uint8 i = IO_LOGIC_START; i < IO_LOGIC_END; i++)
{
Logic* newLogic = new Logic(i);
localRobot->AddModule(newLogic);
newLogic = NULL;
}
sleep(1);
//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;
Distance_Sensor* distanceSensor = NULL;
uint16 value = 0;
int8 value2 = 0;
Command_Handler* ourCommandHandler = localRobot->GetModule<Command_Handler>(IO_COMMAND_HANDLER_MAIN);
uint32 i = 1;
Navigator* ourNavigator = localRobot->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
Position_Tracker* ourPositionTracker = localRobot->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
Ball_Tracker* ourBallTracker = localRobot->GetModule<Ball_Tracker>(IO_BALL_TRACKER_MAIN);
Dribbler* ourDribbler = localRobot->GetModule<Dribbler>(IO_DRIBBLER_MAIN);
//ourDribbler->SetSpeed(1);
//ourDribbler->SetEnabled(true);
Aktuator* ourAktuator = localRobot->GetModule<Aktuator>(IO_AKTUATOR_MAIN);
Logic* ourLogic = localRobot->GetModule<Logic>(IO_LOGIC_MAIN);
Wireless* ourWireless = localRobot->GetModule<Wireless>(IO_WIRELESS_MAIN);
//(localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_BACK))->SetSpeed(200);
//(localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_LEFT))->SetSpeed(200);
//(localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_LEFT))->SetEnabled(true);
//sleep(2);
//(localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_RIGHT))->SetSpeed(200);
//(localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_RIGHT))->SetEnabled(true);
//sleep(2);
//(localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_LEFT))->SetSpeed(200);
//(localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_LEFT))->SetEnabled(true);
/*(localRobot->GetModule<Dribbler>(IO_DRIBBLER_MAIN))->SetSpeed(200);
(localRobot->GetModule<Dribbler>(IO_DRIBBLER_MAIN))->SetEnabled(true);*/
/*(localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_RIGHT))->SetSpeed(80);
(localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_RIGHT))->SetEnabled(true);*/
(localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_BACK))->SetSpeed(255);
(localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_BACK))->SetEnabled(true);
(localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_LEFT))->SetSpeed(255);
(localRobot->GetModule<Engine>(IO_ENGINE_DRIVE_LEFT))->SetEnabled(true);
sleep(2);
//Run
while(true)
{
i++;
/*if(!(i % 20))
{
ourDisplay->Clear();
msleep(10);
ourCommandHandler->PrintCommand();
}
localRobot->Update();
if(ourCommandHandler->displayDistanceSensors && !(i % 20))
{
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(ourCommandHandler->ticksPerCmOffset && !(i % 20))
{
ourDisplay->Print(ourCommandHandler->ticksPerCmOffset * 10.0f, 10, 1);
}
if(ourCommandHandler->displayPositionTracker && !(i % 20))
{
ourDisplay->Print(ourPositionTracker->GetPositionX(), 1, 2);
ourDisplay->Print(ourPositionTracker->GetPositionY(), 1, 3);
ourDisplay->Print(ourPositionTracker->GetOrientation(), 1, 4);
}
if(ourCommandHandler->displayPositionTracker && !(i % 20))
{
ourDisplay->Print(ourPositionTracker->GetPositionX(), 1, 2);
ourDisplay->Print(ourPositionTracker->GetPositionY(), 1, 3);
ourDisplay->Print(ourPositionTracker->GetOrientation() * 180.0f / PI, 1, 4);
}
if(ourCommandHandler->displayBallTracker && !(i % 20))
{
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, 6, 2);
ourDisplay->Print(";");
ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_60_DEG);
value = ourSensor->GetIRIntensity();
ourDisplay->Print(value, 11, 2);
ourDisplay->Print(";");
ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_100_DEG);
value = ourSensor->GetIRIntensity();
ourDisplay->Print(value, 16, 2);
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, 6, 3);
ourDisplay->Print(";");
ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_300_DEG);
value = ourSensor->GetIRIntensity();
ourDisplay->Print(value, 11, 3);
ourDisplay->Print(";");
ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_330_DEG);
value = ourSensor->GetIRIntensity();
ourDisplay->Print(value, 16, 3);
ourDisplay->Print(";");
if(ourBallTracker->KnowsBallDirection())
{
ourDisplay->Print(ourBallTracker->GetBallDirection() * 180.0f / PI, 1, 4);
}
else
{
ourDisplay->Print("Ball not found", 1, 4);
}
if(ourBallTracker->HasBall()) {
ourDisplay->Print("Has Ball", 5, 4);
}
}
//if(!(i % 20))
//{
// ourDisplay->Print(ourWireless->Recieve(), 10, 1);
//}
if(ourBallTracker->KnowsBallDirection())
{
ourNavigator->Drive(ourBallTracker->GetBallDirection() * 180.0f / PI, 0, 255, 0);
}
else
{
ourNavigator->Stop();
}*/
}
//Cleanup
delete localRobot;
localRobot = NULL;
}
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