bumper.c

/*******************************************************************************
* examples/bumper.c                                                            *
* =================                                                            *
*                                                                              *
* Version: 1.0.6                                                               *
* Date   : 06.12.17                                                            *
* Author : Peter Weissig                                                       *
*                                                                              *
* If you are changing this file, you may also consider to update               *
*     demos/diagnosticTool/diagnosticTool.c                                    *
*******************************************************************************/
 
//*********************************<Included files>*****************************
#include <tucbot/tucbot.h>
 
//*********************************<Methods>************************************
void testBumper(void);
int main(void);
 
//*********************************[testBumper]*********************************
void testBumper(void) {
 
    uint8_t bumpers;
 
    lcdclr();
    lcdstr_p(PSTR("Bumper"          ));
    lcdxy(0,1);
    lcdstr_p(PSTR("F: # #  B: # #  "));
 
    bumpers_request(kRequestContinuous);
 
    while (1) {
        if (bumpers_changed()) {
            bumpers = bumpers_get(kBumperAll);
 
            lcdxy( 3,1);
            if (bumpers & kBumperFrontLeft ) {lcdout('L'); }
            else {lcdout(' ');}
 
            lcdxy( 5,1);
            if (bumpers & kBumperFrontRight) {lcdout('R'); }
            else {lcdout(' ');}
 
            lcdxy(11,1);
            if (bumpers & kBumperBackLeft  ) {lcdout('L'); }
            else {lcdout(' ');}
 
            lcdxy(13,1);
            if (bumpers & kBumperBackRight ) {lcdout('R'); }
            else {lcdout(' ');}
        }
    }
}
 
//*********************************[main]***************************************
int main (void) {
 
    init_tucbot(0xFF);
 
    testBumper();
 
    return (0);
}