encoderComplex.c

/*******************************************************************************
* examples/encoderComplex.c                                                    *
* =========================                                                    *
*                                                                              *
* Version: 1.1.5                                                               *
* Date   : 09.11.17                                                            *
* 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 testEncoder(void);
int main(void);
 
//*********************************[testEncoder]********************************
void testEncoder(void) {
 
    uint8_t menu_pos = 0;
    uint8_t flag_redraw_menu = 0xFF;
 
    int8_t  speed_l = 0, speed_r = 0;
    uint8_t bumpers;
 
    lcdclr();
    lcdstr_p(PSTR("Encoder - "      ));
 
    mode_set(kModeStudent);
    encoders_request(kEncoderSelectAbs, kRequestContinuous);
    bumpers_request(kRequestContinuous);
 
    while (1) {
        // redraw menu
        if (flag_redraw_menu) {
            flag_redraw_menu = 0x00;
 
            lcdxy(10,0);
            switch (menu_pos) {
                case  0:
                    lcdstr_p(PSTR("Ticks"));
                    break;
 
                case  1:
                    lcdstr_p(PSTR("Clear"));
                    break;
 
                default:
                    lcdstr_p(PSTR("Speed"));
                    menu_pos = 2;
                    break;
            }
            lcdxy(0,1); lcdstr_p(PSTR("L:##### R:##### "));
            mdelay(400);
        }
 
        // 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;
        } else {
            if (buttons_get(kButtonRight)) {
                // right button --> clear encoder
                leds_set(kLedRight , kLedOn );
                mdelay(100);
                leds_set(kLedRight , kLedOff);
 
                encoders_clear();
                mdelay(400);
            }
 
            // update display depending on menu position
            switch (menu_pos) {
                case 0 :
                    if (encoders_changed(kEncoderSelectAbs)) {
                        lcdxy( 7,1); lcdout(' '); // in case encoder < -9999
                        lcdxy( 2,1);
                        int16tostr(lcdout,encoders_get(kEncoderGetLeft ),5);
 
                        lcdxy(15,1); lcdout(' '); // in case encoder < -9999
                        lcdxy(10,1);
                        int16tostr(lcdout,encoders_get(kEncoderGetRight),5);
 
                        mdelay(250);
                    }
                    break;
 
                case 1 :
                    if (encoders_changed(kEncoderSelectAbsAndClear)) {
                        lcdxy( 7,1); lcdout(' '); // in case encoder < -9999
                        lcdxy( 2,1);
                        int16tostr(lcdout,
                          encoders_get(kEncoderGetClearedLeft ),5);
 
                        lcdxy(15,1); lcdout(' '); // in case encoder < -9999
                        lcdxy(10,1);
                        int16tostr(lcdout,
                          encoders_get(kEncoderGetClearedRight),5);
 
                        mdelay(250);
                    }
                    break;
 
                default:
                    if (encoders_changed(kEncoderSelectSpeed)) {
                        lcdxy( 7,1); lcdout(' '); // in case encoder < -9999
                        lcdxy( 2,1);
                        int16tostr(lcdout,
                          encoders_get(kEncoderGetSpeedLeft ),5);
 
                        lcdxy(15,1); lcdout(' '); // in case encoder < -9999
                        lcdxy(10,1);
                        int16tostr(lcdout,
                          encoders_get(kEncoderGetSpeedRight),5);
                    }
 
                    encoders_request(kEncoderSelectSpeed,
                      kRequestSingle);
 
                    mdelay(250);
                    break;
            }
        }
 
        // change motor speed through bumpers
        bumpers = bumpers_get(kBumperAll);
 
        if (bumpers & kBumperBackLeft  ) { speed_l+= 10;}
        if (bumpers & kBumperFrontLeft ) { speed_l-= 10;}
        if (bumpers & kBumperBackRight ) { speed_r+= 10;}
        if (bumpers & kBumperFrontRight) { speed_r-= 10;}
 
        if (speed_l < -70) {speed_l = -70;}
        if (speed_l >  70) {speed_l =  70;}
        if (speed_r < -70) {speed_r = -70;}
        if (speed_r >  70) {speed_r =  70;}
 
        motors_set(kMotorSetLeft ,speed_l);
        motors_set(kMotorSetRight,speed_r);
 
        mdelay(250);
    }
}
 
//*********************************[main]***************************************
int main (void) {
 
    init_tucbot(0xFF);
 
    buttons_request(kRequestContinuous);
 
    testEncoder();
 
    return (0);
}