driveAngle.pupil.c

/*******************************************************************************
* examples/driveAngle.pupil.c                                                  *
* ===========================                                                  *
*                                                                              *
* Version: 1.0.5                                                               *
* Date   : 10.11.17                                                            *
* Author : Peter Weissig                                                       *
*                                                                              *
* The mode of TUCBot can only be changed if the programm is compiled with the  *
* pupils version of the TUC-Bot library!                                       *
*                                                                              *
* If you are changing this file, you may also consider to update               *
*     demos/diagnosticTool/diagnosticTool.c                                    *
*******************************************************************************/
 
//*********************************<Included files>*****************************
#include <tucbot/tucbot.h>
 
//*********************************<Methods>************************************
void testDriveAngle_pupil(void);
int main(void);
 
//*********************************[testDriveAngle_pupil]***********************
void testDriveAngle_pupil(void) {
 
    uint8_t menu_pos = 0;
    uint8_t flag_redraw_menu = 0xFF;
 
    lcdclr();
    lcdstr_p(PSTR("Drive-Angle "    ));
 
    mode_set(kModePupil);
    drive_request(kDriveSelectAll, kRequestContinuous);
 
    while (1) {
        // redraw menu
        if (flag_redraw_menu) {
            flag_redraw_menu = 0x00;
 
            lcdxy(0,1);
            switch (menu_pos) {
                case  0:
                    lcdstr_p(PSTR("a=  30" "\xDF" "  v=  10" "\xDF" "/s"));
                    break;
 
                case  1:
                    lcdstr_p(PSTR("a=  90" "\xDF" "  v=  30" "\xDF" "/s"));
                    break;
 
                default:
                    lcdstr_p(PSTR("a= 360" "\xDF" "  v=  90" "\xDF" "/s"));
                    menu_pos = 2;
                    break;
            }
        }
 
        // check if buttons were pushed
        if (buttons_get(kButtonMiddle)) {
            // middle button --> increase menu
            leds_set(kLedMiddle, kLedOn );
            mdelay(100);
            leds_set(kLedMiddle, kLedOff);
 
            menu_pos++;
            if (menu_pos > 2) {menu_pos = 0;}
            flag_redraw_menu = 0xFF;
            mdelay(400);
        } else {
            if (buttons_get(kButtonRight)) {
                // right button --> start driving
                leds_set(kLedLeft  , kLedOn );
                leds_set(kLedMiddle, kLedOn );
                leds_set(kLedRight , kLedOn );
                mdelay(100);
                leds_set(kLedLeft  , kLedOff);
                leds_set(kLedMiddle, kLedOff);
 
                lcdxy(0,1); lcdstr_p(PSTR("a:#####  v:#####"));
                mdelay(800);
 
                switch (menu_pos) {
                    case 0 : drive_angle( 30,10); break;
                    case 1 : drive_angle( 90,30); break;
                    default: drive_angle(360,90); break;
                }
 
                drive_get(kDriveGetCommand);
                while (1) {
                    // wait until driving is done
                    if (drive_received(kDriveSelectState)) {
                        if (drive_get(kDriveGetError) ||
                          (drive_get(kDriveGetCommand) == kDriveCommandDone)) {
                            break;
                        }
                    }
 
                    if (drive_changed(kDriveSelectSpeed   )) {
                        lcdxy(11,1);
                        int16tostr(lcdout,
                          drive_get(kDriveGetSpeedAngle   ), 5);
                    }
 
                    if (drive_changed(kDriveSelectPosition)) {
                        lcdxy(2,1);
                        int16tostr(lcdout,
                          drive_get(kDriveGetPositionAngle), 5);
                    }
 
                    mdelay(100);
                }
 
                leds_set(kLedRight , kLedOff);
                flag_redraw_menu = 0xFF;
            }
        }
    }
}
 
//*********************************[main]***************************************
int main (void) {
 
    init_tucbot(0xFF);
 
    buttons_request(kRequestContinuous);
 
    testDriveAngle_pupil();
 
    return (0);
}