lausTracker.c

/*******************************************************************************
* examples/lausTracker.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>
#include <tucbot_additionals/packedCom.h>
#include <tucbot_additionals/lausTracker.h>
 
//*********************************<Methods>************************************
void testLausTracker(void);
int main(void);
 
//*********************************[testLausTracker]****************************
void testLausTracker(void) {
 
    uint8_t menu_pos = 0;
    uint8_t flag_redraw_menu = 0xFF;
    uint8_t value_count = 0;
 
    uint8_t temp;
 
    lcdclr();
    lcdstr_p(PSTR("lausTracker  ###"));
 
    packedCom_activate();
    lausTracker_request(kLausTrackerSelectAll, kRequestContinuous);
 
    while (1) {
        // redraw menu
        if (flag_redraw_menu) {
            flag_redraw_menu = 0x00;
 
            lcdxy(0,1);
            if (menu_pos == 0) {
                lcdstr_p(PSTR("self  @(#,#,#)"  ));
            } else {
                lcdstr_p(PSTR("rival @(#,#)  "    ));
            }
            mdelay(400);
        }
 
        // check if buttons were pushed
        if (buttons_get(kButtonMiddle)) {
            // middle button --> toggle menu
            leds_set(kLedMiddle, kLedOn );
            mdelay(100);
            leds_set(kLedMiddle, kLedOff);
 
            if (menu_pos == 0) {
                menu_pos = 1;
            } else {
                menu_pos = 0;
            }
            flag_redraw_menu = 0xFF;
        }
 
        // update display (general)
        temp = packedCom_get(kPackedComGetPacketCount);
        if (temp != value_count) {
            value_count = temp;
            lcdxy(13,0); uint16tostr(lcdout,temp,3);
        }
 
        // update display depending on menu position
        if (menu_pos == 0) {
            if (lausTracker_changed(kLausTrackerSelectSelf)) {
                lcdxy( 8,1);
                lcdout(lausTracker_get(kLausTrackerGetSelfX) + '0');
                lcdxy(10,1);
                lcdout(lausTracker_get(kLausTrackerGetSelfY) + '0');
 
                lcdxy(12,1);
                switch (lausTracker_get(kLausTrackerGetSelfOrientation)) {
                    case kLausTrackerOrientationEast :
                        lcdout('E');
                        break;
 
                    case kLausTrackerOrientationSouth:
                        lcdout('S');
                        break;
                        
                    case kLausTrackerOrientationWest :
                        lcdout('W');
                        break;
                        
                    case kLausTrackerOrientationNorth:
                        lcdout('N');
                        break;
                }
            }
 
        } else {                
            if (lausTracker_changed(kLausTrackerSelectRival)) {
                lcdxy( 8,1);
                lcdout(lausTracker_get(kLausTrackerGetRivalX) + '0');
                lcdxy(10,1);
                lcdout(lausTracker_get(kLausTrackerGetRivalY) + '0');
            }
        }
 
        mdelay(100);
    }
}
 
//*********************************[main]***************************************
int main (void) {
 
    init_tucbot(0xFF);
 
    buttons_request(kRequestContinuous);
 
    testLausTracker();
 
    return (0);
}